CN111207685A - Full-automatic calibration system for structured light depth measurement - Google Patents
Full-automatic calibration system for structured light depth measurement Download PDFInfo
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- CN111207685A CN111207685A CN202010034439.1A CN202010034439A CN111207685A CN 111207685 A CN111207685 A CN 111207685A CN 202010034439 A CN202010034439 A CN 202010034439A CN 111207685 A CN111207685 A CN 111207685A
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- 238000004590 computer program Methods 0.000 description 7
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- G—PHYSICS
- 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
- G01B11/22—Measuring arrangements characterised by the use of optical techniques for measuring depth
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/045—Allowing translations adapted to left-right translation movement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/042—Calibration or calibration artifacts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/04—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness by measuring coordinates of points
- G01B21/047—Accessories, e.g. for positioning, for tool-setting, for measuring probes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
- G01B5/0004—Supports
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
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- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of structured light, in particular to a full-automatic calibration system for structured light depth measurement. The system comprises: the calibration device comprises a calibration frame, a calibration plate, a laser, a camera, a first driving mechanism and a control device; the calibration plate is arranged on the calibration frame; the first driving mechanism is fixed in the calibration frame, the laser and the camera are driven by the first driving mechanism to move along a set direction, and the set direction is intersected with the plane where the calibration plate is located; the control device is electrically connected with the first driving mechanism, the laser and the camera respectively. Through the distance of first actuating mechanism automatic adjustment laser instrument and camera to calibration board, the laser instrument is to calibration board transmission laser, and the camera shoots calibration board, obtains calibration image, will mark image transmission to controlling means to make controlling means carry out the space operation, obtain and mark the parameter, can mark a plurality of distances in the short time, weak point consuming time, precision height have improved and have markd efficiency.
Description
Technical Field
The invention relates to the technical field of structured light, in particular to a full-automatic calibration system for structured light depth measurement.
Background
Line structured light imaging originated in the 80's of the 20 th century and began to serve only as an optical detection instrument for depth detection. The structured light is a system structure consisting of a projector and a camera, the projector is used for projecting specific light information to the surface of an object and the background, the camera is used for collecting a calibration image, information such as the position and the depth of the object is calculated according to the change of a light signal caused by the object, and the whole three-dimensional space is restored. With the recent application of 3D point cloud acquisition and reconstruction techniques, structured light imaging reconstruction, an imaging modality, is beginning to become increasingly recognized, used and developed. In order to determine the relationship between the three-dimensional geometric position of a point on the surface of an object in space and the corresponding point in the image, a geometric model of the image of the camera must be established, and the parameters of the geometric model are the parameters of the camera. Under most conditions, the parameters can be obtained only through experiments and calculation, the process of solving the parameters is called as camera calibration, and in order to ensure the measurement accuracy, the camera needs to be calibrated before the structured light system is used for measuring the depth of an object.
When the object is far away from the camera, the size of the image is small, the actual size represented by one pixel is large, and when the object is near the camera, the imaging effect is large, and the actual size represented by one pixel is small. Therefore, de-calibration is required for each position. In the prior art, the distance between the object and the camera is usually required to be manually adjusted, and therefore, the prior art has the technical problem of low calibration operation efficiency.
Disclosure of Invention
The invention aims to provide a full-automatic calibration system for structured light depth measurement, which aims to solve the technical problem of low camera calibration operation efficiency in the prior art.
The embodiment of the invention provides the following scheme:
according to a first aspect of the present invention, an embodiment of the present invention provides a fully automatic calibration system for structured light depth measurement, the system including: the calibration device comprises a calibration frame, a calibration plate, a laser, a camera, a first driving mechanism and a control device;
the calibration plate is arranged on the calibration frame;
the first driving mechanism is fixed in the calibration frame, the laser and the camera are driven by the first driving mechanism to move along a set direction, and the set direction is intersected with the plane of the calibration plate;
the control device is electrically connected with the first driving mechanism, the laser and the camera respectively.
Preferably, the first drive mechanism includes: the device comprises a first motor, a ball screw pair and a mounting seat;
the first motor is electrically connected with the control device;
the ball screw pair is arranged in the calibration frame along the set direction, and a screw of the ball screw pair is connected with an output shaft of the first motor;
the nut of the ball screw pair is fixedly connected with the mounting seat;
the laser and the camera are mounted on the mounting base.
Preferably, the first drive mechanism further comprises: a motor bracket;
the first motor is fixed in the motor support, and the motor support is installed on the calibration frame.
