CN210739819U - Camera calibration cloud platform and contain this calibration frock of calibrating cloud platform - Google Patents
Camera calibration cloud platform and contain this calibration frock of calibrating cloud platform Download PDFInfo
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- CN210739819U CN210739819U CN201921365576.2U CN201921365576U CN210739819U CN 210739819 U CN210739819 U CN 210739819U CN 201921365576 U CN201921365576 U CN 201921365576U CN 210739819 U CN210739819 U CN 210739819U
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Abstract
The utility model relates to a camera calibration device, in particular to a camera calibration cloud platform and a calibration tool comprising the same, wherein the calibration cloud platform is used for installing a camera to be calibrated, and comprises a cloud platform base, a horizontal steering component arranged on the cloud platform base, a vertical steering component arranged on the horizontal steering component, and a camera fixing component fixed on the vertical steering component; the camera is fixed on the camera fixing component. The calibration holder is simple in structure and ingenious in design, can adjust the angle of the camera in the horizontal direction and the vertical direction, and can realize quick assembly disassembly and replacement of the camera and various cameras. The calibration tool comprises a calibration holder, a holder support, a calibration plate assembly and a calibration track, and has the advantages of simple structure, reasonable design, simplicity in operation, better compatibility, capability of improving quality inspection efficiency in the production process of the camera, and the like.
Description
Technical Field
The utility model relates to a camera calibration device, concretely relates to camera are markd the cloud platform and are contained this demarcation frock of demarcating the cloud platform.
Background
In the virtual reality multi-target tracking technology, in order to determine the mutual relation between the spatial position of a target object and the imaging of the target object in an image, a geometric model of the imaging of a camera needs to be established, the parameters of the geometric model are camera parameters, and the process of solving the parameters is called camera calibration. Before the camera leaves a factory, the camera needs to be calibrated to obtain calibration information of the camera, so that the camera can process images according to the calibration information, and the processed images can restore objects in a three-dimensional space. The existing camera calibration tool for calibrating cameras such as robots and mobile phones generally comprises a camera calibration table and a calibration plate assembly, and the camera calibration table and the calibration plate assembly need to be provided with rotating devices, so that the relative position, the corresponding angle and the like between the camera and the calibration plate can be adjusted, and more comprehensive calibration parameters can be obtained. On one hand, the calibration tool is complex in calibration operation, high in debugging difficulty and large in occupied space, and on the other hand, the calibration tool can only calibrate one series of cameras generally, cannot complete replacement of multiple cameras and is poor in compatibility.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a cloud platform is markd to camera, should mark cloud platform simple structure, design benefit can be at the angle of horizontal direction and vertical orientation adjustment camera to can realize the quick assembly disassembly of camera, the replacement of multiple camera.
In order to achieve the above object, the utility model adopts the following technical scheme:
a camera calibration tripod head is used for installing a camera to be calibrated and comprises a tripod head base, a horizontal steering component arranged on the tripod head base, a vertical steering component arranged on the horizontal steering component and a camera fixing component fixed on the vertical steering component; the camera is fixed on the camera fixing component.
Specifically, the horizontal steering assembly comprises a holder rotating motor and a holder bottom plate; the cloud platform rotating electrical machines is fixed on cloud platform base and is connected with program controller, and cloud platform rotating electrical machines's output is fixed at cloud platform bottom plate middle part to drive cloud platform bottom plate and rotate in the horizontal direction.
As a preferred scheme, the rotational motor of the pan/tilt head is an external rotor motor, and both ends of the rotational motor are provided with assembly planes, wherein the assembly plane at one end of the rotational motor of the pan/tilt head is fixed on the base of the pan/tilt head, and the assembly plane at one end of the rotatable housing is fixed in the middle below the bottom plate of the pan/tilt head.
More specifically, the vertical steering assembly comprises two rotating supports arranged at two sides of a holder base plate, a camera rotating motor and a rotating shaft driven supporting block which are respectively arranged at the inner sides of the two rotating supports, and a rotating calibration platform, wherein one end of the rotating calibration platform is fixed with the output end of the camera rotating motor, and the other end of the rotating calibration platform is rotatably connected with the rotating shaft driven supporting block; the camera rotating motor is connected with the program controller.
