A camera calibration device and test system

Abstract

The utility model discloses a kind of camera calibration equipment and test system, belong to camera inner parameter calibration technical field.The camera calibration equipment includes: workbench, transmission device is arranged on workbench, camera is driven to workbench by transmission device;Picture output tool plate, picture output tool plate is electrically connected in camera, to light up camera;Display, be set in the lens side of camera, display shows calibration pattern;And multi-axis robot, fixed on workbench, multi-axis robot moves camera to calibration position, and calibration pattern is photographed in calibration position.By a kind of camera calibration equipment and test system provided in the utility model, camera calibration precision and calibration efficiency can be improved.

Description

Technical Field

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

[0002] The camera intrinsic parameter calibration adopts the Zhang Zhengyou method, which involves taking several photos of the same checkerboard target from different angles, detecting the position of the corner points on the checkerboard pattern in the image, and solving the camera intrinsic parameter matrix and distortion coefficient based on the actual physical size of the corner points.

[0003] This method requires imaging the checkerboard pattern from different angles. Specifically, the checkerboard pattern cannot be entirely within the normal plane of the camera's optical axis; some images require an angle between the camera's optical axis and the checkerboard normal. Therefore, multiple targets at different angles need to be arranged in space, placing significant demands on available space. This not only results in low calibration accuracy and efficiency but also poor flexibility. Summary of the Invention

[0004] The purpose of this invention is to provide a camera calibration device and testing system that can improve camera calibration accuracy and efficiency, and is highly flexible.

[0005] This utility model provides a camera calibration device, comprising at least: A workbench is provided with a transmission device, and the camera is transmitted to the workbench via the transmission device. A drawing tooling plate is electrically connected to the camera to illuminate the camera; A display, disposed on the lens side of the camera, displays a calibration pattern; and A multi-axis robot is fixed on the worktable. The multi-axis robot moves the camera to a calibration position and takes a picture of the calibration pattern at the calibration position.

[0006] In one embodiment of this utility model, the camera calibration device includes a cabinet, the workbench is located inside the cabinet, and the cabinet and the display are provided with a preset distance.

[0007] In one embodiment of the present invention, the transmission device includes a transmission unit and a frame. The frame is mounted on the workbench, and the transmission unit is mounted on the frame, allowing the transmission unit to move along the frame.

[0008] In one embodiment of this utility model, the transmission unit is provided with a scanning position, a loading position and a unloading position, and the transmission unit moves along the scanning position, the loading position and the unloading position.

[0009] In one embodiment of this utility model, the scanning position is provided with a QR code scanner, the QR code scanner is mounted on the frame, and a preset distance is provided between the QR code scanner and the transmission unit.

[0010] In one embodiment of this utility model, the loading position is provided with a loading device, the unloading position is provided with a unloading device, and the loading device and the unloading device are allowed to rotate the drawing tooling plate.

[0011] In one embodiment of this utility model, a defective product is provided on the workbench, and the defective product is located within the grasping range of the multi-axis robot.

[0012] In one embodiment of the present invention, the display includes a display screen, the display screen displays a variety of calibration patterns, and the width of the calibration pattern is 1 / 10 to 1 / 5 of the width of the display screen.

[0013] In one embodiment of this utility model, the drawing tooling plate is provided with a fixing structure, and the fixing structure fixes the camera.

[0014] This utility model also provides a camera testing system, including: A camera focusing device for focusing the camera.

[0015] The camera calibration device described in any of the above methods calibrates the focused camera.

[0016] The camera assembly equipment assembles the calibrated camera.

[0017] In summary, this utility model provides a camera calibration device and testing system. After the camera is focused by the camera focusing device, it is transferred to the camera calibration device. The camera calibration device calibrates the camera by setting up a worktable, a drawing fixture, a monitor, and a multi-axis robot. The calibrated camera is then assembled in the camera assembly device. This not only improves the accuracy and efficiency of camera calibration but also has strong applicability.

[0018] Of course, any product implementing this utility model does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of 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.

[0020] Figure 1 This is a schematic diagram of a camera calibration device in one embodiment.

[0021] Figure 2 This is a schematic diagram of a camera testing system in one embodiment.

[0022] Figure 3 This is a schematic diagram of the interior of the cabinet in one embodiment.

[0023] Figure 4 This is a simplified schematic diagram of the tooling plate shown in one embodiment.

[0024] Figure 5 This is a simplified left-side view of a feeding or unloading device in one embodiment.

[0025] Figure 6 This is a schematic diagram of the calibration pattern in one embodiment.

