CN112995653A

CN112995653A - Angle adjusting device and method thereof

Info

Publication number: CN112995653A
Application number: CN202110143970.7A
Authority: CN
Inventors: 王显; 曾祥福; 李创
Original assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Current assignee: Institute of Flexible Electronics Technology of THU Zhejiang
Priority date: 2021-02-02
Filing date: 2021-02-02
Publication date: 2021-06-18

Abstract

The application discloses an angle adjusting device and a method thereof, wherein the angle adjusting device comprises a first camera, a second camera, a transverse plate, a first laser emitting module and a second laser emitting module; the first camera and the second camera are mounted on the cross plate, and the first camera and the second camera can move along the cross plate; the first laser emission module is arranged on the first camera, and the light emitting direction of the first laser emission module is parallel to the optical axis of the first camera; the second laser emission module is installed on the second camera, the light emitting direction of the second laser emission module is parallel to the optical axis of the second camera, and the first laser emission module and the second laser emission module are symmetrically arranged about a perpendicular bisector of a connecting line of the first camera and the second camera. The angle adjusting device and the angle adjusting method are convenient to operate and high in accuracy, and user experience is improved.

Description

Angle adjusting device and method thereof

Technical Field

The application relates to the technical field of binocular cameras, in particular to an angle adjusting device and method.

Background

In order to ensure that the overlapped part of the visual fields of the left camera and the right camera of the binocular camera is as large as possible when the left camera and the right camera are used, and ensure that images collected by the left camera and the right camera can have enough corresponding points when image matching calculation is carried out, the visual fields of the left camera and the right camera are required to be kept consistent as much as possible when the angle of the left camera and the right camera is adjusted. At present, the angle of the binocular camera is mainly adjusted in a manual mode, namely, images collected by the left camera and the right camera are observed through naked eyes, and when the visual fields of the left camera and the right camera are judged to be approximately the same through experience, the position of the camera is fixed so as to complete the angle adjustment of the binocular camera. However, the above method has great randomness and too many human intervention factors, and it is difficult to adjust the angle of the binocular camera to make the viewing fields of the left camera and the right camera consistent, that is, the accuracy of the angle adjustment is low, which affects the user experience.

Disclosure of Invention

In view of the above technical problems, the application provides an angle adjusting device and a method thereof, which are convenient to operate and high in accuracy, and improve the user experience.

In order to solve the technical problem, the present application provides an angle adjusting device, which includes a first camera, a second camera, a transverse plate, a first laser emitting module and a second laser emitting module; the first camera and the second camera are mounted on the cross plate, and the first camera and the second camera can move along the cross plate; the first laser emission module is arranged on the first camera, and the light emitting direction of the first laser emission module is parallel to the optical axis of the first camera; the second laser emission module is installed on the second camera, the light emitting direction of the second laser emission module is parallel to the optical axis of the second camera, and the first laser emission module and the second laser emission module are symmetrically arranged about a perpendicular bisector of a connecting line of the first camera and the second camera.

Optionally, the device further comprises a control module, a first motor and a second motor, wherein the control module is connected with the first motor and the second motor, the first motor is movably mounted at the first end of the transverse plate and connected with the first camera, the second motor is movably mounted at the second end of the transverse plate and connected with the second camera, and the control module is used for controlling the first motor and the second motor to move.

Optionally, the transverse plate is provided with a slide rail with scales or clamping holes at equal intervals.

Optionally, the first laser emission module includes a first fixing component and at least one first laser, at least one first laser is mounted around the first camera or on the lens axis of the first camera through the first fixing component, the second laser emission module includes a second fixing component and at least one second laser, and at least one second laser is mounted around the second camera or on the lens axis of the second camera through the second fixing component.

Optionally, if the number of the first laser and the number of the second laser are respectively greater than one, the first laser is symmetrically distributed about the first camera, the second laser is symmetrically distributed about the second camera, and at least a part of the first laser and at least a part of the second laser are correspondingly symmetrical about the perpendicular bisector.

Optionally, the device is still including fixed or movable mounting in third laser emission module on the diaphragm, third laser emission module is located perpendicular bisector department, just the light-emitting direction of third laser emission module with the perpendicular bisector is parallel.

Optionally, the third laser emission module includes at least one third laser, at least a portion of the first laser and at least a portion of the second laser are correspondingly symmetric with respect to at least a portion of the third laser, and the spot patterns projected by at least a portion of the third laser are respectively the same as the spot patterns projected by at least a portion of the first laser and at least a portion of the second laser.

