CN109990734B - Automatic detection system and method for precision of depth information camera module - Google Patents
Automatic detection system and method for precision of depth information camera module Download PDFInfo
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- CN109990734B CN109990734B CN201810004187.0A CN201810004187A CN109990734B CN 109990734 B CN109990734 B CN 109990734B CN 201810004187 A CN201810004187 A CN 201810004187A CN 109990734 B CN109990734 B CN 109990734B
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- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
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Abstract
The invention discloses a depth information camera module precision automatic detection system and a precision detection method thereof, wherein the automatic detection system is used for detecting the depth measurement precision of a depth information camera module and comprises the following steps: a plane correction system, a true value measurement system and a control processing system. The control processing system is communicably connected to the plane correction system for adjusting the parallelism between the plane of the depth information camera module and a plane test target. The true value measuring system is communicably connected to the control processing system to adjust the distance between the plane on which the depth information camera module is located and the plane test target according to the corresponding instruction.
Description
Technical Field
The present invention relates to depth information camera modules, and particularly to an automatic precision detection system and a precision detection method for a depth information camera module.
Background
With the development of machine vision, the requirements for the camera module are no longer satisfied with the acquisition of two-dimensional image information. In recent years, with the emergence of emerging application requirements such as 3D imaging, ranging and somatosensory interaction, an optical three-dimensional measurement technology has become mature gradually. At present, the mainstream optical three-dimensional depth measurement sensing technology mainly has three modes, namely a binocular stereo vision technology, a structured light technology and a TOF depth sensing technology, and is widely applied to various fields such as industrial automation, multimedia, consumer electronics, safety monitoring, health medical treatment, robots, agriculture and the like, and makes important contribution to industrial innovation.
Corresponding to the three-dimensional depth measurement perception technologies, a binocular depth information camera module, a structured light depth information camera module and a TOF depth information camera module are respectively developed. Along with the diversification and the deepening development of the application of the product, the requirement on the product quality of the deep camera module information is gradually improved. However, the precision detection, which is one of the important quality metrics of the depth information camera module, is still in the theoretical stage or the simple test and analysis stage, which causes great obstacles to the technical improvement and product improvement of the depth information camera module.
As is well known, the depth information camera module is limited by its own imaging system, and may generate many errors, such as object edge overlay error, exposure error, lens bending error, temperature drift error, and distance error, during the depth measurement process. In the industry, such errors are classified as static errors, and are characterized by high occurrence frequency, relatively fixed expression form and elimination through a relatively single compensation algorithm. It should be noted that, in the process of error elimination by using the compensation algorithm, the precision detection process of the depth measuring device provides important measurement parameters for the depth measuring device (depth information camera module), and the precision of the precision determination of the final effect of error elimination.
In the current industry, a fixture is adopted to clamp the depth information camera module, and the precision detection is carried out by analyzing a depth measurement value and a distance true value between the depth information camera module and a plane test target. The method is simple and rough, the introduced error is large and difficult to control, and the precision detection quality is difficult to guarantee. More specifically, in the precision detection process, it should be ensured that the plane where the depth information camera module is clamped by the clamp is parallel to the plane test target, but it is obvious that the parallel relationship between the plane and the plane test target cannot be accurately ensured by a simple clamping manner of the clamping tool, and further subsequent precision detection is affected.
Further, in the precision detection process, the distance between the depth information camera module (located plane) clamped by the clamp and the plane test target needs to be changed. However, in the process of moving the jig to change the distance between the plane of the depth information camera module and the plane test target, the relative position relationship between the plane of the depth information camera module held by the jig and the plane test target changes, especially the parallel relationship between the plane of the depth information camera module and the plane test target, which leads to the introduction of measurement errors. The error has the characteristics of random fluctuation and difficult control, and influences the final precision detection quality.
In addition, the traditional precision detection is extremely dependent on the working experience of detection personnel, and the quality control is carried out through years of experience of the detection personnel. It is understood that in industrial production processes, human factors are unstable and difficult to meet standardized production requirements; meanwhile, the labor cost is high, and the efficiency is low.
Therefore, there is a strong need in the industry for an automated platform that can perform accurate measurements of depth measurement devices.
Disclosure of Invention
The invention mainly aims to provide an automatic detection system and a method for the precision of a depth information camera module, wherein the automatic detection system can provide relatively high-quality precision detection for the depth information camera module.
Another object of the present invention is to provide an automatic precision detection system for depth information camera modules and a precision detection method thereof, wherein the automatic precision detection system is suitable for various types of depth information camera modules, such as a binocular depth information camera module, a structured light depth information camera module, and a TOF depth information camera module, that is, the automatic precision detection system has relatively good versatility.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the automatic precision detection system can automatically detect the precision of the depth information camera module, which is beneficial to industrialization, standardization and higher efficiency.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the automatic precision detection system includes a plane correction system for adjustably ensuring parallelism between a plane of the depth information camera module and a plane test target to ensure detection precision.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the plane correction system can correspondingly adjust according to the parallelism deviation information between the plane of the depth information camera module and the plane test target, so as to ensure the parallelism between the plane of the depth information camera module and the plane test target.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the plane correction system includes a parallelism detection device and a parallelism adjustment device, the parallelism detection device is used for detecting the parallelism deviation between the plane of the depth information camera module and the plane test target, and the parallelism adjustment device is used for adjusting the plane of the depth information camera module or the plane of the plane test target according to the measured parallelism deviation information, so as to ensure the parallelism between the depth information camera module and the plane test target.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the automatic precision detection system includes a true value measurement system for adjusting a distance between a plane of the depth information camera module and the plane test target according to a command.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein in the process of changing the distance between the depth information camera module and the plane test target through the truth measurement system, the parallelism between the plane where the depth information camera module is located and the plane test target is kept unchanged, so as to improve the precision detection quality.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the planar calibration system is physically integrated with the true value measurement system, so that the automatic precision detection system has a relatively integrated structure.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the distance truth system includes a driving device for changing the distance between the depth information camera module and the planar test target.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the automatic precision detection system includes a control processing system, wherein the control processing system is communicably connected to the planar calibration system and the distance truth value testing system to control the planar calibration system to perform parallelism calibration and control the distance truth value testing system to change the distance between the depth information camera module and the planar test target, and perform precision detection analysis calculation.