Preferably, the calibration rack is provided with: a guide plate and a slide rail;
a guide groove is formed in the guide plate along the set direction;
the mounting seat extends into the guide groove and can slide along the guide groove, and the bottom of the mounting seat is fixedly connected with the nut;
the slide rail is arranged in the calibration frame along the set direction, and the mounting seat is connected with the slide rail in a sliding manner.
Preferably, the full-automatic calibration system for structured light depth measurement further includes: an encoder;
the encoder is connected with the laser and the camera.
Preferably, the full-automatic calibration system for structured light depth measurement further includes: a second drive mechanism;
the second driving mechanism is electrically connected with the control device.
Preferably, the fully automatic calibration system for structured light depth measurement, the second driving mechanism includes: the second motor, the main shaft, the auxiliary shaft, the first universal joint and the two second universal joints;
the second motor is arranged on the calibration frame, and an output shaft of the second motor is connected with the first end of the main shaft;
the first end of the auxiliary shaft is connected with the first universal joint, and the first universal joint is arranged on the main shaft;
and the second end of the main shaft and the second end of the auxiliary shaft are respectively connected with the calibration plate through two second universal joints.
Compared with the prior art, the invention has the following advantages and beneficial effects:
the full-automatic calibration system for structured light depth measurement in the embodiment of the invention comprises: the calibration device comprises a calibration frame, a calibration plate, a laser, a camera, a first driving mechanism and a control device; the calibration plate is arranged on the calibration frame; the first driving mechanism is fixed in the calibration frame, the laser and the camera are driven by the first driving mechanism to move along a set direction, and the set direction is intersected with the plane of the calibration plate; the control device is electrically connected with the first driving mechanism, the laser and the camera respectively. In the embodiment, the distances from the laser and the camera to the calibration plate are automatically adjusted through the first driving mechanism, the laser emits laser to the calibration plate, the camera shoots the calibration plate to obtain a calibration image, and the calibration image is transmitted to the control device, so that the control device performs spatial operation to obtain calibration parameters, can calibrate a plurality of distances in a short time, is short in time consumption and high in precision, and improves calibration efficiency.
Drawings
In order to more clearly illustrate the embodiments of the present specification or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present specification, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a block diagram of the control part of the fully automatic calibration system for structured light depth measurement according to the present invention;
FIG. 2 is a schematic diagram of the overall structure of the full-automatic calibration system for structured light depth measurement according to the present invention;
FIG. 3 is a top view of the fully automatic calibration system for structured light depth measurement of the present invention;
fig. 4 is a schematic view of a connection structure of the calibration plate and the second driving mechanism according to the present invention.
The reference numbers illustrate:
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, rather than all embodiments, and all other embodiments obtained by those skilled in the art based on the embodiments of the present invention belong to the scope of protection of the embodiments of the present invention.
Referring to fig. 1 to 4, fig. 1 is a block diagram illustrating a control portion of a full-automatic calibration system for structured light depth measurement according to the present invention; FIG. 2 is a schematic diagram of the overall structure of the full-automatic calibration system for structured light depth measurement according to the present invention; FIG. 3 is a top view of the fully automatic calibration system for structured light depth measurement of the present invention; fig. 4 is a schematic view of a connection structure of the calibration plate and the second driving mechanism according to the present invention. In this embodiment, the fully automatic calibration system for structured light depth measurement includes: a calibration frame 40, a calibration plate 10, a laser 20, a camera 30, a first driving mechanism 50, and a control device 70;
the calibration plate 10 is arranged on the calibration frame 40;
the first driving mechanism 50 is fixed in the calibration frame 40, and the laser 20 and the camera 30 are driven by the first driving mechanism 50 to move along a set direction, wherein the set direction is intersected with the plane of the calibration plate 10;
the control device 70 is electrically connected to the first driving mechanism 50, the laser 20, and the camera 30, respectively.
The calibration principle for structured light depth measurement is that the camera 30 is controlled to make specific motion by an active system, the camera 30 is controlled to move specifically by using a control platform to shoot a plurality of groups of images, and calibration parameters are solved according to image information and known displacement changes.
The calibration frame 40 is constructed by a plurality of connecting rods and is used for erecting the calibration plate 10, the laser 20, the camera 30, the first driving mechanism 50 and the control device 70.
The calibration plate 10 is a flat plate with an array of fixed pitch patterns comprising: the calibration plate 10 can be arranged on one side of the calibration frame 40, and the calibration plate 10 is used as a calibration reference object based on the fixed distance in the calibration plate 10, so that the calibration precision is high.