As a preferred scheme, two ends of the rotary calibration platform are respectively fixed with an L-shaped rotary platform support, one rotary platform support is fixed with the output end of the camera rotating motor, and the other rotary platform support is rotatably connected with the driven supporting block bearing of the rotating shaft through a rotating shaft.
Furthermore, the camera fixing component comprises a camera mounting seat arranged on the rotary calibration platform, a groove matched with the back of the camera is formed in the middle of the front face of the camera mounting seat, and two camera pressing blocks used for pressing the camera flanging are symmetrically arranged on the camera mounting seat on the two sides of the groove.
Furthermore, the camera pressing block is 7-shaped, one end of the camera pressing block is rotatably connected with the camera mounting seat, and a return spring is arranged between the camera mounting seat and the camera pressing block.
The utility model discloses a still another purpose is for providing a camera calibration fixture who contains above-mentioned cloud platform of maring, should mark frock simple structure, reasonable in design, easy operation more has compatibly, can promote quality control efficiency in camera production process.
In order to achieve the above object, the utility model adopts the following technical scheme:
the camera calibration tool comprises the calibration cloud deck, a cloud deck support, a calibration track and a calibration plate assembly, wherein the cloud deck support is arranged below the calibration cloud deck and used for elevating the calibration cloud deck; the calibration plate assembly comprises a calibration plate printed with an image to be identified by a camera, and the height of the calibration plate corresponds to that of the camera; the calibration plate assembly is slidably mounted on the calibration track to adjust the distance between the calibration plate and the camera.
Furthermore, the calibration track is connected with a track motor, and the track motor is connected with the program controller; the calibration track is provided with a movable mounting seat, and the track motor provides power for the calibration track to enable the movable mounting seat to move back and forth on the calibration track.
Furthermore, the calibration plate assembly further comprises a calibration plate mounting seat, the lower portion of the calibration plate mounting seat is fixed on the movable mounting seat, a U-shaped frame is arranged above the calibration plate mounting seat, a calibration plate groove is formed in the U-shaped frame, and the calibration plate is inserted into the calibration plate groove from an opening above the U-shaped frame.
Compared with the prior art, the utility model discloses following beneficial effect has:
(1) the utility model discloses simple structure, reasonable in design, convenient operation, rotatable camera is with adjusting its rotation angle, changing multiple calibration board and changing the interval between camera and the calibration board to improve its precision of demarcating to the camera, and promote the efficiency of camera quality control. Meanwhile, the camera is mounted on the calibration holder, so that quick disassembly and assembly and quick replacement of the camera can be realized, the relative angle between the camera and the calibration plate can be adjusted, more parameters can be obtained, and the calibration precision is improved. In addition, the calibration plate can also be easily changed, so that the utility model discloses the frock is more compatible.
(2) The utility model discloses a set up on the demarcation track and remove the mount pad, and the calibration board subassembly is installed promptly on this removes the mount pad, so, when the track motor makes to remove the mount pad and removes, can realize the removal of calibration board subassembly, and then play the purpose of interval between adjustment camera and the calibration board. The tripod head support heightening calibration tripod head has the advantages that the camera and the calibration plate are located on the same straight line, the calibration track is fixed, the movable mounting seat on the calibration track moves, the adjustment of the distance between the calibration plate component and the camera and the replacement of the calibration plate can be realized under the condition that the angle of the camera is not adjusted, and therefore the quality inspection efficiency and the quality inspection precision of the camera can be effectively improved.
(3) The utility model discloses an among the demarcation board subassembly, the demarcation board mount pad meets with removing the mount pad, and the two meets for face and face, and stability is secure. And, calibration plate mount pad top sets up the U-shaped frame structure of calibration plate recess in addition, so, the calibration plate can insert the calibration plate recess from U-shaped frame top opening part, and take out when needs are changed again can, convenient operation, and the trilateral fixed of calibration plate, installation stability is also secure. Because the calibration plate component is not provided with a complex mechanical structure and only needs to move along with the movable mounting seat, the difficulty in manufacturing, mounting, dismounting and using the whole component can be reduced, the probability of errors such as offset and the like in the moving or calibration process is further avoided, the calibration precision is improved, and the service life of the standard plate component is prolonged.
