An automatic camera intrinsic parameter calibration device

Abstract

This utility model discloses an automatic camera intrinsic parameter calibration device, relating to the field of camera calibration technology. The automatic camera intrinsic parameter calibration device includes an optical calibration platform, a calibration frame, a first translation component, a second translation component, a rotation component, a calibration plate, a camera, and a laser emitter. The camera and laser emitter are mounted at the bottom of the first translation component, and the first translation component is used to move the camera and laser emitter. The rotation component is mounted on the second translation component, and the calibration plate is mounted at the top of the rotation component. The second translation component is used to move the rotation component and the calibration plate, and the rotation component is used to rotate the calibration plate. The laser emitter projects laser stripes onto the calibration plate, and the camera captures an image of the calibration plate. This utility model can achieve automatic calibration at all positions and different poses, solving the problems of poor repeatability and low efficiency of manual calibration.

Description

Technical Field

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

[0002] Current camera intrinsic parameter calibration methods involve manually adjusting the appropriate position of the calibration grid and taking multiple images of the calibrated grid at different positions. Each image requires manual operation, resulting in multiple sets of images. This method of manually calibrating the grid and relying on manual adjustment of the calibration plate pose leads to low efficiency and poor repeatability.

[0003] In view of the problems existing in the prior art, those skilled in the art urgently need an automatic camera intrinsic parameter calibration device. Utility Model Content

[0004] The purpose of this invention is to provide an automatic camera intrinsic parameter calibration device to solve the problems existing in the prior art. It can achieve automatic calibration under different poses at all positions, and solves the problems of poor repeatability and low efficiency of manual calibration.

[0005] To achieve the above objectives, this utility model provides the following solution:

[0006] This utility model provides an automatic camera intrinsic parameter calibration device, including an optical calibration platform, a calibration frame, a first translation component, a second translation component, a rotation component, a calibration plate, a camera, and a laser emitter. The calibration frame is disposed on the optical calibration platform, and both the first and second translation components are connected to the calibration frame. The first translation component is located above the second translation component, and the camera and the laser emitter are mounted at the bottom of the first translation component, which is used to move the camera and the laser emitter. The rotation component is disposed on the second translation component, and the calibration plate is disposed at the top of the rotation component. The second translation component is used to move the rotation component and the calibration plate, and the rotation component is used to rotate the calibration plate. The laser emitter projects laser stripes onto the calibration plate, and the camera captures an image of the calibration plate.

[0007] In some embodiments, a data processing module and a motion control module are also included; the laser emitter and the camera are both electrically connected to the data processing module; the first translation component, the second translation component, and the rotation component are all electrically connected to the motion control module.

[0008] In some embodiments, both the first translation component and the second translation component include a first linear module, a second linear module, and a first drive motor; the movement direction of the first linear module and the movement direction of the second linear module are both horizontal and perpendicular to each other; the calibration frame includes two columns and a vertical plate, with a sliding groove provided on one side of each of the two columns along the vertical direction, and the two sides of one end of the first linear module along the length direction are slidably connected to the two sliding grooves; a rack is provided in the middle of the vertical plate along the vertical direction and guide grooves are provided on both sides along the vertical direction, and fixed wheels are provided on both sides of the other end of the first linear module along the length direction, with the two fixed wheels corresponding one-to-one with the two guide grooves and being rolledly connected; the first drive motor is connected to the translation slide of the first linear module, and the output shaft of the first drive motor is provided with a gear, which meshes with the rack; the translation slide of the second linear module is connected to the linear slider of the first linear module.

[0009] In some embodiments, a housing support is also included; the linear slider of the second linear module of the first translation component is connected to the housing support, and both the camera and the laser emitter are disposed within the housing support; the linear slider of the second linear module of the second translation component is connected to the rotation component.

[0010] In some embodiments, the rotating assembly includes a first rotating assembly and a second rotating assembly; both the first rotating assembly and the second rotating assembly include a driving block, a second driving motor, a worm gear, and an arc-shaped slider; the upper surface of the driving block is an arc-shaped concave surface, and the lower surface of the arc-shaped slider is an arc-shaped convex surface, the arc-shaped concave surface and the arc-shaped convex surface being adapted to each other; the driving block is provided with the second driving motor and the worm gear, the arc-shaped convex surface of the arc-shaped slider is provided with multiple toothed grooves along the bending direction, the worm gear is adapted to mesh with the toothed grooves, the second driving motor is used to drive the worm gear to rotate and can drive the arc-shaped slider to rotate relative to the driving block within a certain angle range; the driving block of the second rotating assembly is connected and fixed to the arc-shaped slider of the first rotating assembly.