The first driving mechanism 50 is fixed in the calibration frame 40, and the laser 20 and the camera 30 are driven by the first driving mechanism 50 to move along a set direction, wherein the set direction intersects with the plane of the calibration plate 10. Because the first driving mechanism 50 is fixed in the calibration frame 40 and drives the laser 20 and the camera 30 to move along the set direction, when the set direction is perpendicular to the plane of the calibration board 10, the first driving mechanism 50 will drive the laser 20 and the camera 30 to move perpendicular to the calibration board 10. In a specific implementation, in the preset direction, the calibration plate 10 is used as a zero point, and 20 to 30 calibration points are generally set at intervals of a preset distance in a range of 10 centimeters to 1 meter, which is not limited in this embodiment. The first driving mechanism 50 drives the laser 20 and the camera 30 to move to each calibration point position perpendicular to the calibration plate 10, so as to determine the positions of the calibration points, calibrate each calibration point, and improve the calibration efficiency.
The control device 70 is electrically connected to the first driving mechanism 50, the laser 20, and the camera 30, respectively.
The control device 70 includes a controller and a processor, wherein the controller is a decision-making mechanism for issuing commands for coordinating and commanding the operation of the entire calibration system, and the processor is used for data processing. The control device 70 is connected with the first driving mechanism 50 and is used for controlling the movement time and the movement speed of the first driving mechanism 50, so as to control the movement of the laser 20 and the camera 30; the control device 70 is connected to the laser 20 and configured to control a time and a number of times that the laser 20 emits laser light; the control device 70 is also connected to the camera 30, and is used for controlling the time and the number of times the camera 30 shoots the calibration board 10.
The control device 70 controls the laser 20 and the camera 30 to move to the positions where the calibration points are located, the laser 20 emits laser to the calibration plate 10, the laser forms an image on the calibration plate 10, and the camera 30 shoots the calibration plate 10 to obtain calibration images corresponding to a plurality of calibration point positions.
The output end of the camera 30 is connected to the control device 70, and after the camera 30 captures the calibration board 10 to obtain a calibration image, the camera 30 transmits the calibration image to the control device 70, so that the control device 70 performs spatial operation to obtain calibration parameters, thereby implementing calibration of the system for structured light depth measurement.
Further, the first drive mechanism 50 includes: a first motor 52, a ball screw pair 53 and a mounting seat 51;
the first motor 52 is electrically connected to the control device 70;
the ball screw pair 53 is installed in the calibration frame 40 along the setting direction, and the screw 531 of the ball screw pair 53 is connected with the output shaft of the first motor;
the nut 532 of the ball screw pair 53 is fixedly connected with the mounting seat 51;
the laser 20 and the camera 30 are mounted on the mount 51.
The control device 70 is electrically connected to the first motor 52 and is configured to control the starting time and the rotation speed of the first motor 52. The first drive mechanism 50 further includes: a motor bracket 54; the first motor 52 is fixed in a motor bracket 54, and the motor bracket 54 is mounted on the calibration frame 40.
The ball screw pair 53 is a transmission element for converting a rotational motion into a linear motion, the first motor 52 is used for driving the ball screw pair 53 to rotate, and may be a servo motor, the servo motor is an engine for controlling a mechanical element to operate in a servo system, the ball screw pair 53 is installed in the calibration frame 40 along the set direction, the screw 531 of the ball screw pair 53 is connected with the output shaft of the first motor 52, and the nut 532 of the ball screw pair 53 is fixedly connected with the mounting seat 51; the laser 20 and the camera 30 are mounted on the mount 51. Therefore, the ball screw pair 53 is driven to rotate by the first motor 52, and torque is converted into axial repeated acting force by the rotation of the ball screw pair 53, so as to drive the mounting seat 51 to move linearly, and further drive the laser 20 and the camera 30 to move linearly, because the ball screw pair 53 is fixed in the calibration frame 40 and extends along the set direction, the first motor 52 and the ball screw pair 53 drive the laser 20 and the camera 30 to move to each calibration point position perpendicular to the calibration plate 10, so that the positions of the calibration points can be conveniently determined, each calibration point can be calibrated, and the calibration efficiency can be improved.
Further, the calibration frame 40 is provided with: a guide plate 41 and a slide rail 42;
a guide slot 411 is arranged on the guide plate 41 along the set direction;
the mounting seat 51 extends into the guide slot 411 and can slide along the guide slot 411, and the bottom of the mounting seat 51 is fixedly connected with the nut 532;
the slide rail 42 is installed in the calibration frame 40 along the setting direction, and the installation seat 51 is slidably connected with the slide rail 42.