Optionally, the first laser, the second laser and the third laser include at least one of the following lasers: cross laser, in-line laser, point laser.

In order to solve the above technical problem, the present application further provides an angle adjusting method based on the above angle adjusting device, including the following steps:

synchronously rotating the first camera and the second camera, so that the first camera rotates clockwise and the second camera rotates anticlockwise;

acquiring spot information generated by the first laser emission module and the second laser emission module;

and judging whether the current spot information meets a preset coincidence condition, if so, controlling the first camera and the second camera to stop rotating.

Optionally, the acquiring the spot information generated by the first laser emission module and the second laser emission module includes the following steps:

acquiring images obtained by shooting light spots generated by the first laser transmitting module and the second laser transmitting module;

the step of judging whether the current spot information meets a preset coincidence condition comprises the following steps:

acquiring the current number and the current light spot area of connected domains formed by the light spots in the image;

obtaining the change rate of the current spot area according to the current spot area and the spot area at the previous moment;

detecting whether the current number of the connected domains is equal to the number of the first lasers or the second lasers, judging whether the spot area is in a descending trend according to the current spot area and the spot area at the previous moment, and detecting whether the spot area change rate is smaller than a preset threshold value;

if the current number of the connected domains is equal to the number of the first lasers or the second lasers, the spot area is in a descending trend, and the spot area change rate is smaller than a preset threshold value, it is indicated that the current spot information meets a preset coincidence condition.

Optionally, the acquiring the current number of connected domains formed by the light spots in the current image and the current light spot area includes the following steps:

after the current image is converted into a gray-scale image, carrying out binarization processing on the gray-scale image to obtain a binary image;

extracting connected domains from the binary image to obtain the number of the connected domains formed by the light spots and the area of each connected domain;

and taking the sum of the areas of the connected domains as the current light spot area.

and acquiring spot information generated by the first laser emission module, the second laser emission module and the third laser emission module.

The angle adjusting device of this application, through the shooting angle of adjusting first camera and second camera and the position of the produced facula of corresponding regulation first laser emission module and second laser emission module, and then judge whether the visual field of first camera and second camera is adjusted to the unanimity based on the position of facula, need not user manual operation, simple operation and accuracy are high, have promoted user and have used experience.

According to the angle adjusting method, in the process of rotating the first camera and the second camera, whether the light spots generated by the first laser emitting module and the second laser emitting module meet the preset coincidence condition or not is judged, so that whether the visual fields of the first camera and the second camera are adjusted to be consistent or not is judged, the operation is convenient and fast, the accuracy is high, and the user experience is improved.

Drawings

Fig. 1 is a first schematic view of an angle adjustment apparatus according to a first embodiment;

fig. 2 is a schematic structural view ii of the angle adjusting apparatus according to the first embodiment;

fig. 3 is a first specific structural diagram of the angle adjusting device according to the first embodiment;

fig. 4 is a schematic structural view of a cross plate in the angle adjusting device according to the first embodiment;

fig. 5 is a partially enlarged schematic view of the angle adjusting device shown according to the first embodiment;

fig. 6 is a schematic view showing the distribution of lasers in the angle adjusting apparatus according to the first embodiment;

fig. 7 is a schematic configuration diagram three of the angle adjusting apparatus according to the first embodiment;

fig. 8 is a second specific structural view of the angle adjusting device according to the first embodiment;

fig. 9 is a flowchart illustrating an angle adjustment method according to a second embodiment.

Detailed Description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, the recitation of an element by the phrase "comprising an … …" does not exclude the presence of additional like elements in the process, method, article, or apparatus that comprises the element, and further, where similarly-named elements, features, or elements in different embodiments of the disclosure may have the same meaning, or may have different meanings, that particular meaning should be determined by their interpretation in the embodiment or further by context with the embodiment.

It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope herein. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context. Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," "includes" and/or "including," when used in this specification, specify the presence of stated features, steps, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, steps, operations, elements, components, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions, steps or operations are inherently mutually exclusive in some way.

It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for the convenience of description of the present application, and have no specific meaning in themselves. Thus, "module", "component" or "unit" may be used mixedly.