Another objective of the present invention is to provide an automatic precision detection system for depth information camera modules and a precision detection method thereof, wherein the control processing system includes an instruction module, and the instruction module is provided with related instructions for controlling the plane calibration system and the distance truth system, wherein the instruction module has an editable function to set corresponding instructions according to different types of depth information camera modules, so as to improve the versatility of the automatic precision detection system.
Another objective of the present invention is to provide an automatic precision detection system for a depth information camera module and a precision detection method thereof, wherein the automatic precision detection system has a higher measurement precision, so as to provide more accurate test data for a compensation algorithm and provide a more accurate fitting curve for error correction, thereby providing a guarantee for improving the quality of the depth information camera module.
Other advantages and features of the invention will become apparent from the following description and may be realized by means of the instrumentalities and combinations particularly pointed out in the appended claims.
In accordance with the present invention, the foregoing and other objects and advantages can be realized by an automatic depth information camera module accuracy detection system for detecting accuracy of a depth information camera module, comprising:
a planar correction system;
a true value measurement system; and
the plane correction system and the truth value measurement system are connected with the control processing system in a communication mode, the plane correction system is matched with the control processing system and used for adjusting the parallelism between the plane where the depth information camera module is located and a plane test target, and the truth value measurement system adjusts and measures distance information between the depth information camera module and the plane test target according to corresponding instructions of the control processing system so as to carry out precision detection.
In an embodiment of the invention, the plane calibration system includes a parallelism detection device and a parallelism adjustment device, wherein the parallelism detection device and the depth information camera module are located on the same plane, and are used for detecting parallelism information between the plane of the depth information camera module and the plane test target, and the parallelism adjustment device is communicably connected to the parallelism detection device, so as to adjust the plane of the depth information camera module according to the parallelism information, and ensure parallelism between the depth information camera module and the plane test target.
In an embodiment of the invention, the plane calibration system includes a parallelism detection device and a parallelism adjustment device, wherein the parallelism detection device and the depth information camera module are located on the same plane, and are used for detecting parallelism deviation information between the plane where the depth information camera module is located and the plane test target, and the parallelism adjustment device is communicably connected to the plane test target to adjust the plane test target according to the parallelism deviation information, so as to ensure parallelism between the depth information camera module and the plane test target.
In an embodiment of the invention, the plane calibration system includes at least three distance measurement units that are no longer on the same straight line, and the distance measurement units and the depth information camera module are on the same plane, wherein the distance measurement units are used for respectively detecting distances from the distance measurement units to the plane test target to obtain the parallelism deviation information.
In an embodiment of the invention, the plane calibration system includes a carrier plate, wherein the depth information camera module is mounted on the carrier plate and is in the same plane as the carrier plate, so as to form a plane where the depth information camera module is located through the carrier plate, and the distance measurement unit is mounted on the carrier plate and is in the same plane as the carrier plate.
In an embodiment of the invention, the ranging unit is implemented as a laser ranging unit.
In an embodiment of the invention, the truth measurement system includes a driving device, and the driving device controllably drives the plane where the depth information camera module is located to move away from or approach the plane test target according to the corresponding instruction, so as to change the distance between the depth information camera module and the plane test target.
In an embodiment of the present invention, the control processing system includes a command module, a depth analyzing module, a precision detecting module, and a communication module, wherein the command module controls the plane correcting system and the truth measuring system by performing corresponding command transmission between the communication module and the plane correcting system and the truth measuring system, the depth analyzing module is communicably connected to the depth information camera module for acquiring depth information collected by the depth information camera module, and the precision detecting unit performs precision analysis by using the depth information provided by the depth analyzing module and the distance truth information.
According to another aspect of the present invention, the present invention further provides a method for automatically detecting the accuracy of a depth information camera module, wherein the method comprises the following steps:
(a) adjusting the parallelism between a plane where a depth information camera module is located and a plane test target plate through a plane correction system; and
(b) and adjusting the distance between the plane where the depth information camera module is located and the plane test target through a truth value measurement system so as to detect the precision of the depth information camera module by utilizing the plane test target.
In an embodiment of the present invention, the step (a) further comprises the steps of:
detecting the parallelism between the plane where the depth information camera module is located and the plane test target through a parallelism detection device to obtain parallelism information; and
and adjusting the parallelism between the plane where the depth information camera module is positioned and the plane test target plate by a parallelism adjusting device according to the parallelism information in a mode of adjusting the relative position between the plane where the depth information camera module is positioned and the plane test target plate.
In an embodiment of the present invention, the step (a) further comprises the steps of:
arranging the depth information camera module on a bearing flat plate in the same plane;
detecting the parallelism between the bearing flat plate and the plane target plate through a parallelism detection device to obtain parallelism information; and
and adjusting the parallelism between the plane where the depth information camera module is positioned and the test target plate by a parallelism adjusting device according to the parallelism information in a mode of adjusting the relative position of the bearing flat plate and the plane test target plate.
Further objects and advantages of the invention will be fully apparent from the ensuing description and drawings.
These and other objects, features and advantages of the present invention will become more fully apparent from the following detailed description, the accompanying drawings and the claims.
Drawings
FIG. 1 is a block diagram of an automatic precision detection system for a depth information camera module according to a preferred embodiment of the present invention.
Fig. 2 is a schematic perspective view of the automatic precision detection system for a depth information camera module according to the above preferred embodiment.
Fig. 3 is a schematic working diagram of a plane calibration system of the automatic precision detection system for depth information camera module according to the above preferred embodiment.
Fig. 4 is a schematic diagram of a true value measurement system of the automatic precision detection system of the depth information camera module according to the above preferred embodiment.
FIG. 5 is a schematic perspective view of an automatic detection system for the accuracy of a depth information camera module according to another preferred embodiment of the invention.