(4) The utility model discloses a demarcate cloud platform makes the rotatory platform of demarcating have two rotational degrees of freedom through the motion of cloud platform rotating electrical machines and camera rotating electrical machines, and then lets the direction of target camera towards each angle, and then can adjust the angle that the calibration plate was shot to the camera, obtains more parameters, improves and marks the precision. In addition, the camera mounting seat is a base for fixing the target camera, and different camera mounting seats can be repeatedly switched on the assembling position according to different appearance structures of different cameras so as to calibrate the cameras with different models. Therefore, the rapid disassembly and assembly of the camera and the replacement of various cameras can be realized, and the whole calibration tool is more compatible.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view of the calibration plate assembly of the present invention;
FIG. 3 is a schematic diagram of the calibration track structure of the present invention;
fig. 4 is a schematic structural view of the calibration pan/tilt head of the present invention;
fig. 5 is an exploded view (parts) of the calibration cradle head of the present invention;
fig. 6 is an exploded view (assembly hole site) of the calibration console of the present invention;
fig. 7 is an exploded view (parts) of the calibration console of the present invention at another angle;
fig. 8 is an exploded view (assembly hole site) of the calibration console of the present invention at another angle.
1-calibration pan-tilt, 2-pan-tilt support, 3-calibration track, 4-calibration plate assembly, 101-pan base, 102-pan rotation motor, 103-pan base plate, 104-rotation support, 105-camera rotation motor, 106-rotation axis driven support block, 107-camera mount, 108-camera, 109-rotation calibration platform, 111-rotation platform support, 301-track motor, 302-movement mount, 401-calibration plate mount, 402-calibration plate, 1073-groove, 1072-camera press block, 4011-calibration plate groove.
Detailed Description
The present invention will be further described with reference to the following description and examples, which include but are not limited to the following examples.
The embodiment is designed for improving the quality inspection efficiency of the camera, and can be applied to the quality inspection process of a fanbot robot self-developed by the applicant. Referring to fig. 1, when the camera calibration tool is used, the whole tool is placed on a horizontal platform, so that the horizontal and vertical directions of the "horizontal steering component" and the "vertical steering component" described below are described by taking this as reference, and when the tool is placed on other different stations such as a vertical wall surface, the corresponding reference surface is changed into the wall surface (i.e., the mounting surface). The tool of the embodiment mainly comprises a calibration holder 1, a holder support 2, a calibration track 3 and a calibration plate assembly 4, and can be further provided with a program controller for realizing automatic control, wherein the program controller can select an ARM processor or a processor commonly used by other robot quality inspection devices, and the structure and the connection mode of the tool are not improved, so that the tool is not repeated. Generally, the relative position of the pan-tilt support 1 and the calibration track 3 is fixed. The tripod head support 2 is used for calibrating the tripod head 1 to be heightened, the camera is arranged on the calibration tripod head, and can rotate in the horizontal direction or/and the vertical direction under the driving of the calibration tripod head, so that the angle of the camera is adjusted. And the calibration track 3 is used for driving the calibration plate component 4 to move so as to adjust the distance between the calibration plate component and the camera. So, can change camera or/and calibration board at any time, perhaps adjust camera angle, camera and the interval between the different calibration boards, convenient operation can also improve the quality control efficiency of camera.
Specifically, referring to fig. 3, one end of the calibration track 3 is provided with a track motor 301, and a movable mounting base 302 is arranged on the calibration track. The rail motor 301 provides power for the calibration rail 3, so that the movable mounting base 302 can move back and forth on the rail. The track motor 301 is a servo motor, and is connected with the program controller, so that the moving distance can be adjusted through the program controller, the adjustment precision is higher, and the time and the labor are saved. Here, the calibration rail 3 and the rail motor 301 may be assembled by using an existing device, or may be directly assembled by using a finished product such as an electric slide rail.