First embodiment

Fig. 1 is a schematic structural diagram of an angle adjustment apparatus according to a first embodiment, and referring to fig. 1, the angle adjustment apparatus of the present embodiment includes a horizontal plate 1, a first camera 2, a second camera 3, a first laser emitting module 4, and a second laser emitting module 5; the first camera 2 and the second camera 3 are mounted on the cross board 1, and the first camera 2 and the second camera 3 can move along the cross board 1; the first laser emission module 4 is installed on the first camera 2, and the light emitting direction of the first laser emission module 4 is parallel to the optical axis of the first camera 2; the second laser emission module 5 is installed on the second camera 3, the light emitting direction of the second laser emission module 5 is parallel to the optical axis of the second camera 3, and the first laser emission module 4 and the second laser emission module 5 are symmetrically arranged about a perpendicular bisector of a connecting line of the first camera 2 and the second camera 3.

It should be noted that, in the present embodiment, when the photographing direction of the binocular camera faces away from the user, the camera located in the left-hand direction of the user in the binocular camera is referred to as the first camera 2, and the camera located in the right-hand direction of the user is referred to as the second camera 3. In this embodiment, with diaphragm 1 level sets up to the example, certainly diaphragm 1 also can set up according to concrete application scenario, if vertically place, the slope is placed etc. only need guarantee that the optical axis of first camera 2 is parallel to each other with the optical axis of second camera 3, just diaphragm 1 still should have certain hardness to can bear certain gravity and indeformable. When it is necessary to adjust the fields of view of the first camera 2 and the second camera 3 to be consistent, the user may rotate the first camera 2 clockwise and the second camera 3 counterclockwise, the first laser emission module 4 and the second laser emission module 5 correspondingly rotate, at this time, light spots generated by the first laser emission module 4 and the second laser emission module 5 are close to each other, if the position where the light spots generated by the first laser emission module 4 and the second laser emission module 5 are overlapped is on a target plane and is correspondingly positioned between the positions of the first camera 2 and the second camera 3, the target plane is a plane where light spots generated by the first laser emitting module 4 and the second laser emitting module 5 are located, such as a wall or the like, the fields of view of the first camera 2 and the second camera 3 may be considered to be identical at this time. It should be noted that the first camera 2 and the second camera 3 are rotatable relative to each other.

In summary, in the angle adjusting device provided in the above embodiment, the shooting angles of the first camera and the second camera are adjusted to correspondingly adjust the positions of the light spots generated by the first laser emission module and the second laser emission module, and then whether the viewing fields of the first camera and the second camera are adjusted to be consistent is determined based on the positions of the light spots, so that a user does not need to manually operate, and the camera does not need to be started, so that the operation is convenient and fast, the accuracy is high, and the user experience is improved.

Optionally, referring to fig. 1 again, the first laser emitting module 4 includes a first fixing component 41 and at least one first laser 42, and the at least one first laser 42 is mounted around the first camera 2 or on the lens axis of the first camera 2 through the first fixing component 41; the second laser emitting module 5 comprises a second fixed component 51 and at least one second laser 52, and at least one second laser 52 is mounted around the second camera 3 or on the lens axis of the second camera 3 through the second fixed component 51.

It should be noted that the first fixing component 41 and the second fixing component 51 may be hollow so as to be sleeved on the corresponding first camera 2 and the second camera 3, or the first fixing component 41 and the second fixing component 51 may also be connected to the corresponding first camera 2 and the second camera 3 through bolts and the like. The first laser 42 is movably connected or fixedly connected to the first fixing component 41, so as to be installed around the first camera 2 or on the lens axis of the first camera 2 through the first fixing component 41, and the light emitting direction of the first laser 42 is parallel to the optical axis of the first camera 2. The second laser 52 is movably connected or fixedly connected to the second fixing component 51, so as to be installed around the second camera 3 or on the lens axis of the second camera 3 through the second fixing component 51, and the light emitting direction of the second laser 52 is parallel to the optical axis of the second camera 3. It can be understood that, in order to make the light spots emitted by the first laser 42 and the second laser 52 coincide correspondingly during the adjustment of the angle of the binocular camera, i.e., the adjustment of the shooting angles of the first camera 2 and the second camera 3, so as to ensure that the fields of view of the first camera 2 and the second camera 3 are consistent, the number of the first laser 42 and the second laser 52 may be the same and symmetrical about the midperpendicular of the connection line of the first camera 2 and the second camera 3. In a specific application, the first fixing component 41 and the second fixing component 51 may be sleeves, the first laser 42 and the second laser 52 are respectively installed in the centers of the sleeves, that is, the first laser 42 and the second laser 52 are respectively installed in the centers of one ends of the corresponding sleeves, the other ends of the sleeves are sleeved on the first camera 2 and the second camera 3, and lenses of the first camera 2 and the second camera 3 are on the same axis as the corresponding sleeves and the corresponding lasers. So, through the multiple mounting means that provides to first laser instrument and second laser instrument, can adjust the angle of two mesh cameras in a flexible way, further promoted user and used experience. It should be noted that the first laser 42 and the second laser 52 may be a line laser, a cross laser, a spot laser, etc., and the present embodiment is not limited thereto.