[0011] In some embodiments, an arc-shaped guide rail is formed protruding from the arc-shaped concave surface, and an arc-shaped groove is formed recessed on the arc-shaped convex surface. The arc-shaped groove is adapted to the arc-shaped guide rail, and the arc-shaped slider can slide along the curvature direction of the arc-shaped guide rail. The worm is disposed in the arc-shaped guide rail, and at least a portion of the worm protrudes from the upper surface of the arc-shaped guide rail and is adapted to mesh with the toothed groove.

[0012] In some embodiments, the system further includes a platform support, adjustable knobs, and a level; the top of the platform support is provided with a plurality of the adjustable knobs, and the top of the adjustable knobs is connected to the optical calibration platform; the optical calibration platform is provided with the level, which is used to detect the levelness of the optical calibration platform, and the plurality of adjustable knobs are used to adjust the levelness of the optical calibration platform.

[0013] In some embodiments, the camera is arranged vertically, and the center of the camera's optical axis is aligned with the center of the checkerboard of the calibration plate; there are two laser emitters, which are arranged in parallel and at a certain angle to the camera.

[0014] In some embodiments, the calibration plate is magnetically attached to the rotating assembly.

[0015] In some embodiments, both the first linear module and the second linear module include the translation slide, the linear slider, the lead screw, and the third drive motor; the lead screw is rotatably mounted on the translation slide, and the third drive motor is connected to the lead screw in a transmission connection; the translation slide is provided with a slide guide rail, the linear slider is slidably connected to the slide guide rail, and the linear slider is sleeved on the lead screw.

[0016] The present invention achieves the following technical advantages over the prior art:

[0017] This invention discloses an automatic camera intrinsic parameter calibration device. A first translation component and a second translation component are arranged vertically opposite each other. The first translation component moves the camera and laser emitter, while the second translation component moves the calibration plate and, through a rotation component, rotates the calibration plate. The position and orientation of the calibration plate can be automatically adjusted via the second translation component and the rotation component. By controlling the first translation component, the second translation component, and the rotation component to move the laser emitter, camera, and calibration plate, the laser emitter projects laser stripes onto the calibration plate, and the camera captures an image of the calibration plate, thereby achieving automatic calibration of the camera's intrinsic parameters. In other words, this invention can achieve automatic calibration at all positions and different orientations, solving the problems of poor repeatability and low efficiency associated with manual calibration. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1This is one of the structural schematic diagrams of the automatic camera intrinsic parameter calibration device in some embodiments of this utility model;

[0020] Figure 2 This is the second schematic diagram of the automatic camera intrinsic parameter calibration device in some embodiments of this utility model;

[0021] Figure 3 This is the third schematic diagram of the automatic camera intrinsic parameter calibration device in some embodiments of this utility model;

[0022] Figure 4 This is the fourth schematic diagram of the automatic camera intrinsic parameter calibration device in some embodiments of this utility model;

[0023] Figure 5 This is a schematic diagram of the structure of the first translation component in some embodiments of this utility model;

[0024] Figure 6 This is a schematic diagram showing the connection between the first translation component and the calibration frame in some embodiments of this utility model;

[0025] Figure 7 This is a schematic diagram of the structure of the second translation component in some embodiments of this utility model;

[0026] Figure 8 This is a schematic diagram of the rotating assembly in some embodiments of the present invention;

[0027] Figure 9 This is a schematic diagram of the structure of the drive block in some embodiments of the present invention;

[0028] Figure 10 This is a schematic diagram of the arc-shaped slider in some embodiments of the present invention;

[0029] Figure 11 This is a schematic diagram showing the connection between the driving block and the arc-shaped slider in some embodiments of this utility model;

[0030] In the diagram: 1-Optical calibration platform; 2-Calibration frame; 3-First translation component; 4-Second translation component; 5-Rotation component; 6-Calibration plate; 7-Camera; 8-Laser emitter; 9-First drive motor; 10-Fixed wheel; 11-Rack; 12-Slide groove; 13-Guide groove; 14-Outer shell support; 15-Drive block; 16-Second drive motor; 17-Worm gear; 18-Arc-shaped slider; 19-Toothed groove; 20-Arc-shaped guide rail; 21-Arc-shaped groove; 22-Column; 23-Vertical plate; 24-Adjustable knob; 25-Level; 26-Translation slide; 27-Linear slider; 28-Lead screw; 29-Third drive motor; 30-Platform support. Detailed Implementation

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. 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.