Referring to fig. 2, the calibration board assembly 4 includes a calibration board 402 and a calibration board mounting seat 401, and an image to be recognized by the camera is printed on the calibration board 402. And calibration board mount pad 401 below is fixed on removing mount pad 302, and calibration board mount pad top sets up to the U-shaped frame, is equipped with calibration board recess 4011 in this U-shaped frame, calibration board 402 inserts in the calibration board recess from U-shaped frame top opening part promptly for calibration board subassembly 4 can remove on demarcation track 3 along with removing mount pad 302. The calibration plate 402 is inserted into the calibration plate recess 4011, on one hand, the calibration plate is fixed and can move along with the movement of the movable mounting base 302, so as to adjust the distance between the calibration plate and the camera, and the camera can be calibrated at a plurality of different distances; on the other hand, the operation is very simple, different calibration plates can be replaced at any time, the camera can identify different patterns, and the quality inspection effect is more accurate.
Referring to fig. 4 to 8, since the calibration plate mounting seat 401 and the calibration track 3 have a certain height, the position of the calibration plate 402 is higher, and therefore, in order to ensure that the camera can be on the same horizontal line with the camera, the pan/tilt head support 2 is disposed below the calibration pan/tilt head 1 in this embodiment.
The calibration cloud deck 1 is used for installing a camera 108 to be calibrated and driving the camera to rotate in the horizontal and vertical directions, and mainly comprises a cloud deck base 101 fixed above a calibration support 2, a horizontal steering assembly arranged on the cloud deck base, a vertical steering assembly arranged on the horizontal steering assembly, and a camera fixing assembly fixed on the vertical steering assembly; the camera 108 is fixed to the camera fixing assembly.
In detail, the horizontal steering assembly includes a pan head rotation motor 102 and a pan head base plate 103. There are a plurality of pilot holes 1011 on the cloud platform base 101 for fix the cloud platform base on 2 cloud platform supports, still there are a plurality of pilot holes 1012 on the cloud platform base 101 to be used for fixing cloud platform rotating electrical machines 102. The holder rotating motor 102 is an outer rotor servo motor, and both ends of the outer rotor servo motor are provided with assembling planes, wherein the assembling plane at one end of the holder rotating motor is fixed on the holder base 101. This cloud platform rotating electrical machines 102 provides the degree of freedom on the horizontal direction for the part of top, and cloud platform rotating electrical machines 102 links to each other with program controller, decides the horizontal direction angle of camera orientation through the rotatory angle of program control cloud platform rotating electrical machines. The holder base plate is provided with a plurality of assembly holes 1031, and the assembly holes 1031 are in threaded connection with an assembly plane at one end of the rotatable shell of the holder rotating motor 102, so that all structures on the holder base plate 103 can rotate along with the holder rotating motor 102.
The vertical steering assembly comprises a rotary support 104, a camera rotating motor 105, a rotary shaft driven support block 106 and a rotary calibration platform 109. The number of the rotating supports 104 is two, the rotating supports are respectively located on two sides of the holder base plate 103, and the holder base plate 103 is provided with a plurality of assembling holes 1032 through which the rotating supports are connected with the two rotating supports 104. The rotary support 104 is connected to the camera rotating motor 105 and the rotary shaft driven support block 106 through a mounting hole 1041 formed therein. The camera rotating motor 105 is also an outer rotor servo motor, provides power for the rotation of the rotary calibration platform 109 in the vertical direction, and is also connected with the program controller so as to enable the camera to face a certain angle in the vertical direction through program control. The camera rotating motor 105 and the rotating shaft driven supporting block 106 are respectively connected with two L-shaped rotating platform supports 111, and the rotating platform supports 111 are switching parts for threaded connection and fixation of the camera rotating motor, the rotating shaft driven supporting block 106 and the rotating calibration platform 109, so that the surfaces of the rotating calibration platform 109 and the rotating platform supports, the surfaces of the rotating platform supports and the holder rotating motor, and the surfaces of the rotating platform supports and the rotating shaft driven supporting block are all connected, and the camera can be ensured to have good installation stability even after being assembled. The rotation shaft driven supporting block 106 is a supporting block on which a bearing is fixed, and a rotation shaft is arranged outside a corresponding rotation platform support to be rotatably connected with the rotation shaft driven supporting block 106. The rotary calibration platform 109 has the degrees of freedom in the horizontal and vertical directions due to the existence of the pan-tilt rotating motor 102 and the camera rotating motor 105, and can face any direction in space.
