Calibration and triangulation integrated equipment

Abstract

The utility model relates to the technical field of camera testing, in particular to calibration and triangulation ranging integrated equipment which comprises a machine table and a detection frame, a mounting plate is arranged on the outer side of the machine table, and a pitch axis assembly is arranged on the outer side of the mounting plate; the pitch shaft assembly comprises a servo motor arranged on the outer side of the mounting plate, the output end of the servo motor penetrates through the mounting plate, a hollow rotating platform is arranged at the output end of the servo motor, a rotating frame is arranged at the output end of the hollow rotating platform, and a yaw shaft assembly is arranged on the outer side of the rotating frame. According to the utility model, the internal reference calibration of the camera is realized through the cooperative arrangement of the pitch axis assembly, the yaw axis assembly and the internal reference calibration graphic card, and the triangulation of the camera can be realized without replacing the machine table through the cooperative arrangement of the pitch axis assembly, the yaw axis assembly, the rolling axis assembly and the triangulation graphic card. The functions of internal reference calibration equipment and triangulation distance measurement are integrated, the field area is saved, and the operation is simple.

Description

Technical Field

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

[0002] Camera intrinsic calibration is the process of determining the parameters of a camera imaging model through experiments and calculations. Its core objective is to establish a mapping relationship between three-dimensional world coordinates and two-dimensional image coordinates. The distortion caused by light refraction at the lens edge, such as barrel distortion (the edge of the image bulges outward) or pincushion distortion (the edge of the image concave towards the center), is obtained through intrinsic calibration. The distortion parameters are then used to correct the image and restore the proportions of the real scene. Triangulation is a method of calculating the three-dimensional coordinates of an object using the principles of geometric trigonometry. Its core idea is to infer the spatial position of a target point from the observation data of two or more viewpoints.

[0003] Regarding the aforementioned technologies, the existing intrinsic parameter calibration and triangulation equipment have the following drawbacks: in the current production process, intrinsic parameter calibration and triangulation are usually performed as independent processes. The product first needs to undergo intrinsic parameter calibration, and after the calibration, it is manually transferred to the triangulation equipment for triangulation measurement. Both machines have limited functionality, and based on the characteristics of each machine, they both require a large, unobstructed indoor space for testing, resulting in excessive space requirements and cumbersome operation. Therefore, this utility model provides an integrated calibration and triangulation equipment. Utility Model Content

[0004] The purpose of this application is to provide an integrated calibration and triangulation device to solve the problem that the two types of testing equipment mentioned in the background technology have limited functionality and require a large, unobstructed indoor space for testing due to the characteristics of each equipment.

[0005] To achieve the above objectives, this application provides the following technical solution: an integrated calibration and triangulation ranging device, including a machine base and a testing frame, wherein a mounting plate is provided on the outer side of the machine base, and a pitch axis assembly is provided on the outer side of the mounting plate; the pitch axis assembly includes a servo motor provided on the outer side of the mounting plate, the output end of the servo motor passes through the mounting plate, a hollow rotating platform is provided at the output end of the servo motor, a rotating frame is provided at the output end of the hollow rotating platform, and a yaw axis assembly is provided on the outer side of the rotating frame.

[0006] Preferably, the yaw shaft assembly includes a motor disposed on the outside of the rotating frame, a planetary reducer disposed at the output end of the motor, a deflection frame disposed at the output end of the planetary reducer, the deflection frame being rotatably connected to the rotating frame via a rotating shaft, and a roll shaft assembly disposed on the outside of the deflection frame.

[0007] Preferably, the roll shaft assembly includes a motor disposed on the outside of the deflection frame, the output end of the motor is provided with a rotary indexing table, the output end of the rotary indexing table is provided with a rotating plate, and the outside of the rotating plate is provided with a clamp for mounting a camera.

[0008] Preferably, a display screen is provided on the outside of the machine tool, and a screen is provided on the outside of the testing frame.

[0009] Preferably, the outer side of the detection frame is provided with a chart plate, which includes an internal parameter calibration chart and a triangulation chart.

[0010] Preferably, the machine platform is aligned with the detection frame, and a distance measuring sensor is provided on the outer side of the machine platform.