Fig. 6 is a schematic operation diagram of a planar calibration system of the automatic precision detection system for depth information camera module according to another preferred embodiment.
Fig. 7 is a schematic diagram illustrating a true value measurement system of the automatic depth information camera module precision detection system according to another preferred embodiment of the invention.
Fig. 8 is another block diagram of the system for automatically detecting the accuracy of the depth information camera module according to the above preferred embodiment of the invention.
Detailed Description
The following description is presented to disclose the invention so as to enable any person skilled in the art to practice the invention. The preferred embodiments in the following description are given by way of example only, and other obvious variations will occur to those skilled in the art. The basic principles of the invention, as defined in the following description, may be applied to other embodiments, variations, modifications, equivalents, and other technical solutions without departing from the spirit and scope of the invention.
It will be understood by those skilled in the art that in the present disclosure, the terms "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for ease of description and simplicity of description, and do not indicate or imply that the referenced devices or components must be constructed and operated in a particular orientation and thus are not to be considered limiting.
It is to be understood that the terms "a" and "an" are to be interpreted as meaning that a number of elements in one embodiment may be one and a number of elements in another embodiment may be plural, and the terms "a" and "an" are not to be interpreted as limiting the number.
As shown in fig. 1 to 4, an automatic detection system for the accuracy of a depth information camera module according to the present invention is illustrated, wherein the automatic detection system can automatically detect the accuracy of the depth information camera module 50 and has a relatively high quality of accuracy detection.
As shown in fig. 1, the automatic precision detection system includes a plane correction system 20, a true value measurement system 30 and a control processing system 40, wherein the control processing system 40 is communicatively connected to the plane correction system 20 and the true value measurement system 30 for detecting the depth measurement precision of a depth information camera module. It should be noted that, in the present invention, the depth measurement precision P of the depth information camera module 50 can be expressed as a relative quantity relationship between the depth value d measured by the depth information camera module 50 and the real distance t (true value) between the depth information camera module 50 and a planar test target 10, wherein the depth measurement precision P of the depth information camera module 50, the depth value d measured by the depth information camera module 50, and the real distance t between the depth information camera module 50 and the planar test target 10 satisfy the following relationship:
specifically, the plane calibration system 20 cooperates with the control processing system 40 to adjust the parallelism between the plane of the depth information camera module 50 and the plane test target 10, so that the plane of the depth information camera module 50 is parallel to the plane test target 10. It should be appreciated that when the plane on which the depth-information camera module 50 is located is parallel to the planar test target 10, the depth value d between the depth-information camera module 50 and the planar test target 10 collected by the depth-information camera module 50 represents the measured distance between the plane on which the depth-information camera module 50 is located and the planar test target 10. Accordingly, when the plane on which the depth information camera module 50 is located is parallel to the plane test target 10, the true value of the distance between the plane on which the depth information camera module 50 is located and the plane target can be directly obtained through other measurement methods, so that the measurement accuracy of the depth information camera module 50 can be detected by comparing the depth value of the depth information camera module 50 with the true value of the distance. Therefore, it is very important to make the plane where the depth information camera module 50 is located parallel to the plane test target 10 to improve the measurement accuracy of the depth information camera module 50.
Further, the true value measuring system 30 is matched with the control processing system 40 for adjusting the relative position relationship between the plane where the depth information camera module 50 is located and the plane test target 10, so as to obtain the measurement accuracy values of the depth information camera module 50 at different distances. In particular, in the preferred embodiment of the present invention, during the adjustment of the relative distance between the plane of the depth information camera module 50 and the planar test target 10 by the truth measurement system 30, the plane of the depth information camera module 50 and the planar test target 10 are always in a parallel state, so as to ensure that the accuracy of the depth information camera module 50 is higher quality at different distances.
As shown in fig. 2, the plane calibration system 20 includes a parallelism detecting device 21 and a parallelism adjusting device 22 connected to the parallelism detecting device 21, wherein the parallelism detecting device 21 and the depth information camera module 50 are located on the same plane, so as to detect the parallelism information between the plane where the depth information camera module 50 is located and the plane test target 10. Particularly, when the plane where the depth information camera module 50 is located is not parallel to the plane test target 10, the parallelism adjusting device 22 adjusts the plane where the depth information camera module 50 is located according to the parallelism information detected by the parallelism detecting device 21, and the process is repeated in this way, so that the parallelism between the plane where the depth information camera module 50 is located and the plane test target 10 finally meets a certain precision requirement. In other words, the parallelism adjusting device 22 can adjust the parallelism between the plane of the depth information camera module 50 and the plane test target 10 by adjusting the state of the plane of the information camera module 50 relative to the parallel test target 10 according to the parallelism information detected by the parallelism detecting device 21.
As mentioned above, in the process of performing the precision detection of the depth information camera module 50, it should be firstly ensured that the plane where the depth information camera module 50 is located is parallel to the plane test target 10. In the prior art, the parallel relationship between the two is maintained by a fixture holding the depth information camera module 50. That is, in the prior art, the plane of the depth information camera module 50 is set by the fixture. However, because the fixture is spaced apart from the flat panel test target 10, it is difficult to ensure that the depth information camera module 50 is parallel to the flat panel test target 10. From the perspective of solid geometry, the plane where the depth information camera module 50 set by the fixture is located is parallel to the plane of the plane test target 10, and it is difficult to calibrate through a simple mechanical structure, and it is even more specific to use the fixture for fixing.
Accordingly, in the preferred embodiment of the present invention, the plane calibration system 20 includes a carrier plate 23, wherein the depth information camera module 50 and the parallelism detecting device 21 are mounted on the carrier plate 23, so as to set the plane of the depth information camera module 50 through the carrier plate 23. In particular, in the preferred embodiment of the present invention, the parallelism detecting device 21 is mounted to the carrying plate 23 and is disposed in the same plane as the carrying plate 23, so that the parallelism between the carrying plate 23 and the planar test target 10 can be adjusted by the parallelism detecting device 21 and the parallelism adjusting device 22. More specifically, since the parallelism detecting device 21 and the supporting plate 23 are in the same plane, the parallelism information detected by the parallelism detecting device 21 is the parallelism information between the supporting plate 23 and the plane test target 10, so that the relative position between the supporting plate 23 and the plane test target 10 can be changed to be in a parallel state according to the parallelism information and by the parallelism adjusting device 22.