[0032] The purpose of this invention is to provide an automatic camera intrinsic parameter calibration device to solve the problems existing in the prior art. It can achieve automatic calibration under different poses at all positions, and solves the problems of poor repeatability and low efficiency of manual calibration.

[0033] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] This utility model provides an automatic camera intrinsic parameter calibration device, such as... Figures 1 to 11 As shown, the system includes an optical calibration platform 1, a calibration frame 2, a first translation component 3, a second translation component 4, a rotation component 5, a calibration plate 6, a camera 7, and a laser emitter 8. The optical calibration platform 1 has the calibration frame 2 mounted on it, and both the first translation component 3 and the second translation component 4 are connected to the calibration frame 2. The first translation component 3 is located above the second translation component 4, and the camera 7 and the laser emitter 8 are mounted at the bottom of the first translation component 3, which is used to move the camera 7 and the laser emitter 8. The second translation component 4 has the rotation component 5 mounted on it, and the calibration plate 6 is mounted at the top of the rotation component 5. The second translation component 4 is used to move the rotation component 5 and the calibration plate 6, and the rotation component 5 is used to rotate the calibration plate 6. The laser emitter 8 projects laser stripes onto the calibration plate 6, and the camera 7 captures images of the calibration plate 6.

[0035] It should be noted that both the first translation component 3 and the second translation component 4 of this utility model have the following characteristics: Figure 1 The three-dimensional adjustment degrees of freedom shown are along the XYZ directions. The rotating component 5 has two degrees of freedom: the rotation plane is perpendicular to the X-axis and the rotation plane is perpendicular to the Y-axis.

[0036] Furthermore, the checkerboard calibration plate 6 of this utility model uses a 100mm×100mm glass substrate with a 10×10 black and white checkerboard pattern etched on its surface. The grid spacing is 10mm, and positioning reference lines are provided on the edge. The calibration plate 6 is fixed to the table surface of the electric rotary table, i.e., the rotating assembly 5, by magnetic adsorption, and the coaxiality error between its center and the rotation center of the table surface does not exceed 0.05mm. The line structured light emitter, i.e., the laser emitter 8, includes a first laser and a second laser. It uses a semiconductor laser with a wavelength of 660nm and an output power of 50mW. The laser stripe width is controlled within the range of 0.1-0.3mm. The two lasers are mounted on the side arm of the housing bracket 14 at a 30° angle to the camera 8 to ensure that the laser stripe can completely cover the effective area of ​​the checkerboard calibration plate 6.

[0037] In some embodiments, a data processing module and a motion control module are also included; the laser emitter 8 and the camera 7 are both electrically connected to the data processing module; the first translation component 3, the second translation component 4 and the rotation component 5 are all electrically connected to the motion control module.

[0038] It should be noted that this utility model uses a motion control module to drive the calibration plate 6 to complete the position and pose transformation; the surface of the calibration plate 6 is provided with checkerboard feature points, a line structured light emitter projects laser stripes onto the calibration plate 6, the camera 7 captures images, and the data processing module calculates parameters synchronously using the Zhang Zhengyou calibration method combined with the light plane fitting algorithm; this utility model can realize fully automatic closed-loop calibration, improve calibration efficiency by 80%, and is suitable for fields such as welding robot vision.