The camera fixing assembly comprises a camera mounting base 107 arranged on a rotary calibration platform 109. The rotary calibration platform 109 is provided with an assembly stud 1091 and an assembly stud 1092 which are respectively used for assembling the camera mounting seat 107 and the motor driving plate 110. The camera mounting seat 107 is a base for fixing a target camera, and is different according to the appearance structure of different cameras, and the various camera mounting seats 107 can be repeatedly switched on the assembly position to calibrate cameras of different models. There is pilot hole 1071 on the camera mount pad 107 for carry out threaded connection with assembly double-screw bolt 1091, a plurality of camera briquetting 1072 in addition on the camera mount pad 107, camera briquetting 1072 is 7 fonts, and its one end rotates with the camera mount pad to be connected, and is equipped with reset spring between camera mount pad and the camera briquetting, and camera briquetting 1072 can stir with the hand and make it can be at certain angle internal rotation, for example in this embodiment the turn-ups 1081 that can push down camera 108 is rotated to the briquetting, plays simple fixed action, and this kind of simple and easy revolution mechanic can conveniently rotate the switching from this can a plurality of cameras of classmates of quick assembly disassembly. In addition, in order to prevent the camera from sliding downwards from the camera mounting seat 107 due to the action of gravity, a groove 1073 is further formed in the camera mounting seat 107, the characteristics of the groove are determined by the shape characteristics of the back of the target camera 108, and the groove can also limit the target camera 108 due to the profile characteristics.
It should be noted that different target cameras 108 have a one-to-one correspondence with different camera mounts 107. When a different camera is targeted, the corresponding camera mount 107 is replaced together.
The process of using the tool of the embodiment to calibrate the camera is as follows:
firstly, the type of the target camera 108 needing calibration is confirmed, and then the corresponding camera mounting seat 107 is selected. The camera mount 107 is mounted on a rotary calibration platform 109. The target camera 108 is limited and fixed by the camera pressing blocks 1072 and 1073. Then, a calibration procedure is started, the target camera 108 rotates to a plurality of angles for calibration, images on the calibration plate 402 are identified, and after the calibration, the calibration plate assembly 4 moves to the next set position on the calibration track 3 for calibration again. Thus, multiple sets of calibration can detect the image recognition rate of the target camera 108 at different orientation angles to different distances, so as to determine whether the target camera 108 is a qualified product.
After one camera is calibrated, the camera pressing block 1072 is rotated to replace the next camera, and the camera pressing block 1072 is rotated again to fix the next camera for calibration. After a batch of certain cameras are calibrated, the camera mounting seat 107 corresponding to the next camera needs to be replaced to calibrate the other camera. The calibration plate 402 may also be replaced as needed for pattern recognition.
The camera calibration tool is adopted to calibrate the camera, the operation is simple, the calibration accuracy is high, and the calibration speed is high.
The above embodiment is only one of the preferred embodiments of the present invention, and should not be used to limit the protection scope of the present invention, but all the insubstantial changes or modifications made in the spirit and the idea of the main design of the present invention, the technical problems solved by the embodiment are still consistent with the present invention, and all should be included in the protection scope of the present invention.
Claims (10)
1. A camera calibration cloud platform is used for installing a camera to be calibrated, and is characterized in that the calibration cloud platform (1) comprises a cloud platform base (101), a horizontal steering component arranged on the cloud platform base, a vertical steering component arranged on the horizontal steering component, and a camera fixing component fixed on the vertical steering component; the camera (108) is fixed on the camera fixing component.
2. A camera head calibration head according to claim 1, wherein said horizontal steering assembly comprises a head rotation motor (102) and a head base plate (103); the cloud platform rotating electrical machines is fixed on cloud platform base (101) and is connected with program controller, and cloud platform rotating electrical machines's output is fixed at cloud platform bottom plate middle part to drive cloud platform bottom plate and rotate in the horizontal direction.
3. A camera head calibration head according to claim 2, characterized in that the head rotation motor (102) is an outer rotor motor, both ends of which are provided with mounting planes, wherein the mounting plane at one end of the head rotation motor is fixed to the head base (101) and the mounting plane at one end of the rotatable housing is fixed to the middle under the head base plate (103).