Further, in the preferred embodiment of the present invention, the depth information camera module 50 is mounted on the carrier plate 23 and is located on the same plane as the carrier plate 23, in such a way that the plane of the depth information camera module 50 coincides with the carrier plate 23. In other words, in the preferred embodiment of the present invention, the carrying plane 23 is set as the plane where the depth information camera module 50 is located. Therefore, when the relative position between the flat carrier plate 23 and the flat surface test target 10 is adjusted by the parallelism adjusting device 22, it is essential to adjust the relative position relationship between the flat surface on which the depth information camera module 50 is located and the flat surface test target 10. That is, when the carrying plate 23 is adjusted to be parallel to the planar test target 10, the depth information camera module 50 is parallel to the planar test target 10.
It should be appreciated that, from the perspective of solid geometry, the carrier plate 23 provides a reference surface to skillfully transform the technical problem of ensuring that the plane where the depth information camera module 50 is located is parallel to the planar test target 10 into the technical problem of ensuring that the depth information camera module 50 is in the same plane as the reference surface. It should be noted that, in the present invention, the depth information camera module 50 is installed on the carrying plane, so that the technical problem of ensuring that the depth information camera module 50 and the carrying plate 23 are in the same plane is relatively simple and easy to implement. For example, when the depth information camera module 50 is mounted on the carrier plate 23, the front side of the depth information camera module 50 is flush with the front side of the carrier plate 23, so as to ensure that the depth information camera module 50 and the carrier plate 23 are in the same plane, and furthermore, it should be understood by those skilled in the art that the depth information camera module 50 may also be mounted on the carrier plate 23 in a positioning manner by mechanical means such as locking, clamping, fine adjustment of a micrometer screw, etc., so that the depth information camera module 50 and the carrier plate 23 are in the same plane.
It should be noted that the depth information camera module 50 can be selected from, but is not limited to, a binocular depth information camera module, a structured light depth information camera module, and a TOF depth information camera module. That is to say, the precision automatic detection system provided by the invention has relatively good universality. It should be noted that, corresponding to different types of depth information camera modules, the type of the planar test target 10 can be adjusted accordingly to facilitate the depth measurement of the depth information camera module 50. For example, in one embodiment of the present invention, the depth information camera module 50 is implemented as a TOF depth information camera module. Corresponding to the degree of depth measurement characteristic of TOF degree of depth camera module, this plane test target 10 preferably chooses for use white, and the surfacing has diffuse reflection but the material that can not take place the reflection to do benefit to TOF degree of depth information camera module and carry out the depth measurement to this plane test surface.
Further, the parallelism detecting device 21 is used for detecting the parallelism information between the carrying flat plate 23 and the plane test target 10. Accordingly, as shown in fig. 3, in the preferred embodiment of the present invention, the parallelism detecting apparatus 21 comprises at least three distance measuring units 210, wherein the distance measuring units 210 are mounted on the carrying plate 23 and are not in the same straight line. It should be appreciated that, from the viewpoint of plane geometry, three points which are not on the same straight line define a plane, and therefore the plane defined by the distance measuring unit 210 and the plane of the supporting plate 23 are on the same plane, in such a way that the parallelism information detected by the parallelism detecting device 21 is the parallelism information between the supporting plate 23 and the planar test target 10.
In a specific parallelism detection process, the distance measuring unit 210 measures distances d1, d2, and d3 from the planar test target 10. It should be noted that the ranging signal of the ranging unit 210 is set perpendicular to the plane of the carrier plate 23, and thus, the distances d1, d2, and d3 are the distances from the carrier plate 23 to the planar test target 10 at the ranging unit 210, respectively. Of course, it should be understood by those skilled in the art that in other examples of the present invention, the distance measuring signals of the distance measuring units 210 may have an angle with the plane of the carrying plane 23, but it is necessary to ensure that the distance measuring signals of the three distance measuring units 2110 have an angle with the plane of the carrying plane 23. For example, in an embodiment of the present invention, the distance measuring unit 210 is implemented as a laser distance measuring unit, and the emitted laser is perpendicular to the carrying plate. It should be appreciated that when the distance information measured by the distance measuring unit 210 is equal, i.e. d1 ═ d2 ═ d3, the flat carrier plate 23 is characterized to be parallel to the planar test target 10. That is, at this time, the plane of the depth information camera module 50 is parallel to the plane test target 10. Correspondingly, when the distance information measured by the distance measuring unit 210 is not equal, it indicates that the supporting plate 23 is not parallel to the plane testing target 10, that is, there is a parallelism deviation between the plane of the depth information camera module 50 and the plane testing target 10. Further, the parallelism deviation information can be transmitted to the parallelism adjusting device 22, and the parallelism adjusting device 22 adjusts the position of the carrier plate 23 according to the parallelism deviation information, so that the parallelism between the carrier plate 23 and the plane test target 10 meets a certain accuracy requirement, that is, the parallelism between the plane where the depth information camera module 50 is located and the plane test target 10 meets a certain accuracy requirement.
It should be noted that, preferably, the parallelism deviation information acquired by the parallelism detecting device 21 can be transmitted to the control processing system 40, and the parallelism adjusting device 22 is controlled and driven by the control processing system 40 to change the position configuration of the carrying plate 23. That is, the control processing system 40 integrates the control instructions of the precision automatic detection device as a control brain of the whole precision automatic detection device. In other words, the control processing system 40 can control the state of the parallelism adjusting device 22 according to the parallelism deviation information obtained by the parallelism detecting device 21, so as to subsequently adjust the parallelism between the carrier plate 23 and the plane test target 10 by the parallelism adjusting device 22.