The guide plate 41 is a planar guide, and a guide slot 411 is formed in the guide plate 41 along the setting direction; the mounting seat 51 extends into the guide slot 411 and can slide along the guide slot 411, and the bottom of the mounting seat 51 is fixedly connected with the nut 532 of the ball screw pair 53. When the first motor 52 drives the ball screw assembly 53 to rotate, the nut 532 of the ball screw assembly 53 will generate a linear motion along the set direction, the nut 532 will drive the mounting base 51 to move along the set direction, and the mounting base 51 can drive the laser 20 and the camera 30 to slide in the guide slot 411. The slide rail 42 is installed in the calibration frame 40 along the set direction, and the installation seat 51 is slidably connected with the slide rail 42, so that the sliding smoothness and accuracy of the installation seat 51 are improved.
Further, the full-automatic calibration system for structured light depth measurement further includes: an encoder;
the encoder is connected to the laser 20 and the camera 30.
The encoder is a device for compiling and converting signals or data into signal forms capable of being used for communication, transmission and storage, and is used for detecting the moving distances of the laser 20 and the camera 30 and feeding the moving distances back to the control device 70 so as to verify the moving distances of the laser 20 and the camera 30 and ensure the accuracy of the calibration process.
Further, the full-automatic calibration system for structured light depth measurement further includes: the second drive mechanism 60; the second driving mechanism 60 is electrically connected to the control device 70.
The second drive mechanism 60 includes: a second motor 61, a main shaft 62, a counter shaft 63, a first gimbal 64, and two second gimbals 65;
the second motor 61 is mounted on the calibration frame 40, and an output shaft of the second motor 61 is connected with a first end of the spindle 62;
a first end of the auxiliary shaft 63 is connected with the first universal joint 64, and the first universal joint 64 is installed on the main shaft 62;
the second end of the main shaft 62 and the second end of the auxiliary shaft 63 are connected to the calibration plate 10 via two second universal joints 65, respectively.
The second motor 61 is an open-loop control motor that converts an electric pulse signal into an angular displacement or a linear displacement, and may be a servo motor, and the second motor 61 is configured to drive the calibration plate 10 to adjust the tilt angle and control the pose of the calibration plate 10. The main shaft 62 and the auxiliary shaft 63 are connected through the first universal joint 64, so that the main shaft 62 and the auxiliary shaft 63 can freely rotate, the second end of the main shaft 62 and the second end of the auxiliary shaft 63 are respectively connected with the calibration plate 10 through two second universal joints 65, so that the calibration plate 10 and the two universal joints can freely rotate, when the main shaft 62 is driven by the second motor 61 to rotate, the calibration plate 10 can freely rotate, so that a calibration image in a random direction is obtained, and the calibration accuracy can be improved. The first and second universal joints 64 and 65 are preferably ball joint joints that can rotate in any direction.
When the calibration board 10 is in different poses, the camera 30 shoots the calibration board 10 to obtain a calibration image, the camera 30 transmits the calibration image to the control device 70, so that the control device 70 performs spatial operation according to a preset algorithm to obtain calibration parameters of the camera 30, thereby implementing calibration of the camera 30, where the preset algorithm is:
wherein q isiIs the actual distance of the ith calibration point from the calibration plate 10, s is the distance between the lens of the camera 30 and the laser 20, f is the distance between the lens and the image sensor of the camera 30, PixelSize is the physical size of the image pixels, pxiThe pixel distance corresponding to the ith calibration point is the offset distance of the image origin relative to the image edge in the triangulation.
In the calibration process, the actual distances and the physical sizes of the image pixels are known, the pose of the calibration plate 10 is adjusted for each actual distance, a plurality of calibration images are shot to obtain a plurality of pixel distances, the actual distances and the pixel distances are substituted into the preset algorithm to obtain calibration parameters such as the distance between the lens and the laser 20, the distance between the lens and the image sensor of the camera 30, the offset distance and the like, and therefore the camera 30 is accurately calibrated.