Optionally, fig. 2 is a schematic diagram of an architecture of the angle adjustment device shown in the first embodiment, fig. 3 is a schematic diagram of a specific structure of the angle adjustment device shown in the first embodiment, referring to fig. 2 and fig. 3, the angle adjustment device may further include a control module 6, a first motor 7, and a second motor 8, the control module 6 is connected to the first motor 7 and the second motor 8, the first motor 7 is movably installed on the first end of the horizontal plate 1 and connected to the first camera 2, the second motor 8 is movably installed on the second end of the horizontal plate 1 and connected to the second camera 3, and the control module 6 is configured to control the first motor 7 and the second motor 8 to move.

It should be noted that, the control module 6 controls the first motor 7 and the second motor 8 to move, and may include at least one of the following conditions: the control module 6 controls the first motor 7 and the second motor 8 to rotate so as to rotate the first camera 2 and the second camera 3; the control module 6 controls the first motor 7 and the second motor 8 to move relative to the horizontal plate 1 so as to synchronously drive the first camera 2 and the second camera 3 to move relative to the horizontal plate 1. The connection between the first camera 2 and the first motor 7 may be understood as that the first camera 2 is connected to a rotating shaft of the first motor 7 so as to move correspondingly along with the movement of the first motor 7 or rotate correspondingly along with the rotation of the rotating shaft of the first motor 7, for example, the first camera 2 is sleeved on the rotating shaft of the first motor 7. Correspondingly, the connection between the second camera 3 and the second motor 8 may be understood as that the second camera 3 is connected to the rotating shaft of the second motor 8 so as to move correspondingly along with the movement of the second motor 8 or rotate correspondingly along with the rotation of the rotating shaft of the second motor 8, for example, the second camera 3 is sleeved on the rotating shaft of the second motor 8. Preferably, first motor 7 with second motor 8 is about perpendicular bisector symmetry setting of diaphragm 1, first motor 7 with second motor 8 movable mounting be in on diaphragm 1 to can conveniently adjust according to the demand first motor 7 with the distance between the second motor 8. In practical applications, in order to improve the adjustment accuracy and the shooting effect, a distance between the first motor 7 and the second motor 8 may be set to 0.8Z to 2.2Z, where Z represents a distance between a connecting line between the first camera 2 and the second camera 3 and the object to be measured.

Here, when the control module 6 controls the first motor 7 and the second motor 8 to rotate, the shooting angles of the first camera 2 and the second camera 3 change correspondingly, in order to achieve that the fields of view of the first camera 2 and the second camera 3 are as consistent as possible, it should be ensured that a position where the light spots generated by the first laser emission module 4 and the second laser emission module 5 coincide is located on a target plane and is correspondingly located between the positions of the first camera 2 and the second camera 3, and the target plane is a plane where the light spots generated by the first laser emission module 4 and the second laser emission module 5 are located, such as a wall. It should be noted that the rotation speeds of the first camera 2 and the second camera 3 may be the same or different. Preferably, the control module 6 controls the first motor 7 to rotate clockwise and the second motor 8 to rotate counterclockwise at the same speed, so that the shooting angle of the first camera 2 and the shooting angle of the second camera 3 move towards each other synchronously, and the overlapping part of the fields of view of the first camera 2 and the second camera 3 is as large as possible. In order to accurately control the rotation of the first camera 2 and the second camera 3, the first motor 7 and the second motor 8 may be servo motors. Of course, other motors may be used for the first motor 7 and the second motor 8, and this embodiment is not particularly limited. In addition, the control module 6 may specifically be a single chip, a processor, or other devices, and may also specifically be a computer or other devices. So, move through first motor of control module control and second motor to adjust the shooting angle of first camera and second camera, need not the motion of user manual control first camera and second camera, further promoted user and used experience.