[0026] Figure 7 This is a schematic diagram of a camera capturing an image in one embodiment.

[0027] Figure 8 This is a schematic diagram of a camera calibration method in one embodiment.

[0028] Among them, 100-cabinet, 101-base, 102-multiple panels, 103-electrical board, 104-opening, 105-host computer, 106-operating interface, 200-workbench, 210-transmission device, 2101-transmission unit, 2102-rack, 220-defective parts, 230-substrate, 300-camera, 400-drawing tooling plate, 410-fixed structure, 420-image signal interface, 430-communication interface. 440-Power supply unit, 450-Control unit, 500-QR code scanner, 600-Feeding device, 610-Lifting module, 620-Base, 630-Main spindle, 640-Clamping mechanism, 700-Unloading device, 800-Display, 810-Display screen, 820-Bracket, 900-Multi-axis robot, 910-Base, 920-Arm, 930-Large arm, 940-Forearm, 950-Wrist, 960-End effector. Detailed Implementation

[0029] To facilitate understanding of this application, a more complete description will be provided below with reference to the accompanying drawings. Preferred embodiments of this application are shown in the drawings. However, this application can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the disclosure of this application.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the specification of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application.

[0031] In the description of this utility model, it should be understood that the terms "center," "upper," "lower," "front," "rear," "left," and "right," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or component 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. Similarly, the terms "high" and "low," indicating degree, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or component referred to must have a high or low position. Therefore, they should not be construed as a limitation of this utility model. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0032] Cameras are the "visual senses" of modern intelligent vehicles, forming the core foundation for environmental perception, decision-making, planning, and safe driving. Like the car's eyes, they capture real-time images of the surrounding environment, providing indispensable data input for Advanced Driving Assistance Systems (ADAS) and autonomous driving functions. Lens distortion directly affects the accuracy of the camera in recognizing lane lines, traffic signs, pedestrians, vehicles, and other obstacles, increasing driving risks. Therefore, camera calibration is an essential and indispensable part of advanced driver assistance systems and autonomous driving.

[0033] Please see Figure 2As shown, this utility model provides a camera calibration device and testing system, which improves the accuracy and efficiency of camera calibration. The camera calibration system includes a camera focusing device 11, a camera calibration device 12, and a camera assembly device 13. The camera focusing device 11 applies adhesive and focuses the camera 300, providing clear image quality for camera 300 calibration. The focused camera 300 is then transferred to the camera calibration device 12, which verifies the information of the camera 300, moves it to the calibration position for shooting, and finally performs calibration calculations on the captured data. If the calibration result meets the requirements, it is transferred to the camera assembly device 13. The camera assembly device 13 first scans the QR code number on the camera 300 and the QR code number on the printed circuit board assembly (PCBA) to confirm that the two QR code numbers can establish a correspondence. Then, it queries the corresponding intrinsic parameters according to the QR code number on the camera 300 and updates the intrinsic parameters to the parameter storage area in the flash memory. Finally, the camera 300 is assembled.

[0034] Please see Figure 1 As shown, this utility model provides a camera calibration device 12, including a worktable 200, a drawing fixture 400, a display 800, and a multi-axis robot 900. A transmission device 210 is provided on the worktable 200, through which the camera 300 is driven to the worktable 200. The drawing fixture 400 is electrically connected to the camera 300 to illuminate the camera 300. The display 800 is located on the lens side of the camera 300 and displays a calibration pattern. The multi-axis robot 900 is fixed on the worktable 200 and moves the camera 300 to a calibration position, where it captures the calibration pattern.

[0035] Please see Figure 1 and Figure 4 As shown, in one embodiment of this utility model, the drawing fixture plate 400 is provided with a fixing structure 410, an image signal interface 420, a communication interface 430, a power supply unit 440, and a control unit 450. The camera 300 is fixed in the fixing structure 410. The image signal interface 420 is connected to the flexible printed circuit board (FPC) on the camera 300. The communication interface 430 is connected to the host computer 105. The power supply unit 440 supplies power to the camera 300, and the control unit 450 controls the output of data captured by the camera 300. In this embodiment, the input voltage of the power supply unit 440 is 12V.

[0036] Please see Figure 1 and Figure 3As shown, in one embodiment of this utility model, the camera calibration device 12 further includes a cabinet 100. The cabinet 100 includes a base 101, multiple panels 102, and an electrical board 103. Multiple fixing feet 107 are mounted on one surface of the base 101. The multiple panels 102 are mounted on the surface of the base 101 opposite to the fixing feet 107, and are fixed around the perimeter of the base 101 surface. Multiple openings 104 are provided on two opposite panels 102, and the openings 104 are symmetrically arranged. The other two opposite panels 102 can be switched on and off. The electrical board 103 connects two opposite panels 102 and is fixed above the panel 102 on the other side away from the display 800. A host computer 105 and an operation interface 106 are mounted on the electrical board 103, allowing the operator to send commands to the host computer 105 via the operation interface 106.