[0011] In summary, the technical effects and advantages of this utility model are as follows:

[0012] In this invention, the camera's intrinsic parameters are calibrated by coordinating the pitch axis assembly, yaw axis assembly, and intrinsic parameter calibration chart. By coordinating the pitch axis assembly, yaw axis assembly, roll axis assembly, and triangulation chart, triangulation of the camera can be performed without changing the equipment. This integrates the intrinsic parameter calibration equipment with the triangulation function, saving space and simplifying operation. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 This is a first-view axial side view of the structure of this utility model;

[0015] Figure 2 This is a schematic diagram of the second-view axial side structure of the present invention;

[0016] Figure 3 This is a schematic diagram of the servo motor in this utility model;

[0017] Figure 4 This is a schematic diagram of the rotary indexing table in this utility model;

[0018] Figure 5 This is a schematic diagram of the internal parameter calibration chart in this utility model;

[0019] Figure 6 This is a schematic diagram of the triangulation distance measuring chart in this utility model.

[0020] In the diagram: 1. Machine base; 2. Mounting plate; 3. Display screen; 4. Inspection frame; 5. Chart board; 6. Screen; 7. Servo motor; 8. Hollow rotary platform; 9. Rotating frame; 10. Motor; 11. Planetary reducer; 12. Rotating plate; 13. Deflection frame; 14. Electric motor; 15. Rotary indexing table; 16. Internal parameter calibration chart; 17. Triangulation chart. Detailed Implementation

[0021] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0022] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installed," "equipped with," "sleeved / connected," "connected," etc., should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a connection within 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.

[0023] Example 1: Reference Figure 1-6The calibration and triangulation integrated device shown includes a machine base 1 and a testing frame 4. A mounting plate 2 is installed on the outer side of the machine base 1, providing a mounting reference surface for external components to ensure accurate installation positions. A pitch axis assembly is installed on the outer side of the mounting plate 2. The pitch axis assembly includes a servo motor 7 mounted on the outer side of the mounting plate 2, providing precise power output. Its output end passes through the mounting plate 2. A hollow rotary platform 8 is installed at the output end of the servo motor 7, enabling high-precision angular rotation under the drive of the servo motor 7, providing a directional motion reference for subsequent components. A rotating frame 9 is installed at the output end of the hollow rotating platform 8, supporting the yaw axis assembly and transmitting the pitch axis motion. The yaw axis assembly includes a motor 10 mounted on the outer side of the rotating frame 9, providing power for yaw axis motion. A planetary reducer 11 is installed at the output end of the motor 10, reducing the output speed and increasing torque of the motor 10 to improve the smoothness of the yaw axis motion. To ensure stability and load capacity, the output end of the planetary reducer 11 is equipped with a deflection frame 13. The deflection frame 13 is rotatably connected to the rotating frame 9 via a rotating shaft, realizing rotational movement in the yaw axis direction. The deflection frame 13 is used to support the roll shaft assembly and transmit the movement of the yaw axis. The roll shaft assembly is provided on the outer side of the deflection frame 13. The roll shaft assembly includes a motor 14 located on the outer side of the deflection frame 13. The motor 14 provides power for the movement in the roll shaft direction. The output end of the motor 14 is equipped with a rotary indexing table 15. The rotary indexing table 15 can achieve high-precision roll angle indexing rotation under the drive of the motor 14, ensuring the accuracy of the roll shaft movement and positioning accuracy. The output end of the rotary indexing table 15 is equipped with a rotating plate 12. The rotating plate 12 is used to support the fixture for mounting the camera and transmit the movement of the roll shaft. The outer side of the rotating plate 12 is equipped with a fixture for mounting the camera. The fixture is used to fix the camera, so that the camera can adjust its attitude with the movement of each axis assembly to meet the detection requirements of different angles and positions of the camera during internal parameter calibration and triangulation.