Accordingly, in the preferred embodiment of the present invention, the parallelism adjusting device 22 is physically connected to the supporting plate 23, so as to drive the supporting plate 23 to rotate according to the parallelism information collected by the parallelism detecting device 21, so that the parallelism between the plane of the depth information camera module 50 and the plane testing target 10 finally meets a certain precision requirement. It should be appreciated that, in the present invention, the parallelism accuracy between the plane where the depth information camera module 50 is located and the plane test target 10 depends on the distance measurement accuracy of the distance measurement unit 210 of the parallelism detection device 21. Therefore, it is preferable that the distance measuring unit 210 of the parallelism detecting apparatus 21 should have relatively high accuracy to improve the parallelism accuracy between the plane of the depth information camera module 50 and the plane test target 10.
In an embodiment of the present invention, the distance measuring unit 210 is implemented as a laser distance measuring unit 210, and the distance measuring precision thereof is higher than the depth measuring precision of the depth information camera module 50. For example, in an embodiment of the present invention, the depth information camera module 50 is implemented as a TOF depth information camera module, the depth measurement accuracy of which is 1%, and accordingly, the measurement accuracy of the laser ranging unit 210 needs to be higher than that of the TOF depth information camera module, for example, 0.1%. More specifically, the laser ranging unit 210 is mounted on the bearing plate 23 in a manner not completely in the same straight line, so as to adjust the relative position relationship between the bearing plate 23 and the plane test target 10 according to the distance information (parallelism information) acquired by the laser ranging unit 210. It should be appreciated that the parallelism detection accuracy between the plane of the depth information camera module 50 and the plane test target 10 depends on the measurement accuracy of the laser ranging unit 210, and therefore, preferably, in order to improve the parallelism accuracy between the plane of the depth information camera module 50 and the plane of the plane test target 10, the laser ranging unit 210 with relatively higher measurement accuracy should be selected. It should be noted that, as those skilled in the art will readily appreciate, the distance measuring unit 210 may also be implemented as other distance measuring devices, such as an ultrasonic distance measuring device, only with a distance measuring accuracy meeting a certain accuracy requirement. That is, in the present invention, the type of the ranging unit 210 is not limited by the present invention.
It should be noted that, in the present invention, the parallelism adjustment between the plane test target 10 and the depth information camera module 50 is relative, wherein in the preferred embodiment, the parallelism detecting device 21 and the parallelism adjusting device 22 are used to detect the parallelism information between the plane of the depth information camera module 50 and the plane test target 10 and adjust the plane of the depth information camera module 50 so that it is parallel to the plane test target 10. That is, in the preferred embodiment, the plane where the depth information camera module 50 is located is the active adjustment plane, and the plane test target 10 is the passive reference plane. It should be understood by those skilled in the art that the motion relationship between the objects is relative, and thus, in another embodiment of the present invention, as shown in fig. 5 and fig. 6, the parallelism detecting device 21 and the parallelism adjusting device 22 may be disposed on the plane test target 10 to detect the parallelism between the plane test target 10 and the plane where the depth-information camera module 50 is located and adjust the plane test target 10 to be parallel to the plane where the depth-information camera module 50 is located. That is, in another embodiment of the present invention, the planar test target 10 is an active adjustment surface, and the plane where the depth information camera module 50 is located is a passive reference surface, i.e. the carrier plate 23 is a passive reference surface. It should be noted that, at this time, the depth information camera module 50 is still mounted on the carrying plate 23 in the same plane, so as to set the plane of the depth information camera module 50 through the carrying plate 23.
It should be understood by those skilled in the art that in another embodiment of the present invention, the plane where the depth information camera module 50 is located and the plane test target 10 can be set as active adjustment planes at the same time, that is, the parallelism detecting device 21 and the parallelism adjusting device 22 are respectively disposed on the plane test target 10 and the carrying plate 23 to detect the parallelism between the plane test target 10 and the plane where the depth information camera module 50 is located and adjust the plane test target 10 and the carrying plate 23 to be parallel to the plane where the depth information camera module 50 is located.
Further, in the preferred embodiment of the present invention, after the plane of the depth information camera module 50 and the plane test target 10 are adjusted to be parallel, the true value measurement system 30 drives the plane of the depth information camera module 50 to change the distance between the plane of the depth information camera module 50 and the plane test target 10, so as to measure the depth measurement accuracy of the depth information camera module 50 at different distances. It will be understood by those skilled in the art that when the plane of the depth information camera module 50 is parallel to the plane test target 10, the depth value between the depth information camera module 50 and the plane test target 10 collected by the depth information camera module 50 represents the measured distance between the plane of the depth information camera module 50 and the plane test target 10. Accordingly, when the plane where the depth information camera module 50 is located is parallel to the plane test target 10, the true value of the distance between the plane where the depth information camera module 50 is located and the plane test target 10 can be directly obtained through other measurement methods, so that the measurement accuracy of the depth information camera module 50 can be detected by comparing the depth value of the depth information camera module 50 with the true value of the distance.
More specifically, in the preferred embodiment of the present invention, as shown in fig. 4, the truth measurement system 30 includes a driving device 31, wherein the driving device 31 controllably drives the depth information camera module 50 to move away from or close to the flat test target 10 according to the corresponding command, so as to change the distance between the depth information camera module 50 and the flat test target 10. Accordingly, in the process of driving the carrier plate 23 to change the distance between the carrier plate 23 and the planar test target 10, the carrier plate 23 is always parallel to the planar test target 10, so the true value of the distance between the plane of the depth information camera module 50 and the planar test target 10 can be directly obtained by the distance measuring unit 210 of the parallelism detecting device 21. Further, the control processing system 40 can obtain the depth measurement accuracy of the depth information camera module 50 at the distance according to the depth value collected by the depth information camera module 50 and the distance true value provided by the distance measurement unit 210. It is worth mentioning that the driving means 31 may be, but is not limited to, a stepping motor.