[0039] In some embodiments, such as Figures 5 to 7 As shown, both the first translation component 3 and the second translation component 4 include a first linear module, a second linear module, and a first drive motor 9; wherein, the movement directions of the first linear module and the second linear module are both horizontal and perpendicular to each other, that is, the movement directions of the first linear module and the second linear module are along the X and Y directions; the calibration frame 2 includes two columns 22 and a vertical plate 23, and each of the two columns 22 has a sliding groove 12 on one side of its opposite side along the vertical direction. The two sides of one end of the first linear module along its length are slidably connected to the two sliding grooves 12, that is, the first linear module... The translation slide of the first linear module is slidably connected to two slide grooves 12 on both sides at one end; a rack 11 is provided in the middle of the vertical plate 23 along the vertical direction and guide grooves 13 are provided on both sides along the vertical direction; fixed wheels 10 are provided on both sides at the other end of the length direction of the first linear module, and the two fixed wheels 10 correspond one-to-one with the two guide grooves 13 and are rolledly connected; the first drive motor 9 is connected to the translation slide of the first linear module, and the output shaft of the first drive motor 9 is provided with a gear, which is adapted to mesh with the rack 11; the translation slide of the second linear module is connected to the linear slider of the first linear module.

[0040] The first and second linear modules of this utility model both include a translation slide 26, a linear slider 27, a lead screw 28, and a third drive motor 29; the lead screw 28 is rotatably mounted on the translation slide 26, and the third drive motor 29 is connected to the lead screw 28 in a transmission connection; a slide guide rail is provided on the translation slide 26, the linear slider 27 is slidably connected to the slide guide rail, and the linear slider 27 is sleeved on the lead screw 28.

[0041] It should be noted that the first translation component 3 and the second translation component 4 of this utility model are both three-axis electric translation stages. The ball screw, linear slider 27 and camera connecting block are driven by servo motors to complete the position of the checkerboard calibration plate 6 at the center of the field of view of the camera 7. The first drive motor 9 drives the movement along the Z-axis through the meshing transmission of gears and racks 11.

[0042] The servo motor of this invention is connected to the ball screw via a coupling, driving the linear slider 27 to reciprocate along the slide guide rail. The movement speed can be continuously adjusted within the range of 0.1-5mm / s, and the positioning accuracy reaches ±0.01mm.

[0043] The first translation component 3 of this invention uses a servo motor to drive a linear slider 27 to achieve positioning with the camera connecting block and the camera 7. The strokes of the first linear module and the second linear module of the first translation component 3 are 200mm and 150mm respectively. The Z-axis first drive motor 9 and the rack 11, together with the guide grooves 13 on both sides and the fixed wheel 10, achieve lifting and lowering movements within the range of 50-300mm. The fixed wheel 10 is made of metal, and the clearance between it and the guide groove 13 is controlled within 0.03mm, effectively avoiding shaking during the lifting and lowering process.

[0044] The transmission structure of the second translation component 4 of this utility model is the same as that of the first translation component 3. The strokes of the two translation slides 26 are 100mm and 150mm respectively, and the stroke of the first drive motor 9 is 80mm. The three are linked and controlled by a PLC controller.

[0045] In some embodiments, the system also includes a housing support 14; the linear slider 27 of the second linear module of the first translation component 3 is connected to the housing support 14, and the camera 7 and the laser emitter 8 are both disposed within the housing support 14; the linear slider 27 of the second linear module of the second translation component 4 is connected to the rotation component 5.

[0046] The camera connecting block, i.e. the housing bracket 14, of this utility model is fixed to the corresponding linear slider 27 by four M6 hexagonal screws. Its top is provided with mounting holes that match the camera 7, and it can be compatible with the C-port or CS-port of industrial cameras.

[0047] In some embodiments, such as Figures 8 to 11As shown, the rotating assembly 5 includes a first rotating assembly and a second rotating assembly; both the first rotating assembly and the second rotating assembly include a drive block 15, a second drive motor 16, a worm gear 17, and an arc-shaped slider 18; wherein, the upper surface of the drive block 15 is an arc-shaped concave surface, and the lower surface of the arc-shaped slider 18 is an arc-shaped convex surface, with the arc-shaped concave surface and the arc-shaped convex surface being adapted to each other.

[0048] The drive block 15 is equipped with a second drive motor 16 and a worm gear 17. The arc-shaped convex surface of the arc-shaped slider 18 is provided with multiple toothed grooves 19 along the bending direction. The worm gear 17 is adapted to mesh with the toothed grooves 19. The second drive motor 16 is used to drive the worm gear 17 to rotate and can drive the arc-shaped slider 18 to rotate relative to the drive block 15 within a certain angle range. The drive block 15 of the second rotation assembly is connected and fixed to the arc-shaped slider 18 of the first rotation assembly.