[0037] Please see Figure 3 As shown, in one embodiment of this utility model, the workbench 200 is fixed on a surface of the base 101 opposite to the fixed foot 107, and the transmission device 210 passes through the cabinet 100 through the opening 104. The transmission device 210 includes a transmission unit 2101 and a frame 2102. The frame 2102 is mounted on the workbench 200, and the transmission unit 2101 is mounted on the frame 2102 and can move along the frame 2102. The transmission unit 2101 is provided with multiple workstations, namely a scanning station, a loading station, and a unloading station. The transmission unit 2101 moves along the scanning station, the loading station, and the unloading station.

[0038] Please see Figure 3 As shown, in one embodiment of this utility model, a QR code scanner 500 is provided at the scanning position. The QR code scanner 500 is mounted on a frame 2102 on one side via a support shaft, and a preset distance is provided between the QR code scanner 500 and the transmission unit 2101. When the camera 300 moves to the scanning position with the transmission unit 2101, the host computer 105 controls the QR code scanner 500 to scan the QR code number on the camera 300. This utility model does not limit the size of the preset distance. In this embodiment, the preset distance is in the range of 15cm to 25cm. In other embodiments, the preset distance can be in the range of 20cm to 30cm or 10cm to 15cm, and can be adjusted accordingly based on the size of the QR code number on the camera 300.

[0039] Please see Figure 3As shown, in one embodiment of this utility model, the multi-axis robot 900 includes a base 910, a robotic arm 920, a large arm 930, a forearm 940, a wrist 950, and an end effector 960. The base 910 is fixed on the worktable 200, and the transmission device 210 near one side of the base 910 allows it to rotate 360° horizontally on the worktable 200. The robotic arm 920 is connected to the base 910 via a rotating shaft, enabling the robotic arm 920 to rotate. The large arm 930 is connected to the robotic arm 920 via a rotating shaft, enabling the large arm 930 to pitch. The forearm 940 is connected to the large arm 930 via a rotating shaft, enabling the forearm 940 to pitch. The wrist 950 is connected to the forearm 940 via a rotating shaft, enabling the wrist 950 to rotate. The end effector 960 is connected to the wrist 950 via two rotating shafts. One shaft enables the pitch movement of the end effector 960, and the other shaft enables its rotation. The host computer 105 controls the base 910 to rotate, while the robotic arm 920, upper arm 930, forearm 940, and wrist 950 rotate simultaneously. The end effector 960 then grasps and extracts the drawing fixture 400 and the camera 300. The robotic arm 920 then moves the end effector 960 to a calibrated position, where the end effector 960 adjusts the angles of the drawing fixture 400 and the camera 300.

[0040] Please see Figure 3 As shown, in one embodiment of this utility model, a defective product station 220 is also provided on the workbench. The defective product station 220 is fixed on the opposite side of the multi-axis robot 900, and the defective product station 220 is located within the grasping range of the multi-axis robot 900. The defective product station 220 is used to place defective cameras 300. When the QR code scanner 500 scans the camera 300 and displays an unqualified scanning result, or when the calibration calculation result of the camera 300 does not meet the requirements, the multi-axis robot 900 grasps the defective camera 300 and places it in the defective product station 220.