In order to further ensure that the true value of the distance between the depth information camera module 50 and the planar test target 10 has higher reliability, preferably, in the preferred embodiment of the present invention, the true value measurement system 30 further provides a true value comparison parameter to ensure that the true value of the distance obtained by the distance measurement unit 210 has higher reliability, so as to improve the fault tolerance and stability of the true value measurement system 30.
More specifically, as shown in fig. 4, the truth measuring system 30 further includes a scale 32, wherein the plane on which the depth information camera module 50 is located and the plane test target 10 are respectively located on the scale 32 and respectively correspond to a first coordinate T1 and a second coordinate T2. It should be noted that in the preferred embodiment of the present invention, the scale 32 is disposed perpendicular to the plane between the carrier plate 23 and the planar test target 10, so that the true value of the distance between the plane where the depth information camera module 50 is located and the planar test target 10 can also be expressed as the absolute value of the difference between the first coordinate T1 and the second coordinate T2. That is, in the preferred embodiment of the present invention, the true value contrast parameter is established by the absolute value of the difference between the coordinates of the plane on which the depth information camera module 50 is located and the plane test target 10.
It is worth mentioning that in order to ensure that the plane test target 10 and the carrying plate 23 are perpendicular to the scale 32 at the same time when the plane test target 10 and the carrying plate 23 are parallel by the parallelism adjusting device 22, a passive reference plane (the plane of the plane test target 10 or the plane of the carrying plate 23) can be arranged perpendicular to the scale in advance. Alternatively, as mentioned above, in another embodiment of the present invention, when the plane of the planar test target 10 or the plane of the carrier plate 23 are both actively adjusted, position sensing devices, such as magnetometers, gyroscopes, etc., can be selectively installed on the planar test target 10 and the carrier plate 23, so that finally when the planar test target 10 and the depth information camera module 50 are parallel, the planes of the planar test target 10 and the depth information camera module 50 are perpendicular to the scale 32.
Further, in the preferred embodiment of the present invention, the driving device 31 is integrally connected to the flatness adjusting device and/or the carrying plate 23, so as to drive the carrying plate 23 to move away from or close to the plane test target 10 according to a corresponding command, so as to change a distance between the plane where the depth information camera module 50 is located and the plane test target 10. That is, in the preferred embodiment of the present invention, the plane in which the depth information camera module 50 is located is a motion plane having dynamic coordinates (the second coordinates T2), and the plane test target 10 is a static reference plane having constant coordinates (the first coordinates T1). Accordingly, the truth measurement system 30 further includes an identification module 33, wherein the identification module 33 is used for identifying the first coordinate T1 and the second coordinate T2 of the depth information camera module 50 and the planar test target 10. Therefore, preferably, in the preferred implementation of the present invention, the planar test target 10 is arranged to be located at the beginning of the scale 32, i.e., when the first coordinate T1 is zero. Accordingly, the true value contrast parameter between the plane where the depth information camera module 50 is located and the planar test target 10 is the absolute value of the second coordinate T2. In this case, the recognition module 33 only needs to recognize the second coordinate T2 of the scale 32 corresponding to the depth information camera module 50. In a specific implementation process, the recognition module 33 is installed on the plane where the depth information camera module 50 is located in the same plane, so as to recognize the second coordinate T2 corresponding to the plane where the depth information camera module 50 is located.
It should be noted that, as mentioned above, the type of the flat target 10 can be adjusted correspondingly to different types of depth information camera modules, so that in some embodiments of the present invention, the thickness of the flat target 10 itself affects the accuracy of the true value contrast parameter obtained by the identification module 33, especially when the flat target 10 is set to the coordinate of 0 by default. Accordingly, in this case, it is preferable that the thickness of the planar test target 10 is measured in advance, and the thickness value of the planar test target 10 is subtracted in the subsequent calculation of the true value contrast parameter, so that the true value contrast parameter can maximally represent the distance between the plane where the depth information camera module 50 is located and the planar test target 10.
Further, the control processing system 40 can improve the reliability of the distance truth measurement between the depth information camera module 50 and the planar test target 10 by comparing the truth comparison parameter obtained by the scale 32 and the identification module 33 with the distance truth value collected by the distance measuring unit 210 of the parallelism detecting apparatus 21. In particular, when the difference between the true value comparison parameter and the true value of the distance is too large, the control system sends out a corresponding alarm to remind an operator of possible faults such as large measurement deviation.
Similarly, as mentioned above, in another embodiment of the present invention, as shown in fig. 7, the parallelism detecting device 21 and the parallelism adjusting device 22 can be disposed on the plane test target 10 to detect the parallelism between the plane test target 10 and the plane where the depth-information camera module 50 is located and to adjust the plane test target 10 so that it is parallel to the plane where the depth-information camera module 50 is located. Accordingly, in this case, the true value of the distance between the plane where the depth information camera module 50 is located and the plane test target 10 can be directly obtained through the distance measuring unit 210 of the parallelism detecting device 21. Further, the control processing system 40 can obtain the depth measurement accuracy of the depth information camera module 50 at the distance according to the depth value collected by the depth information camera module 50 and the distance true value provided by the distance measurement unit 210.
It is also feasible that the driving device 31 can be integrally connected to the planar test target 10 to drive the planar test target 10 away from or close to the plane of the depth information camera module 50 according to the corresponding command. That is, in the embodiment of the present invention, the planar test target 10 is a motion plane having dynamic coordinates (first coordinates T1), and the depth information camera module 50 is a static reference plane having constant coordinates (second coordinates T2). Correspondingly, the truth measurement system 30 further includes an identification module 33, wherein the identification module 33 is configured to identify the corresponding second coordinates T2 and the first coordinates T1 of the depth information camera module 50 and the planar target 10. Further, the true contrast parameter can be obtained according to an absolute value of a coordinate difference between a plane where the depth information camera module 50 is located and a plane where the carrier plate 23 is located.