[0049] The second translation component 4 and the rotation component 5 of this invention form a posture adjustment mechanism. A servo motor drives the checkerboard calibration plate 6 to achieve position and posture changes across multiple axes of freedom. The servo motor drives the worm gear 17 to rotate via a reducer, and the worm gear 17 meshes with the toothed groove 19, enabling relative movement between the two arc-shaped surfaces. The worm gear 17 of the first rotation component can drive the arc-shaped slider 18 to rotate and deflect, with the rotation plane perpendicular to the X-axis. The worm gear 17 of the second rotation component can drive the arc-shaped slider 18 to rotate and deflect, with the rotation plane perpendicular to the Y-axis. Thus, through the first and second rotation components, the calibration plate 6 can achieve two degrees of freedom adjustment within a rotation plane perpendicular to the X-axis and a rotation plane perpendicular to the Y-axis. Furthermore, through the meshing transmission between the worm gear 17 and the toothed groove 19, the calibration plate 6 can rotate within a ±20° angle range, with a rotation angle resolution of 0.01°.

[0050] In some embodiments, such as Figure 9 and Figure 10 As shown, an arc-shaped guide rail 20 protrudes from the concave surface, and an arc-shaped groove 21 is recessed on the convex surface. The arc-shaped groove 21 is adapted to the arc-shaped guide rail 20, and the arc-shaped slider 18 can slide along the curvature direction of the arc-shaped guide rail 20. Furthermore, a worm gear 17 is disposed within the arc-shaped guide rail 20, and at least a portion of the worm gear 17 protrudes from the upper surface of the arc-shaped guide rail 20 and meshes with the toothed groove 19. By setting a structure in which the arc-shaped guide rail 20 and the arc-shaped groove 21 cooperate, this utility model can limit the rotational offset trajectory of the arc-shaped slider 18 relative to the drive block 15.

[0051] In some embodiments, such as Figures 1 to 4As shown, it also includes a platform support 30, adjustable knobs 24 and a level 25; the top of the platform support 30 is provided with multiple adjustable knobs 24, and the top of the adjustable knobs 24 is connected to the optical calibration platform 1; the optical calibration platform 1 is provided with a level 25, which is used to detect the levelness of the optical calibration platform 1, and the multiple adjustable knobs 24 are used to adjust the levelness of the optical calibration platform 1.

[0052] The automatic calibration device is mounted on the optical calibration platform 1 and platform support 30. Four adjustable knobs 24 located below the optical calibration platform 1 are monitored in real-time by a level 25 to ensure that the platform's horizontal and vertical accuracy error is controlled within 0.02 mm / m. The platform support 30 is made of high-strength aluminum alloy and is connected to the optical calibration platform 1 via the adjustable knobs 24. Its height can be adjusted within the range of 500-800 mm according to actual calibration requirements. The adjustable knobs 24 can be bolted, allowing height adjustment and level control by turning the bolts.

[0053] In some embodiments, the camera 7 is arranged vertically, and the center of the optical axis of the camera 7 is aligned with the center of the checkerboard of the calibration plate 6; there are two laser emitters 8, which are arranged in parallel and at a certain angle to the camera 7. For example, the angle between the two laser emitters 8 and the optical axis of the camera 7 can be 30°.