[0041] Please see Figure 3 and Figure 5As shown, in one embodiment of this utility model, a base plate 230 is also provided on the worktable 200, and the base plate 230 is close to the loading and unloading positions. A loading device 600 is provided at the loading position, and an unloading device 700 is provided at the unloading position. The loading device 600 and the unloading device 700 can rotate to release the drawing tooling plate 400. This utility model does not limit the type of the loading device 600 and the unloading device 700. In other embodiments, the loading device 600 and the unloading device 700 can be conventional material flipping devices or robotic arms. In this embodiment, the loading device 600 and the unloading device 700 have the same structure, both including a lifting module 610, a base 620, a main shaft 630, and a clamping mechanism 640. The lifting module 610 is mounted on one side of the base plate 230 and can move up and down in the Z-axis direction. The base 620 is mounted on the lifting module 610 and can rotate 180° on the plane of the lifting module 610. The spindle 630 is fixedly connected to the base 620, and the clamping mechanism 640 is fixedly connected to the spindle 630, with the clamping mechanism 640 located above the transmission device 210. When the camera 300 flows along the transmission unit 2101 to the loading position, the front of the drawing fixture plate 400 is facing upwards. The host computer 105 controls the lifting module 610 to descend directly above the drawing fixture plate 400, and the clamping mechanism 640 clamps and fixes the camera 300 and the drawing fixture plate 400. The base 620 drives the spindle 630 and the clamping mechanism 640 to rotate 180°, at which point the bottom surface of the drawing fixture plate 400 is facing upwards. When the multi-axis robot 900 places the camera 300 and the drawing fixture plate 400 onto the unloading device 700, the bottom surface of the drawing fixture plate 400 is facing upwards. The clamping mechanism 640 clamps the camera 300 and the drawing fixture plate 400. The lifting module 610 descends to directly above the unloading position. The base 620 drives the main shaft 630 and the clamping mechanism 640 to rotate 180°. The clamping mechanism 640 is released, and the camera 300 and the drawing fixture plate 400 are placed on the transmission unit 2101. At this time, the front of the drawing fixture plate 400 is facing upward.

[0042] Please see Figure 1 As shown, in one embodiment of this utility model, the display 800 includes a display screen 810 and a bracket 820, with the display screen 810 fixed on the bracket 820. A preset distance is maintained between the display screen 800 and the cabinet 100. The host computer 105 controls the display screen 810 to switch between displaying a calibration pattern, which is a checkerboard pattern based on Zhang Zhengyou's method. The width of the calibration pattern is 1 / 10 to 1 / 5 of the width of the display screen. This utility model does not limit the size of the display screen; in this embodiment, the display screen 810 is 98 inches. In other embodiments, the display screen 810 can be 85 inches or 100 inches. This utility model does not limit the size of the preset distance; in this embodiment, the preset distance is 1.5 meters. In other embodiments, the preset distance can be 1.2 meters or 1.6 meters, adjusted accordingly based on the size of the display screen 810.

[0043] Please see Figure 6 As shown, in one embodiment of this utility model, there are eleven calibration patterns, namely... Figure 6 Part (a) of the text Figure 6 The (k) part. Figure 6 The calibration pattern in section (a) is aligned with the upper left corner of display screen 810. Figure 6 The calibration pattern in the middle (b) section is aligned with the top of the display screen 810, and the calibration pattern is equidistant from the left and right sides of the display screen 810. Figure 6 The calibration pattern in section (c) is aligned with the upper right corner of display screen 810. Figure 6 The calibration pattern in the middle (d) section is aligned with the left side of the display screen 810, and the calibration pattern is equidistant from the top and bottom sides of the display screen 810. Figure 6 The center of the calibration pattern in the middle (e) section is aligned with the center of the display screen 810. Figure 6 The calibration pattern in the middle (f) section is aligned with the right side of the display screen 810, and the calibration pattern is equidistant from the top and bottom sides of the display screen 810. Figure 6 The calibration pattern in the middle (g) section is aligned with the lower left corner of the display screen 810. Figure 6 The center of the calibration pattern in the middle (h) section is aligned with the bottom side of the display screen 810, and the calibration pattern is equidistant from the left and right sides of the display screen 810. Figure 6 The calibration pattern in the middle (i) section is aligned with the lower right corner of the display screen 810. Figure 6 The center of the calibration pattern in the middle (j) section is aligned with the center of the display screen 810, and the calibration pattern is on the diagonal line from the upper left corner to the lower right corner of the display screen 810. Figure 6 The center of the calibration pattern in the middle (k) section is aligned with the center of the display screen 810, and the calibration pattern is on the diagonal line from the upper right corner to the lower left corner of the display screen 810.

[0044] Please see Figure 8 As shown, in one embodiment of this utility model, the calibration of the camera 300 includes steps S101-S104.

[0045] Step S101: Manually place the camera and the output fixture plate, which have been focused by the camera focusing equipment, onto the transmission device.

[0046] Step S102: The QR code scanner scans the QR code number on the camera and uploads the scanning result to the host computer to confirm whether it is qualified.

[0047] If the scanning result is qualified, then in step S1021, the feeding device grabs the camera and the output tooling plate and rotates it 180°.

[0048] Specifically, the camera with the correct focus adjustment device 11 corresponding to the QR code number is considered qualified if the focus adjustment of camera 300 is successful.

[0049] If the scan result is unqualified, then in step S1022, the multi-axis robot grabs the camera and the output tooling plate and places them in the defective grade.