4. A camera calibration head according to any one of claims 1 to 3, wherein the vertical steering assembly comprises two rotating supports (104) disposed at two sides of the head base plate (103), a camera rotating motor (105) and a rotating shaft driven support block (106) respectively disposed at the inner sides of the two rotating supports, and a rotating calibration platform (109) having one end fixed to the output end of the camera rotating motor and the other end rotatably connected to the rotating shaft driven support block; the camera rotating motor (105) is connected with the program controller.
5. A camera calibration head according to claim 4, characterized in that an L-shaped rotary platform support (111) is fixed to each end of the rotary calibration platform (109), wherein one rotary platform support is fixed to the output of the camera rotary motor (105), and the other rotary platform support is rotatably connected to the rotary shaft driven support block (106) through a rotary shaft.
6. A camera calibration head according to claim 1, 2, 3 or 5, characterized in that the camera fixing component comprises a camera mounting seat (107) arranged on the rotary calibration platform (109), the middle of the front surface of the camera mounting seat is provided with a groove (1073) matched with the back surface of the camera (108), and two camera pressing blocks (1072) for pressing the camera flanging are symmetrically arranged on the camera mounting seats at the two sides of the groove.
7. A camera calibration head according to claim 6, characterized in that said camera pressure piece (1072) is 7-shaped, one end of which is rotatably connected to the camera mounting base and a return spring is provided between the camera mounting base and the camera pressure piece.
8. The calibration fixture comprising the calibration pan/tilt head according to claim 7, wherein the calibration fixture further comprises a pan/tilt support (2), a calibration track (3) and a calibration plate assembly (4), wherein the pan/tilt support is arranged below the calibration pan/tilt head (1) and used for elevating the calibration pan/tilt head; the calibration plate assembly comprises a calibration plate (402) printed with an image to be identified by a camera, and the height of the calibration plate corresponds to that of the camera (108); the calibration plate component (4) is slidably mounted on the calibration track to adjust the distance between the calibration plate and the camera.
9. The calibration tool comprising the calibration holder according to claim 8, wherein the calibration track (3) is connected with a track motor (301), and the track motor is connected with the program controller; the calibration track is provided with a movable mounting seat (302), and a track motor provides power for the calibration track to enable the movable mounting seat to move back and forth on the calibration track.
10. Calibration fixture comprising a calibration pan/tilt head according to claim 8 or 9, wherein the calibration plate assembly (4) further comprises a calibration plate mounting base (401), the lower part of the calibration plate mounting base is fixed on the movable mounting base, a U-shaped frame is arranged above the calibration plate mounting base, a calibration plate groove (4011) is arranged in the U-shaped frame, and the calibration plate (402) is inserted into the calibration plate groove from an opening above the U-shaped frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921365576.2U CN210739819U (en) | 2019-08-22 | 2019-08-22 | Camera calibration cloud platform and contain this calibration frock of calibrating cloud platform |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921365576.2U CN210739819U (en) | 2019-08-22 | 2019-08-22 | Camera calibration cloud platform and contain this calibration frock of calibrating cloud platform |
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| CN210739819U true CN210739819U (en) | 2020-06-12 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375168A (en) * | 2019-08-22 | 2019-10-25 | 成都越凡创新科技有限公司 | A kind of camera calibration holder and the calibration tooling comprising the calibration holder |
| CN112963673A (en) * | 2021-01-30 | 2021-06-15 | 上海淼勋展览服务有限公司 | On-spot safety monitoring device of exhibitions |
-
2019
- 2019-08-22 CN CN201921365576.2U patent/CN210739819U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110375168A (en) * | 2019-08-22 | 2019-10-25 | 成都越凡创新科技有限公司 | A kind of camera calibration holder and the calibration tooling comprising the calibration holder |
| CN112963673A (en) * | 2021-01-30 | 2021-06-15 | 上海淼勋展览服务有限公司 | On-spot safety monitoring device of exhibitions |
| CN112963673B (en) * | 2021-01-30 | 2022-05-27 | 上海淼勋展览服务有限公司 | On-spot safety monitoring device of exhibitions |
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