[0054] This utility model's automatic calibration device is supported by an optical calibration platform 1 and a platform bracket 30. The automatic calibration device includes a first translation component 3, a second translation component 4, and a rotation component 5. The camera 7 and a laser emitter 8 are mounted and fixed on the linear slider 27 of the uppermost first translation component 3. The first drive motor 9, the first linear module, and the second linear module of the first translation component 3 are interconnected and cooperate with each other. The vertical plate 23 of the calibration frame 2 has guide grooves 13 on both sides. The fixed wheel 10 is close to the guide groove 13. The gear and rack 11 of the upper first drive motor 9 mesh with each other, and the fixed wheel 10 slides up and down with the guide groove 13 to adjust. The first linear module is equipped with a servo motor to drive the ball screw and the linear slider 27 to adjust the translation movement in the Y-axis direction. The second linear module is equipped with a servo motor to drive the ball screw and the linear slider 27 to adjust the translation movement in the X-axis direction. The first drive motor 9, the first linear module, and the second linear module are all electrically controlled. Through the close cooperation of the upper three-axis electric translation stage, the optical axis center of the camera 7 is aligned with the center of the checkerboard. The lower part is provided with a second translation component 4 and a rotation component 5. The second translation component 4 is provided with a first drive motor 9 and a first linear module and a second linear module. The vertical plate 23 of the calibration frame 2 has guide grooves 13 on both sides. The fixed wheel 10 slides close to the guide groove 13. The fixed wheel 10 slides up and down with the guide groove 13 by the meshing of the gear and rack 11 of the first drive motor 9. The first linear module is provided with a servo motor to drive the ball screw and linear slider 27 to adjust the translation movement in the Y-axis direction. The second linear module is provided with a servo motor to drive the ball screw and linear slider 27 to adjust the translation movement in the X-axis direction. The rotation component 5 is provided with a servo motor to drive the worm 17 and the toothed groove 19 to drive the arc slider 18 to adjust the angle. That is, the worm 17 drives the arc slider 18 to rotate, pushing the calibration plate 6 to rotate and tilt, and the rotation plane is perpendicular to the X-axis or Y-axis. The calibration plate 6 is provided with a checkerboard pattern. When it rotates and tilts in the rotation plane, it drives the arc slider 18 and the checkerboard calibration plate 6 to tilt at the same time, changing the checkerboard calibration posture.

[0055] During calibration, the system achieves fully automatic closed-loop control through the motion control module. First, the PLC controller sends a command to the first translation component 3, driving the camera 7 to move to the initial position, so that the checkerboard calibration plate 6 is completely imaged at the center of the camera 7's field of view. At this time, the position parameters of the camera connecting block are fed back to the control system in real time through the grating ruler, forming a position closed loop. Subsequently, the second translation component 4 and the rotation component 5 automatically adjust the posture of the checkerboard according to a preset pose sequence. Here, the preset pose sequence contains 20 combinations of different angles and positions. After each pose adjustment is completed, the system waits 50ms to ensure the mechanism is stable before triggering the camera 7 to capture an image, while simultaneously recording the current position parameters of the translation stage and the rotation stage.

[0056] The data processing module uses a LabVIEW-based software platform. First, it calls the Zhang Zhengyou calibration algorithm from the OpenCV library to process the 20 sets of acquired checkerboard images, calculating the intrinsic parameter matrix of camera 7, including focal length, principal point coordinates, and distortion coefficients. During the calculation, the RANSAC algorithm is used to remove outliers, ensuring the reprojection error of the intrinsic parameter calibration is controlled within 0.3 pixels. For the calculation of the line structured light plane parameters, the three-dimensional coordinates of the intersection points of the laser stripes and the checkerboard in each image are extracted (using the known dimensions and pose parameters of the calibration plate for conversion). The least squares method is used to fit the light plane equation ax + by + cz + d = 0, achieving a fitting accuracy of 0.05 mm.

[0057] The calibration process in this embodiment is fully automated, requiring no manual intervention from the start of calibration to the output parameters. The time for a single calibration, including camera intrinsic parameters and optical plane parameters, is reduced from 20 minutes in the traditional manual method to less than 5 minutes, improving efficiency by more than 80%. Verification through 10 repeated calibration experiments fully meets the needs of high-precision applications such as welding robot vision systems.

[0058] This utility model uses specific examples to illustrate its principles and implementation methods. The above description of the embodiments is only for the purpose of helping to understand the method and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the idea of ​​this utility model. In summary, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An automatic calibration device for camera intrinsic parameters, characterized in that, It includes an optical calibration platform, a calibration frame, a first translation component, a second translation component, a rotation component, a calibration plate, a camera, and a laser emitter; The calibration frame is provided on the optical calibration platform, and both the first translation component and the second translation component are connected to the calibration frame. The first translation component is located above the second translation component. The camera and the laser emitter are mounted on the bottom of the first translation component, and the first translation component is used to move the camera and the laser emitter. The second translation component is provided with the rotation component, and the calibration plate is provided on the top of the rotation component. The second translation component is used to move the rotation component and the calibration plate, and the rotation component is used to rotate the calibration plate. The laser emitter is used to project laser stripes onto the calibration plate, and the camera is used to capture images of the calibration plate.