[0050] Specifically, cameras 300 without a QR code number and cameras 300 whose QR code number does not correspond to a valid QR code number after focusing by camera focusing device 11 are considered unqualified.

[0051] Step S103: The multi-axis robot moves the camera and the output tooling to the calibration position, and the camera takes a picture of the calibration pattern.

[0052] For details, please refer to Figure 6 and Figure 7 As shown, the host computer 105 controls the multi-axis robot 900 to move to the calibration position, which is 1.5 meters away between the lens of the camera 300 and the display screen 810. The camera 300 is then positioned directly facing the center of the display screen 810. The host computer 105 then controls the output tooling plate 400 to illuminate the camera 300 and capture an image of the calibration pattern displayed on the display screen 810. In addition... Figure 6 Part (e) in Figure 6 The (j) part and Figure 6 In part (k), after the camera 300 takes a picture directly in front of the center of the display screen 810, the host computer 105 controls the end effector 960 to rotate the drawing fixture 400 and the camera 300, so that the camera 300 lens is aligned with the center of the display screen 810. Figure 6 The remaining part of the pattern was photographed from its center, resulting in a total of nineteen images.

[0053] Step S104: The output fixture uploads the images captured by the camera to the host computer. The host computer performs calibration calculations and uploads the camera QR code number and the corresponding calculation results to the database to confirm whether they meet the requirements.

[0054] If the calculation results meet the requirements, in step S1041, the multi-axis robot places the camera and the drawing fixture onto the unloading device. The unloading device grabs the camera and the drawing fixture, rotates it 180° and places it onto the transmission device. The camera and the drawing fixture are then transferred to the camera assembly equipment for assembly.

[0055] If the calculation result does not meet the requirements, proceed to step S1022.

[0056] This invention provides a camera calibration device and testing system. After the camera is focused by the camera focusing device, it is transferred to the camera calibration device. The camera calibration device calibrates the camera by setting up a worktable, a drawing fixture, a monitor, and a multi-axis robot. The calibrated camera is then assembled in the camera assembly device. This not only improves the accuracy and efficiency of camera calibration but also has strong applicability.

[0057] The embodiments of this utility model disclosed above are merely illustrative of the present utility model. The embodiments do not exhaustively describe all details, nor do they limit the utility model to the specific implementations described. Obviously, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of this utility model, thereby enabling those skilled in the art to better understand and utilize it. This utility model is limited only by the claims and their full scope and equivalents.

Claims

1. A camera calibration device, characterized in that, At least including: A workbench is provided with a transmission device, and the camera is transmitted to the workbench via the transmission device. A drawing tooling plate is electrically connected to the camera to illuminate the camera; A display, disposed on the lens side of the camera, displays a calibration pattern; as well as A multi-axis robot is fixed on the worktable. The multi-axis robot moves the camera to a calibration position and takes a picture of the calibration pattern at the calibration position.

2. The camera calibration device according to claim 1, characterized in that, The camera calibration device includes a cabinet, the workbench is located inside the cabinet, and the cabinet is set at a preset distance from the monitor.

3. The camera calibration device according to claim 1, characterized in that, The transmission device includes a transmission unit and a frame. The frame is mounted on the worktable, and the transmission unit is mounted on the frame, allowing the transmission unit to move along the frame.

4. The camera calibration device according to claim 3, characterized in that, The transmission unit is provided with a scanning position, a loading position and a unloading position, and the transmission unit moves along the scanning position, the loading position and the unloading position.

5. The camera calibration device according to claim 4, characterized in that, The scanning position is equipped with a QR code scanner, which is mounted on the frame, and a preset distance is provided between the QR code scanner and the transmission unit.

6. The camera calibration device according to claim 4, characterized in that, The loading position is equipped with a loading device, and the unloading position is equipped with a unloading device, and the loading device and the unloading device are allowed to rotate the drawing tooling plate.

7. The camera calibration device according to claim 1, characterized in that, The workbench is equipped with defective products, and the defective products are located within the grasping range of the multi-axis robot.

8. The camera calibration device according to claim 1, characterized in that, The display includes a screen that displays a variety of calibration patterns, and the width of the calibration pattern is 1 / 10 to 1 / 5 of the width of the screen.

9. The camera calibration device according to claim 1, characterized in that, The drawing fixture plate is provided with a fixing structure, which fixes the camera.

10. A camera testing system, characterized in that, include: A camera focusing device for focusing the camera; The camera calibration device according to any one of claims 1 to 9 calibrates the focused camera; The camera assembly equipment assembles the calibrated camera.

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