Optionally, fig. 4 is a schematic structural diagram of a transverse plate in an angle adjusting device shown in the first embodiment, referring to fig. 4(b), a slide rail (not shown) with scales is provided on the transverse plate 1, the first motor 7 and the second motor 8 or the first camera 2 and the second camera 3 may be movably mounted on the transverse plate 1 through the slide rail, and a user may conveniently adjust positions of the first motor 7 and the second motor 8 or positions of the first camera 2 and the second camera 3 on the transverse plate 1 through the slide rail, and may accurately adjust corresponding positions through the scales. Referring to fig. 4(a), the transverse plate 1 is provided with clamping holes at equal intervals, the first motor 7 and the second motor 8 or the first camera 2 and the second camera 3 can be movably mounted on the transverse plate 1 through the clamping holes, and a user can conveniently and accurately adjust the positions of the first motor 7 and the second motor 8 or the positions of the first camera 2 and the second camera 3 on the transverse plate 1 through the clamping holes, so that the user experience is improved.

Optionally, if the number of the first laser 42 and the second laser 52 is greater than one, respectively, the first laser 42 is symmetrically distributed about the first camera 2, the second laser 52 is symmetrically distributed about the second camera 3, and at least a portion of the first laser 42 and at least a portion of the second laser 52 are correspondingly symmetrical about the perpendicular bisector. When the first laser 42 and the second laser 52 are plural in number, respectively, in order to adjust the angle of the binocular camera, the first laser 42 should be symmetrically distributed with respect to the first camera 2, and the second laser 52 should be symmetrically distributed with respect to the second camera 3. In addition, the number of the first lasers 42 and the number of the second lasers 52 may be the same or different. Fig. 5 is a partially enlarged schematic view of an angle adjusting apparatus according to a first embodiment, fig. 6 is a schematic view of the distribution of lasers in the angle adjusting apparatus according to the first embodiment, black dots indicate the lasers, and circular frames indicate fixing members, referring to fig. 6, and fig. 6(a), 6(b), 6(c), and 6(d) are schematic views of the corresponding distribution when the number of lasers is 2, 4, 6, and 8, respectively, when the respective lasers are symmetrical. It should be noted that, when the number of the first laser 42 and the second laser 52 is respectively greater than one, the first laser 42 may also be asymmetrically distributed with respect to the first camera 2, and the second laser 52 may also be asymmetrically distributed with respect to the second camera 3, and it is only necessary to ensure that at least a portion of the first laser 42 and at least a portion of the second laser 52 are correspondingly symmetric with respect to the perpendicular bisector. So, set up to the symmetric distribution through with first laser instrument and second laser instrument, can conveniently adjust the shooting angle of binocular camera more.

Optionally, fig. 7 is a schematic diagram of a third architecture of the angle adjustment device shown in the first embodiment, fig. 8 is a schematic diagram of a second specific structure of the angle adjustment device shown in the first embodiment, referring to fig. 7 and 8, the angle adjustment device may further include a third laser emitting module 9 fixedly or movably mounted on the transverse plate 1, the third laser emitting module 9 is located at the perpendicular bisector, and a light emitting direction of the third laser emitting module 9 is parallel to the perpendicular bisector. When the fields of view of the first camera 2 and the second camera 3 need to be adjusted to be consistent, a user can rotate the first camera 2 clockwise and rotate the second camera 3 counterclockwise, the first laser emission module 4 and the second laser emission module 5 correspondingly rotate, at this time, light spots generated by the first laser emission module 4 and the second laser emission module 5 are close to light spots generated by the third laser emission module 9, and if the light spots generated by the first laser emission module 4 and the second laser emission module 5 are coincident with the light spots generated by the third laser emission module 9, it can be considered that the fields of view of the first camera 2 and the second camera 3 are substantially consistent at this time. Here, if the third laser emitting module 9 is movably installed on the horizontal plate 1, in the process of adjusting the shooting angle of the binocular camera, the first camera 2 may be kept still, and the third laser emitting module 9 and the second camera 3 may be moved, or the second camera 3 may be kept still, and the third laser emitting module 9 and the first camera 2 may be moved, so that the light spots generated by the first laser emitting module 4, the second laser emitting module 5, and the third laser emitting module 9 may coincide, thereby completing the adjustment of the shooting angle of the binocular camera. Therefore, the third laser emission module is arranged to use the light spot generated by the third laser emission module as a reference object for determining whether the light spots coincide with each other, and operation convenience and accuracy are further improved.