2. The automatic camera intrinsic parameter calibration device according to claim 1, characterized in that, It also includes a data processing module and a motion control module; Both the laser emitter and the camera are electrically connected to the data processing module; The first translation component, the second translation component, and the rotation component are all electrically connected to the motion control module.

3. The automatic camera intrinsic parameter calibration device according to claim 1, characterized in that, Both the first translation component and the second translation component include a first linear module, a second linear module, and a first drive motor; the movement direction of the first linear module and the movement direction of the second linear module are both horizontal and perpendicular to each other; The calibration frame includes two columns and a vertical plate. Each of the two columns has a sliding groove on one side in the vertical direction. The two sides of one end of the first straight module in the length direction are slidably connected to the two sliding grooves. The vertical plate has a rack in the middle along the vertical direction and guide grooves on both sides along the vertical direction. Fixed wheels are provided on both sides of the other end of the first straight module along the length direction. The two fixed wheels correspond one-to-one with the two guide grooves and are rolledly connected. The first drive motor is connected to the translation slide of the first linear module, and the output shaft of the first drive motor is provided with a gear, which meshes with the rack; the translation slide of the second linear module is connected to the linear slider of the first linear module.

4. The automatic camera intrinsic parameter calibration device according to claim 3, characterized in that, It also includes the outer casing support; The linear slider of the second linear module of the first translation component is connected to the housing bracket, and both the camera and the laser emitter are disposed inside the housing bracket; The linear slider of the second linear module of the second translation component is connected to the rotation component.

5. The automatic camera intrinsic parameter calibration device according to claim 1, characterized in that, The rotating assembly includes a first rotating assembly and a second rotating assembly; Both the first rotating assembly and the second rotating assembly include a driving block, a second driving motor, a worm gear, and an arc-shaped slider; The upper surface of the drive block is an arc-shaped concave surface, and the lower surface of the arc-shaped slider is an arc-shaped convex surface. The arc-shaped concave surface and the arc-shaped convex surface are adapted to each other. The drive block is provided with the second drive motor and the worm gear. The arc-shaped convex surface of the arc-shaped slider is provided with multiple toothed grooves along the bending direction. The worm gear is adapted to mesh with the toothed grooves. The second drive motor is used to drive the worm gear to rotate and can drive the arc-shaped slider to rotate relative to the drive block within a certain angle range. The driving block of the second rotating component is connected and fixed to the arc-shaped slider of the first rotating component.

6. The automatic camera intrinsic parameter calibration device according to claim 5, characterized in that, An arc-shaped guide rail is formed by protrusion on the arc-shaped concave surface, and an arc-shaped groove is formed by recess on the arc-shaped convex surface. The arc-shaped groove is adapted to the arc-shaped guide rail, and the arc-shaped slider can slide along the curvature direction of the arc-shaped guide rail. The worm is disposed within the arc-shaped guide rail, and at least a portion of the worm protrudes from the upper surface of the arc-shaped guide rail and meshes with the toothed groove.

7. The automatic camera intrinsic parameter calibration device according to claim 1, characterized in that, It also includes a platform support, adjustable knobs, and a level; The top of the platform support is provided with a plurality of adjustable knobs, and the top of the adjustable knobs is connected to the optical calibration platform. The optical calibration platform is equipped with a level, which is used to detect the levelness of the optical calibration platform. The multiple adjustable knobs are used to adjust the levelness of the optical calibration platform.

8. The automatic camera intrinsic parameter calibration device according to claim 4, characterized in that, The camera is set vertically, and the center of the optical axis of the camera is aligned with the center of the checkerboard of the calibration plate. The number of laser emitters is two, and the two laser emitters are arranged in parallel and at a certain angle to the camera.

9. The automatic camera intrinsic parameter calibration device according to claim 1, characterized in that, The calibration plate is magnetically fixed to the rotating assembly.

10. The automatic camera intrinsic parameter calibration device according to claim 3, characterized in that, Both the first linear module and the second linear module include the translation slide, the linear slider, the lead screw, and the third drive motor; The lead screw is rotatably mounted on the translation slide, and the third drive motor is connected to the lead screw via transmission. The translation slide is provided with a slide guide rail, the linear slider is slidably connected to the slide guide rail, and the linear slider is sleeved on the lead screw.

Images