It will be appreciated that in the preferred embodiment of the present invention, the plane in which the depth information camera module 50 is located is preferably located at the start of the scale 32, i.e. when the second coordinate T2 is zero. Accordingly, the truth contrast parameter between the planar test targets 10 and the plane where the depth information camera module 50 is located is the absolute value of the first coordinate T1. In this case, the identification module 33 only needs to identify the first coordinate T1 of the scale 32 corresponding to the planar test target 10. In a specific implementation process, the identification module 33 is installed on the planar test target 10 in the same plane, so as to identify the first coordinate T1 corresponding to the planar test target 10.
Further, the control processing system 40 can improve the reliability of the distance truth measurement between the depth information camera module 50 and the planar test target 10 by comparing the truth comparison parameter obtained by the scale 32 and the identification module 33 with the distance truth value obtained by the distance measuring unit 210 of the parallelism detecting apparatus 21. In particular, when the difference between the true value comparison parameter and the true value of the distance is too large, the control system sends out a corresponding alarm to remind an operator of possible faults such as large measurement deviation.
It is worth mentioning that, in the present invention, the plane correction system 20 and the true value measurement system 30 are communicatively connected to the control processing system 40 to automatically coordinate the respective operations of the plane correction system 20 and the true value measurement system 30 through the control processing system 40.
More specifically, as shown in fig. 8, the control processing system 40 includes a command module 41, a depth resolution module 42, a precision detection module 43 and a communication module 44, wherein the control processing system 40 is in bidirectional communication with the plane correction system 20 and the truth measurement system 30 via the communication module 44.
The command module 41 stores corresponding control commands of the plane calibration system 20 and the truth measurement system 30, for example, the parallelism adjustment device 22 of the plane calibration system 20 is driven to adjust the parallelism between the plane of the depth information camera module 50 and the plane test target 10, and the driving device 31 of the truth measurement system 30 is set and driven to change the distance between the plane of the depth information camera module 50 and the plane of the plane test target 10. Preferably, the instruction module 41 has an editable function to set corresponding instructions according to different requirements, so as to improve the universality of the precision automatic detection system
The depth analyzing module 42 is communicably connected to the depth information camera module 50 for analyzing the depth image collected by the depth information camera module 50 to obtain the depth value between the depth information camera module 50 and the planar test target 10. Those skilled in the art will appreciate that the depth image collected by the depth information camera module 50 is raw data, and the depth value cannot be directly known. Correspondingly, the depth analysis module 42 is provided with a corresponding depth analysis program to analyze the depth image and obtain the depth value between the depth information camera module 50 and the planar test target 10. For example, in an embodiment of the present invention, the depth information camera module 50 is a TOF depth information camera module, and accordingly, the depth analysis module 42 is provided with a TOF depth image analysis program, so as to obtain the depth value between the depth information camera module 50 and the planar test target 10 through the TOF depth image analysis program. Further, the depth resolution module 42 is communicatively connected to the precision detection module 43 to provide the precision detection module 43 with the depth value of the depth information camera module 50 at the specific distance. On the other hand, the accuracy detecting module 43 is communicably connected to the distance measuring unit 210 of the parallelism detecting apparatus 21 through the communication module 44 to obtain the distance truth value data measured by the distance measuring unit 210, so as to calculate the depth measurement accuracy of the depth information camera module 50 at the specific distance.
Specifically, the precision detecting module 43 can obtain a true value of the distance between the plane of the depth information camera module 50 and the plane test target 10 through the coordinates of the scale 32 corresponding to the plane of the depth information camera module 50 and the plane test target 10 provided by the identifying module 33, so as to perform precision detection. It should be noted that, when the coordinate of the scale 32 corresponding to one of the plane where the depth information camera module 50 is located and the plane test target 10 is zero, the coordinate value of the scale 32 corresponding to the dynamic plane where the depth information camera module 50 is located or the plane test target 10 is the true value of the distance between the plane test target 10 and the depth information camera module 50 set by the command unit.
It should be noted that the accuracy detection module 43 can further improve the reliability of the distance truth measurement between the plane where the depth information camera module 50 is located and the plane test target 10 by comparing the truth comparison parameter obtained by the scale 32 and the identification module 33 with the distance truth value collected by the distance measurement unit 210 of the parallelism detection device 21. In particular, when the difference between the true value data obtained by the ranging unit 210 and the true value data obtained by the identification module 33 is too large, the control processing system 40 may issue an alarm to alert the operator that there may be a large measurement deviation.
Further, the control processing system 40 further includes an interaction module 45, so as to perform corresponding information input and output through the interaction module 45. In a specific embodiment of the present invention, the interaction module 45 is implemented as a touch screen, so as to display corresponding information, such as running state information of the automatic precision detection system, for example, start detection, end detection, prompt error information, etc., through the touch screen; or corresponding information is input through the touch screen, for example, corresponding test parameters are configured, instruction information stored by the instruction module 41 is modified, and the like, so as to enhance the human-computer interaction performance of the precision automatic detection system.
It should be noted that, in the present invention, the control processing system 40 can be integrated into a computer device or embedded into a mobile intelligent terminal as an embedded system, the installation manner of the control processing system 40 is not limited by the present invention,
it can thus be seen that the objects of the invention are sufficiently well-attained. The embodiments illustrated to explain the functional and structural principles of the present invention have been fully illustrated and described, and the present invention is not to be limited by changes based on the principles of these embodiments. Accordingly, this invention includes all modifications encompassed within the scope and spirit of the following claims.