[0024] Example 2: Reference Figure 1-6Based on the same concept as in Embodiment 1 above, this embodiment also proposes that a display screen 3 be provided on the outside of the machine tool 1. The display screen 3 is used to display the operating parameters and working status of the machine tool 1 in real time, which is convenient for operators to monitor and debug. A screen 6 is provided on the outside of the testing frame 4. The screen 6 can display the relevant testing data and operation interface of the testing frame 4, which is convenient for operators to intuitively understand the testing situation. A chart board 5 is provided on the outside of the testing frame 4. The chart board 5 includes an internal parameter calibration chart 16 and a triangulation chart 17. The internal parameter calibration chart 16 is used to calibrate and internal parameter calibrate the testing equipment to ensure the accuracy of the testing results. The triangulation chart 17 can provide a benchmark and reference for the distance detection function of the testing frame 4 through the triangulation principle, thereby improving the accuracy of distance detection. The machine tool 1 and the testing frame 4 are aligned. A distance sensor is provided on the outside of the machine tool 1. The distance sensor can detect the distance between the machine tool 1 and the chart board 5 in real time, providing data support for the alignment adjustment and collaborative work of the two, and ensuring the stability of equipment operation and the reliability of testing.

[0025] The working principle of this utility model is as follows: The camera is held in place by a clamp on a rotating plate 12. Through the coordinated setup of the pitch axis assembly and yaw axis assembly, the camera moves to multiple preset positions, capturing images on the intrinsic parameter calibration chart 16. The intrinsic parameter calibration software extracts the corner coordinates from the captured images, calculates the intrinsic parameter matrix and distortion coefficients, and checks whether each parameter exceeds specifications and whether the distortion correction effect is abnormal. Through the coordinated setup of the pitch axis assembly, yaw axis assembly, roll axis assembly, and triangulation chart 17, the camera moves to multiple preset positions, capturing images on the triangulation chart 17. The triangulation chart 17 extracts the corner coordinates from the captured images and calculates the intrinsic parameter matrix. The distortion coefficients are checked to ensure that all parameters are within specifications and that the distortion correction effect is normal. The intrinsic parameter calibration chart 16 and the triangulation chart 17 can be alternated according to the camera's intrinsic parameter calibration and triangulation. The screen 6 can also directly display the required image. Intrinsic parameter calibration requires at least two rotation axes, and triangulation requires at least three rotation axes. This solution uses the pitch and yaw axes required by the intrinsic parameter calibration camera and the pitch and yaw axes on the triangulation equipment. At the same time, a roll axis is added so that the intrinsic parameter calibration chart and the triangulation chart can be obtained at one workstation. The corresponding algorithm is used to complete the intrinsic parameter calibration and triangulation tests, which can save equipment manpower and testing time.

[0026] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A calibration and triangulation integrated device, comprising a machine table (1), a detection frame (4), characterized in that: The outer side of the machine table (1) is provided with a mounting plate (2), and the outer side of the mounting plate (2) is provided with a pitch shaft assembly; The pitch shaft assembly comprises a servo motor (7) arranged on the outer side of the mounting plate (2), the output end of the servo motor (7) penetrates the mounting plate (2), and the output end of the servo motor (7) is provided with a hollow rotating platform (8), the output end of the hollow rotating platform (8) is provided with a rotating frame (9), and the outer side of the rotating frame (9) is provided with a yaw shaft assembly.

2. The integrated calibration and ranging device of claim 1, wherein: The yaw shaft assembly comprises a motor (10) arranged on the outer side of the rotating frame (9), the output end of the motor (10) is provided with a planetary reducer (11), the output end of the planetary reducer (11) is provided with a deflection frame (13), the deflection frame (13) is rotatably connected with the rotating frame (9) through an axis, and the outer side of the deflection frame (13) is provided with a rolling shaft assembly.

3. The integrated calibration and ranging device of claim 2, wherein: The rolling shaft assembly comprises a motor (14) arranged on the outer side of the deflection frame (13), the output end of the motor (14) is provided with a rotary indexing table (15), the output end of the rotary indexing table (15) is provided with a rotating plate (12), and the outer side of the rotating plate (12) is provided with a clamp for mounting a camera.

4. The integrated calibration and ranging device of claim 1, wherein: The outer side of the machine table (1) is provided with a display screen (3), and the outer side of the detection frame (4) is provided with a screen (6).

5. The integrated calibration and ranging device of claim 4, wherein: The outer side of the detection frame (4) is provided with a graph board (5), and the graph board (5) comprises an internal parameter calibration graph (16) and a triangulation graph (17).

6. The integrated calibration and ranging device of claim 1, wherein: The machine table (1) is arranged in alignment with the detection frame (4), and the outer side of the machine table (1) is provided with a distance measuring sensor.

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