Optionally, referring to fig. 8 again, the third laser emitting module 9 includes at least one third laser 91, at least a portion of the first laser 41 and at least a portion of the second laser 51 are symmetrical with respect to at least a portion of the third laser 91, and the spot patterns projected by at least a portion of the third laser 91 are the same as the spot patterns projected by at least a portion of the first laser 41 and at least a portion of the second laser 51, respectively. Here, at least a part of the first laser 41 and at least a part of the second laser 51 are correspondingly symmetrical with respect to at least a part of the third laser 91, which may be understood as that at least a part of the first laser 41, at least a part of the second laser 51 and at least a part of the third laser 91 have the same height with respect to the horizontal plate 1, and when at least a part of the first laser 41 and at least a part of the second laser 51 are correspondingly symmetrical with respect to at least a part of the third laser 91, spot patterns projected onto a target plane by at least a part of the first laser 41, at least a part of the second laser 51 and at least a part of the third laser 91, respectively, may be on the same horizontal line, which may further facilitate determining whether spots coincide, and improve convenience in operation.

Second embodiment

Based on the angle adjustment device provided in the first embodiment, fig. 9 is a schematic flowchart of an angle adjustment method according to a second embodiment, and as shown in fig. 9, the method includes the following steps:

step 101: synchronously rotating the first camera and the second camera, so that the first camera rotates clockwise and the second camera rotates anticlockwise;

here, if the first camera and the second camera are manually operated by a user to rotate, the rotation speed of the first camera may be the same as or different from the rotation speed of the second camera. If the first camera and the second camera are controlled by the control module to rotate by the first motor and the second motor and rotate correspondingly, the rotation speed of the first camera may be the same as or different from the rotation speed of the second camera. Before or simultaneously rotating the first camera and the second camera synchronously, the first laser and the second laser are turned on, so that the first laser and the second laser project a spot forward. In addition, there may be an object to be measured in front of the binocular camera, so that the first laser and the second laser respectively project light spots to the object to be measured. Meanwhile, if the distance between the object to be measured and the connecting line of the binocular cameras is Z, the distance between the first camera 2 and the second camera 3 or the distance between the first motor 7 and the second motor 8 can be adjusted to be 0.8Z to 2.2Z, so that the angle adjustment precision and the shooting effect are improved.

Step S102: acquiring spot information generated by the first laser emission module and the second laser emission module;

here, if the first camera and the second camera are manually operated by a user to rotate and the user needs to judge whether the fields of view of the first camera and the second camera are consistent, the user may observe spot information generated by the first laser emission module and the second laser emission module by naked eyes, so as to obtain the spot information generated by the first laser emission module and the second laser emission module. If the first camera and the second camera are controlled by the control module to rotate and rotate correspondingly, the light spot information generated by the first laser emission module and the second laser emission module can be acquired correspondingly through the image shot by the first camera or the second camera.

Step S103: judging whether the current light spot information meets a preset coincidence condition, if so, executing a step S104, otherwise, returning to execute the step S101;

step S104: controlling the first camera and the second camera to stop rotating.

In this embodiment, taking the first laser emitting module as a first laser, the second laser emitting module as a second laser, and the numbers of the first laser and the second laser are respectively one, and the rotation of the first camera and the second camera is controlled by the control module as an example, in the process that the control module controls the first motor to rotate clockwise and the second motor to rotate counterclockwise, the light spots projected by the first laser and the second laser will gradually approach on the target plane, and when the overlapping position of the light spots emitted by the first laser and the second laser is on the target plane and is correspondingly located between the positions of the first camera and the second camera, it is indicated that the fields of view of the first camera and the second camera are consistent at this time, and the angle adjustment of the binocular camera is completed. The target plane is a plane where light spots generated by the first laser emitting module and the second laser emitting module are located, such as a wall. Based on the principle, whether the first motor and the second motor are controlled to stop rotating or not, namely whether the first camera and the second camera are controlled to stop rotating or not can be determined by detecting whether the current spot information meets a preset coincidence condition or not. The coincidence condition can be set according to actual needs, for example, when the light spot is manually adjusted, the coincidence condition can be that the light spot coincidence position is on the target plane and is correspondingly located between the positions of the first camera and the second camera; when the adjustment is performed automatically, the coincidence condition may be that the spot area satisfies a preset area condition, and the like. Optionally, the acquiring the spot information generated by the first laser emission module and the second laser emission module includes the following steps: acquiring images obtained by shooting light spots generated by the first laser transmitting module and the second laser transmitting module; the step of judging whether the current spot information meets a preset coincidence condition comprises the following steps: acquiring the current number and the current light spot area of connected domains formed by the light spots in the image; obtaining the change rate of the current spot area according to the current spot area and the spot area at the previous moment; detecting whether the current number of the connected domains is equal to the number of the first lasers or the second lasers, judging whether the spot area is in a descending trend according to the current spot area and the spot area at the previous moment, and detecting whether the spot area change rate is smaller than a preset threshold value; if the current number of the connected domains is equal to the number of the first lasers or the second lasers, the spot area is in a descending trend, and the spot area change rate is smaller than a preset threshold value, it is indicated that the current spot information meets a preset coincidence condition. Therefore, whether the light spot information meets the preset coincidence condition or not is detected through the number of the connected domains and the change rate of the light spot area, the accuracy is high, and the processing speed is high.