The technical scheme provided in the embodiment of the application at least has the following technical effects or advantages:
the full-automatic calibration system for structured light depth measurement in the embodiment comprises: a calibration frame 40, a calibration plate 10, a laser 20, a camera 30, a first drive mechanism 50, and a control device 70; the calibration plate 10 is vertically arranged at the edge of the calibration frame 40 along the first direction of the calibration frame 40; the first driving mechanism 50 is fixed in the calibration frame 40 and arranged along the set direction, and the preset direction is perpendicular to the first direction; the first driving mechanism 50 is respectively connected with the laser 20 and the camera 30 in a threaded manner; the control device 70 is respectively connected with the input ends of the first driving mechanism 50, the laser 20 and the camera 30; the output of the camera 30 is connected to the control device 70. In this embodiment, the first driving mechanism 50 automatically adjusts the distances from the laser 20 and the camera 30 to the calibration board 10, the laser 20 emits laser to the calibration board 10, the camera shoots the calibration board 10 to obtain a calibration image, and the calibration image is transmitted to the control device 70, so that the control device 70 performs spatial operation to obtain calibration parameters, and can calibrate a plurality of distances in a short time, which is short in time consumption and high in precision, and improves the calibration efficiency.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (modules, systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (7)
1. A full-automatic calibration system for structured light depth measurement, the full-automatic calibration system for structured light depth measurement comprising: the calibration device comprises a calibration frame, a calibration plate, a laser, a camera, a first driving mechanism and a control device;
the calibration plate is arranged on the calibration frame;
the first driving mechanism is fixed in the calibration frame, the laser and the camera are driven by the first driving mechanism to move along a set direction, and the set direction is intersected with the plane of the calibration plate;
the control device is electrically connected with the first driving mechanism, the laser and the camera respectively.
2. The fully automatic calibration system for structured light depth measurement according to claim 1, wherein the first drive mechanism comprises: the device comprises a first motor, a ball screw pair and a mounting seat;
the first motor is electrically connected with the control device;
the ball screw pair is arranged in the calibration frame along the set direction, and a screw of the ball screw pair is connected with an output shaft of the first motor;
the nut of the ball screw pair is fixedly connected with the mounting seat;
the laser and the camera are mounted on the mounting base.
3. The fully automatic calibration system for structured light depth measurement according to claim 2, wherein the first driving mechanism further comprises: a motor bracket;
the first motor is fixed in the motor support, and the motor support is installed on the calibration frame.
4. The fully automatic calibration system for structured light depth measurement according to claim 3, wherein the calibration frame is provided with: a guide plate and a slide rail;
a guide groove is formed in the guide plate along the set direction;
the mounting seat extends into the guide groove and can slide along the guide groove, and the bottom of the mounting seat is fixedly connected with the nut;
the slide rail is arranged in the calibration frame along the set direction, and the mounting seat is connected with the slide rail in a sliding manner.
5. The fully automatic calibration system for structured light depth measurement according to claim 4, further comprising: an encoder;
the encoder is connected with the laser and the camera.
6. The fully automatic calibration system for structured light depth measurement according to any one of claims 1 to 5, further comprising: a second drive mechanism;
the second driving mechanism is electrically connected with the control device.
7. The fully automatic calibration system for structured light depth measurement according to claim 6, wherein the second drive mechanism comprises: the second motor, the main shaft, the auxiliary shaft, the first universal joint and the two second universal joints;
the second motor is arranged on the calibration frame, and an output shaft of the second motor is connected with the first end of the main shaft;
the first end of the auxiliary shaft is connected with the first universal joint, and the first universal joint is arranged on the main shaft;
and the second end of the main shaft and the second end of the auxiliary shaft are respectively connected with the calibration plate through two second universal joints.
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| CN202010034439.1A CN111207685A (en) | 2020-01-14 | 2020-01-14 | Full-automatic calibration system for structured light depth measurement |
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| CN202010034439.1A CN111207685A (en) | 2020-01-14 | 2020-01-14 | Full-automatic calibration system for structured light depth measurement |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN115016219A (en) * | 2022-05-30 | 2022-09-06 | 深圳市新四季信息技术有限公司 | Testing device for lens focusing |
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| CN111650573A (en) * | 2020-07-27 | 2020-09-11 | 中国船舶工业综合技术经济研究院 | Solid-state area array laser three-dimensional imaging dynamic integrated calibration system |
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| CN114440957B (en) * | 2020-11-05 | 2024-06-07 | 浙江舜宇智能光学技术有限公司 | Sensor fusion calibration equipment and method thereof |
| CN115016219A (en) * | 2022-05-30 | 2022-09-06 | 深圳市新四季信息技术有限公司 | Testing device for lens focusing |
| CN115016219B (en) * | 2022-05-30 | 2024-03-22 | 深圳市新四季信息技术有限公司 | Testing device for focusing lens |
| CN117607836A (en) * | 2023-12-05 | 2024-02-27 | 钛玛科（北京）工业科技有限公司 | Bracket capable of adjusting measurement distance and application method thereof |
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