Claims (13)
1. An automatic detection system for the precision of a depth information camera module is used for detecting the precision of depth measurement of the depth information camera module and is characterized by comprising:
a plane correction system, including a bearing plate, wherein the depth information camera module is installed on the bearing plate in the same plane, so as to set the plane of the depth information camera module through the bearing plate, the plane correction system also includes a parallelism detection device and a parallelism adjustment device, wherein the parallelism detection device is installed on the bearing plate, so as to detect the parallelism between the plane of the depth information camera module and the plane test target, the parallelism adjustment device adjusts the relative position between the plane of the depth information camera module and the plane test target according to the parallelism information provided by the parallelism detection device, so as to make the plane of the depth information camera module parallel to the plane test target;
a true value measurement system; and
the control processing system is communicably connected to the plane correction system and is used for adjusting the parallelism between the plane of the depth information camera module and a plane test target, and the truth value measuring system is communicably connected to the control processing system and is used for adjusting the distance between the plane of the depth information camera module and the plane test target according to corresponding instructions;
wherein the control processing system comprises an instruction module, a depth analysis module, a precision detection module and a communication module, wherein the instruction module performs respective instruction transmission with the plane correction system and the truth measurement system through the communication module to control respective operations of the plane correction system and the truth measurement system, the depth analysis module is connected with the depth information camera module in a communication way and is used for acquiring the depth information collected by the depth information camera module, the precision detection module carries out precision analysis through the depth information provided by the depth analysis module and the distance truth value information between the plane where the depth information camera module is located and the plane test target, wherein the distance truth value information is collected by the parallelism detection device of the plane correction system;
the truth value measuring system also comprises a scale, wherein the plane where the depth information camera module is located and the plane test target respectively correspond to a first coordinate and a second coordinate of the scale, the truth value measuring system also comprises an identification module, the identification module is used for identifying the first coordinate and the second coordinate, and a truth value comparison parameter between the plane where the depth information camera module is located and the plane test target is obtained in such a way, wherein the truth value comparison parameter is equal to the absolute value of the difference value of the first coordinate and the second coordinate;
the control processing system is further configured to compare the true value comparison parameter with the distance true value, so as to improve the reliability of the distance true value measurement between the plane where the depth information camera module is located and the plane test target.
2. The system according to claim 1, wherein the parallelism detection apparatus comprises at least three distance measurement units, wherein the at least three distance measurement units are mounted on the carrier plate in a manner not in the same line, so that the plane defined by the at least three distance measurement units and the plane of the depth information camera module are the same plane, and the at least three distance measurement units are used for respectively detecting the distance between the distance measurement units and the plane test target to obtain the parallelism information.
3. The system according to claim 2, wherein the parallelism adjusting device drives the carrier plate to rotate relative to the plane test target according to the parallelism information provided by the parallelism detecting device, so as to change the parallelism between the plane of the depth information camera and the plane test target.
4. The system according to claim 2, wherein the parallelism adjusting device drives the plane test target to rotate relative to the carrier plate according to the parallelism information provided by the parallelism detecting device, so as to change the parallelism between the plane of the depth information camera module and the plane test target.
5. The system of claim 2, wherein the distance measuring unit is a laser distance measuring unit, and the distance measuring precision of the laser distance measuring unit is higher than the depth measuring precision of the depth information camera module.
6. The system according to claim 1, wherein the truth measurement system further comprises a driver configured to controllably adjust a distance between the plane of the depth information camera and the planar test target according to the corresponding command.
7. The system according to claim 6, wherein the truth measurement system further comprises a driving device for driving the carrier plate away from or toward the flat test target to adjust a distance between the flat surface of the depth information camera and the flat test target.
8. The system according to claim 6, wherein the truth measurement system further comprises a driving device for driving the flat test target to move away from or close to the carrier plate to adjust a distance between the flat surface of the depth information camera and the flat test target.
9. The system of claim 2, wherein the distance truth information is collected by the distance measuring unit of the parallelism detecting device of the planar calibration system.
10. The system for automatically detecting the accuracy of a depth information camera module of claim 1, wherein the control processing system further comprises an interactive module, so as to realize interactive transmission of information through the interactive module.
11. The system of claim 1, wherein the planar test target is set to correspond to the start of the ruler, i.e. the first coordinate is zero, and wherein the recognition module is configured to detect the second coordinate corresponding to the plane of the depth information camera.
12. The system according to claim 11, wherein the carrier plate is set to correspond to the start point of the scale, i.e. the second coordinate is zero, and wherein the recognition module is configured to detect the first coordinate corresponding to the planar test target.
13. The system for automatic detection of depth information camera module accuracy of claim 1, wherein the control processing system is further configured to: and sending out an alarm when the difference between the distance truth value and the truth value comparison parameter is too large.
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| CN110864879B (en) * | 2019-10-21 | 2023-03-21 | 歌尔光学科技有限公司 | TOF depth module flatness testing system and method based on projection module |
| CN112330737B (en) * | 2020-11-06 | 2023-08-29 | 歌尔光学科技有限公司 | Parallel detection method, device, storage medium and apparatus |
| CN113315897B (en) * | 2021-05-20 | 2023-04-14 | 江西欧迈斯微电子有限公司 | AA method, test scale, AA equipment, camera module and electronic equipment |
| CN115695679A (en) * | 2022-10-24 | 2023-02-03 | 北京有竹居网络技术有限公司 | Triple depth module matching method and device, mobile terminal, medium and chip |
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| US9823352B2 (en) * | 2014-10-31 | 2017-11-21 | Rockwell Automation Safety Ag | Absolute distance measurement for time-of-flight sensors |
| CN106815867B (en) * | 2015-11-30 | 2020-10-30 | 宁波舜宇光电信息有限公司 | TOF camera calibration and correction system, and equipment and method thereof |
| CN205957899U (en) * | 2016-01-18 | 2017-02-15 | 河南交通职业技术学院 | Novel remote measurement calibrates appearance |
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| CN106405567B (en) * | 2016-10-14 | 2018-03-02 | 海伯森技术（深圳）有限公司 | A kind of range-measurement system and its bearing calibration based on TOF |
| CN106596060A (en) * | 2016-11-24 | 2017-04-26 | 歌尔股份有限公司 | Parallel test device and resolution power test method |
| CN206594292U (en) * | 2016-12-05 | 2017-10-27 | 武汉万集信息技术有限公司 | A kind of laser radar range precision automatic checkout system |
| CN106959075B (en) * | 2017-02-10 | 2019-12-13 | 深圳奥比中光科技有限公司 | Method and system for accurate measurement using a depth camera |
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| CN107102316B (en) * | 2017-06-20 | 2020-01-24 | 北醒（北京）光子科技有限公司 | Method for measuring angular resolution |
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