Optionally, the acquiring the current number and the current spot area of the connected domain formed by the spots in the image includes: after the image is converted into a gray-scale image, carrying out binarization processing on the gray-scale image to obtain a binary image; extracting connected domains from the binary image to obtain the number of the connected domains formed by the light spots and the area of each connected domain; and taking the sum of the areas of the connected domains as the current light spot area. Here, the three-channel 8-bit RGB image captured by the first camera or the second camera may be converted into a grayscale image by using a conversion formula f (x) ═ 0.3R +0.5G +0.11B, and then the grayscale image may be binarized by using an average value calculated by using 5 × 5, 3 × 3, 7 × 7, or the like as a neighborhood as an adaptive threshold, so as to obtain a binary image. Because the brightness of the laser spot is higher than that of the background, the brightness value of the position where the laser spot is located after binarization is 255, and the brightness value of the position where the background is located is 0, connected domains are extracted from the generated binary image according to the brightness values, the areas of the connected domains are calculated, and the connected domains are accumulated together to be used as the areas of the laser spots. Therefore, the area of the light spot in the image is obtained through operations such as binarization processing and connected domain extraction, and the method is simple to operate and high in accuracy.

Here, whether the spot area is in a descending trend may be determined according to whether the current spot area is smaller than the spot area at the previous time, and the current spot area change rate may be obtained according to the current spot area and the spot area at the previous time, where the current spot area change rate may be obtained by dividing a difference between the spot area at the previous time and the current spot area by the current spot area. The preset threshold may be set according to actual needs, and is not specifically limited herein. When the number of the first laser and the number of the second laser are respectively one, if the light spots emitted by the first laser and the second laser are overlapped, the number of the corresponding connected domains at this time should also be 1.

In summary, in the angle adjusting method provided in the above embodiment, if the user selects the manual adjustment mode, that is, the first camera and the second camera are manually operated by the user to rotate, and the user determines whether the fields of view of the first camera and the second camera are consistent, the first camera and the second camera do not need to be turned on at this time, and the field of view of the cameras does not need to be observed, the angle adjustment of the binocular camera can be completed only by adjusting the cameras to drive the lasers to rotate, and by observing whether the light spots emitted by the lasers coincide, and by determining whether the light spots emitted by the lasers coincide as the angle adjustment index of the binocular camera, the method is strong in operability and easy to implement. If the user selects an automatic adjusting mode, namely the first camera and the second camera are controlled by the control module to rotate the first motor and the second motor correspondingly, and the angle adjusting process of the binocular camera is controlled through the image shot by the first camera or the second camera, so that the manual operation of the user is not needed, the operation is convenient and fast, the accuracy is high, and the use experience of the user is improved.

Optionally, the acquiring the spot information generated by the first laser emission module and the second laser emission module includes the following steps: and acquiring spot information generated by the first laser emission module, the second laser emission module and the third laser emission module. Here, if the first camera and the second camera are manually operated by a user to rotate and the user needs to judge whether the fields of view of the first camera and the second camera are consistent, the user may observe spot information generated by the first laser emission module, the second laser emission module, and the third laser emission module with naked eyes, so as to obtain spot information generated by the first laser emission module, the second laser emission module, and the third laser emission module, and when it is determined that spots generated by the first laser emission module and the second laser emission module are respectively overlapped with spots generated by the third laser emission module, it is determined that the current spot information satisfies a preset overlapping condition, and the first camera and the second camera are controlled to stop rotating. If the first camera and the second camera are controlled by the control module to rotate correspondingly by the first motor and the second motor, the light spot information generated by the first laser emission module and the second laser emission module can be correspondingly acquired through the image shot by the first camera or the second camera, for example, the image obtained by shooting the light spots generated by the first laser emission module, the second laser emission module and the third laser emission module is acquired, the current number and the current light spot area of a connected domain formed by the light spots in the image are further acquired, the current light spot area change rate is acquired according to the current light spot area and the light spot area at the previous moment, whether the current number of the connected domain is equal to the number of the first laser or the second laser is detected, and whether the light spot area is in a descending state is judged according to the current light spot area and the light spot area trend at the previous moment Detecting whether the change rate of the area of the light spot is smaller than a preset threshold value or not; if the current number of the connected domains is equal to the number of the first lasers or the second lasers, the spot area is in a descending trend, and the spot area change rate is smaller than a preset threshold value, it is indicated that the current spot information meets a preset coincidence condition. Therefore, the light spot for reference is provided through the third transmitting module, and the angle adjusting accuracy and the user experience are further improved.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An angle adjusting device is characterized by comprising a first camera, a second camera, a transverse plate, a first laser emitting module and a second laser emitting module; the first camera and the second camera are mounted on the cross plate, and the first camera and the second camera can move along the cross plate; the first laser emission module is arranged on the first camera, and the light emitting direction of the first laser emission module is parallel to the optical axis of the first camera; the second laser emission module is installed on the second camera, the light emitting direction of the second laser emission module is parallel to the optical axis of the second camera, and the first laser emission module and the second laser emission module are symmetrically arranged about a perpendicular bisector of a connecting line of the first camera and the second camera.

2. The angle adjusting device of claim 1, further comprising a control module, a first motor and a second motor, wherein the control module is connected to the first motor and the second motor, the first motor is movably mounted on the first end of the cross plate and connected to the first camera, the second motor is movably mounted on the second end of the cross plate and connected to the second camera, and the control module is configured to control the first motor and the second motor to move.

3. The angle adjusting device of claim 1, wherein the cross plate is provided with a slide rail with scales or clamping holes with equal intervals.

4. The angle adjusting apparatus of claim 1, wherein the first laser light emitting module includes a first fixing member and at least one first laser, at least one of the first laser is installed around the first camera or on a lens axis of the first camera by the first fixing member, the second laser light emitting module includes a second fixing member and at least one of the second laser, at least one of the second laser is installed around the second camera or on a lens axis of the second camera by the second fixing member.

5. The angle adjustment apparatus of claim 4, wherein if the number of the first laser and the second laser is greater than one, the first laser is symmetrically distributed about the first camera, the second laser is symmetrically distributed about the second camera, and at least a portion of the first laser and at least a portion of the second laser are symmetrically distributed about the perpendicular bisector.

6. The angle adjusting device of claim 1 or 4, further comprising a third laser emitting module fixedly or movably mounted on the transverse plate, wherein the third laser emitting module is located at the perpendicular bisector, and a light emitting direction of the third laser emitting module is parallel to the perpendicular bisector.

7. The angle adjusting apparatus of claim 6, wherein the third laser emitting module comprises at least one third laser, at least a portion of the first laser and at least a portion of the second laser are correspondingly symmetric with respect to at least a portion of the third laser, and at least a portion of the third laser projects the same spot pattern as at least a portion of the first laser and at least a portion of the second laser, respectively.

8. The angle adjustment apparatus of claim 7, wherein the first laser, the second laser, and the third laser comprise at least one of: cross laser, in-line laser, point laser.

9. An angle adjustment method using the device according to any one of claims 1 to 8, comprising the steps of:

10. The method according to claim 9, wherein the obtaining of the spot information generated by the first laser emitting module and the second laser emitting module comprises:

11. The method according to claim 10, wherein the obtaining of the current number of connected components formed by the light spots in the image and the current light spot area comprises the following steps:

after the image is converted into a gray-scale image, carrying out binarization processing on the gray-scale image to obtain a binary image;

extracting connected domains from the binary image to obtain the current number of the connected domains formed by the light spots and the area of each connected domain;

12. The method according to claim 9, wherein the obtaining of the spot information generated by the first laser emitting module and the second laser emitting module comprises: