CN115574214A

CN115574214A - Camera centering device capable of being adjusted with multiple degrees of freedom

Info

Publication number: CN115574214A
Application number: CN202211259090.7A
Authority: CN
Inventors: 林书颖; 周川堰; 曹东豪; 周志
Original assignee: Ji Hua Laboratory
Current assignee: Ji Hua Laboratory
Priority date: 2022-10-14
Filing date: 2022-10-14
Publication date: 2023-01-06

Abstract

The application relates to the technical field of visual positioning, and discloses a camera centering device capable of being adjusted by multiple degrees of freedom, which comprises a first CCD camera, a second CCD camera and a z-axis moving assembly, wherein the first CCD camera and the second CCD camera are oppositely arranged along the z-axis; the first CCD camera is arranged at one end of the z-axis moving assembly, and a target motion assembly is arranged at one end, far away from the first CCD camera, of the z-axis moving assembly; the target motion assembly comprises a target seat, an x-axis moving mechanism, a y-axis moving mechanism and a rotating mechanism; the z-axis moving mechanism is used for moving the target seat along a z-axis; the x-axis moving mechanism is used for moving the target seat along an x axis; the y-axis moving mechanism is used for moving the target holder along a y-axis; the rotation mechanism is used for rotating the target holder around an x-axis and/or around a y-axis. The invention has the advantages of high centering precision and strong flexibility.

Description

Camera centering device capable of being adjusted with multiple degrees of freedom

Technical Field

The invention belongs to the technical field of visual positioning, and particularly relates to a camera centering device capable of being adjusted in multiple degrees of freedom.

Background

The camera centering device generally includes a first CCD camera, a second CCD camera, and a movable target, where the CCD is an abbreviation of a charge coupled device (charged coupled device). The first CCD camera is fixedly arranged on the first sliding table which slides along the x axis and is used for acquiring first position information of a target object on the y axis; the second CCD camera is fixedly arranged on a second sliding table which slides along the y axis and is used for acquiring second position information of the target object on the x axis; the target is arranged between the first CCD camera and the second CCD camera; if the first position information and the second position information are to be linked, the target needs to be moved until the first CCD camera and the second CCD camera can simultaneously acquire clear images of the target, at the moment, the coordinate value of the x axis of the first CCD camera and the coordinate value of the y axis of the second CCD camera are used as position information relative to a zero point, and the first position information and the second position information can be linked through the position information relative to the zero point.

The moving freedom of the existing movable target is limited, when centering operation is carried out, the target cannot fall to the positive center of the image of the first CCD camera and the image of the second CCD camera at the same time, the centering precision is insufficient, the first CCD camera and the second CCD camera cannot acquire clear images of the target at the same time, and accurate position information of a relative zero point cannot be acquired.

Accordingly, there is a need for improvement and development in the art.

Disclosure of Invention

The application aims to provide a camera centering device capable of being adjusted in multiple degrees of freedom, which can enable a target to fall on the positive center of a first CCD camera image and a second CCD camera image at the same time, and improve centering precision.

The application provides a camera centering device capable of being adjusted in multiple degrees of freedom, which comprises a first CCD camera, a second CCD camera and a z-axis moving assembly, wherein the first CCD camera and the second CCD camera are oppositely arranged along the z-axis; the first CCD camera is arranged at one end of the z-axis moving assembly, and a target motion assembly is arranged at one end, far away from the first CCD camera, of the z-axis moving assembly; the target motion assembly comprises a target seat, an x-axis moving mechanism, a y-axis moving mechanism and a rotating mechanism;

the z-axis moving mechanism is used for moving the target holder along the z-axis; the x-axis moving mechanism is used for moving the target seat along an x axis; the y-axis moving mechanism is used for moving the target holder along the y axis; the rotating mechanism is used for rotating the target holder around an x axis and/or a y axis.

According to the camera centering device capable of being adjusted by multiple degrees of freedom, the target seat can be adjusted by five degrees of freedom by arranging the z-axis moving assembly, the x-axis moving mechanism, the y-axis moving mechanism and the rotating mechanism, namely the target seat can move along the z-axis, move along the x-axis, move along the y-axis, rotate around the x-axis and rotate around the y-axis, the target body can be adjusted to simultaneously fall on the positive centers of the images of the first CCD camera and the second CCD camera, the first CCD camera and the second CCD camera can simultaneously acquire clear images of the target body, the alignment precision is improved, and accurate position information relative to a zero point is further acquired; and the CCD cameras with different multiples can be adapted, so that the applicability is improved.

Further, the camera centering device capable of being adjusted in multiple degrees of freedom provided by the application is characterized in that the z-axis moving assembly comprises a sliding table, a connecting piece and a first driving device, the target moving assembly is arranged at one end, close to the second CCD camera, of the sliding table, and the first CCD camera is arranged at one end, far away from the second CCD camera, of the connecting piece; the sliding table is arranged on the connecting piece in a sliding mode, the first driving device is connected with the sliding table, and the first driving device is used for driving the sliding table to move along the z axis.

Further, but camera centering device that this application provided is adjusted to multi freedom, rotary mechanism includes first bottom plate, second bottom plate, flexible hinge and a plurality of piezoceramics and piles, first bottom plate sets up on the slip table and perpendicular to z axle, flexible hinge and a plurality of piezoceramics piles and connects first bottom plate with between the second bottom plate, piezoceramics pile be used for adjusting self with the height of the tie point of second bottom plate is in order to adjust the inclination of second bottom plate.

Through this kind of mode of setting up, can be through the voltage of adjusting piezoceramics heap, make piezoceramics heap produce the altitude variation of micron order, thereby make the second bottom plate realize the regulation of little angle, flexible hinge can be followed the change that the second bottom plate cut the skew angle and warp, thereby do not hinder the inclination angle regulation of second bottom plate, and avoid second bottom plate and first bottom plate separation, keep the structural integrity of target seat, thereby make the second bottom plate realize rotating around the x axle or around y axle direction, make things convenient for first CCD camera and second CCD camera to carry out the accurate alignment.

Furthermore, the camera centering device capable of being adjusted in multiple degrees of freedom is characterized in that a connecting column is arranged on the first bottom plate, and the flexible hinges are connected with the second bottom plate and the connecting column respectively.

Furthermore, the camera centering device that multi freedom was adjusted that this application provided, y axle moving mechanism includes first guide rail, first voice coil motor and third bottom plate, first guide rail with first voice coil motor sets up the third bottom plate with between the second bottom plate, first guide rail sets up along the y axle direction, the third bottom plate slides and sets up on the first guide rail, first voice coil motor is used for the drive the third bottom plate is in slide on the first guide rail.

Through setting up first voice coil motor and setting up first guide rail in the y axle direction, can realize that the target seat carries out the rectilinear motion of millimeter level stroke in the y axle direction, further makes things convenient for first CCD camera and second CCD camera to carry out the accurate alignment.

Furthermore, but camera centering device that this application provided is adjusted to multi freedom, x axle moving mechanism includes second guide rail and second voice coil motor, the second guide rail with second voice coil motor sets up the third bottom plate is kept away from one side of first guide rail, the second guide rail sets up along the x axle direction, the target seat slides and sets up on the second guide rail, second voice coil motor is used for the drive the target seat is in slide on the second guide rail.

Through second voice coil motor provides power, the second guide rail provides the motion direction, can realize that the target seat carries out the rectilinear motion of millimeter level stroke in the x axle direction, further makes things convenient for first CCD camera and second CCD camera to carry out the accurate alignment.

Further, the camera centering device that multi freedom was adjusted that this application provided, the target seat includes base, target body and top cap, the target body sets up on the base, the top cap is used for with the target body is fixed on the base, the base slides and sets up on the second guide rail.

Furthermore, the camera centering device that multi freedom was adjusted that this application provided, the through-hole has all been seted up to first bottom plate, the second bottom plate with the third bottom plate, the through-hole is used for supplying the second CCD camera shoots the image of target body.

Furthermore, the camera centering device capable of being adjusted in multiple degrees of freedom is characterized in that a connecting plate is arranged at one end, away from the second CCD camera, of the connecting piece, a limiting portion is arranged on the connecting plate, and the limiting portion is used for fixing the first CCD camera.

Furthermore, the camera centering device that can multi freedom adjust that this application provided, a drive arrangement includes motor and lead screw, the lead screw with slip table screw drive connects, the motor is used for the drive the lead screw is rotatory.

According to the camera centering device capable of being adjusted by multiple degrees of freedom, the target base can be adjusted by five degrees of freedom by arranging the z-axis moving assembly, the x-axis moving mechanism, the y-axis moving mechanism and the rotating mechanism, namely the target base can move along the z-axis, move along the x-axis, move along the y-axis, rotate around the x-axis and rotate around the y-axis, and can be adjusted to simultaneously fall on the positive centers of the images of the first CCD camera and the second CCD camera, so that the first CCD camera and the second CCD camera can simultaneously acquire clear images of the target base, the alignment precision is improved, and accurate position information relative to a zero point is further acquired; and can also adapt to CCD cameras of different multiples, have improved the suitability.

Drawings

Fig. 1 is a schematic structural diagram of a camera centering device capable of adjusting multiple degrees of freedom according to the present application.

Fig. 2 is a schematic side view of a camera centering device capable of adjusting multiple degrees of freedom according to the present disclosure.

Fig. 3 is a schematic diagram of an exploded structure of a target moving assembly provided in the present application.

Description of reference numerals:

100. a first CCD camera; 200. a second CCD camera; 300. a z-axis movement assembly; 310. a sliding table; 320. a connecting member; 321. a connecting plate; 330. a first driving device; 400. a target motion assembly; 410. a target holder; 411. a base; 412. a target body; 413. a top cover; 420. an x-axis moving mechanism; 421. a second guide rail; 422. a second voice coil motor; 430. a y-axis moving mechanism; 431. a first guide rail; 432. a first voice coil motor; 433. a third base plate; 440. a rotation mechanism; 441. a first base plate; 4410. connecting columns; 442. a second base plate; 443. a flexible hinge; 444. a piezoelectric ceramic stack.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations or positional relationships based on those shown in the drawings, merely for convenience of description and simplification of the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The following disclosure provides many different embodiments or examples for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.

Referring to fig. 1 to 3, the camera centering device with multiple degrees of freedom adjustment of the present invention includes a first CCD camera 100, a second CCD camera 200, and a z-axis moving assembly 300, wherein the first CCD camera 100 and the second CCD camera 200 are oppositely disposed along the z-axis; the first CCD camera 100 is disposed at one end of the z-axis moving assembly 300, and the target moving assembly 400 is disposed at one end of the z-axis moving assembly 300 away from the first CCD camera 100; the target motion assembly 400 includes a target holder 410, an x-axis movement mechanism 420, a y-axis movement mechanism 430, and a rotation mechanism 440;

a z-axis moving mechanism for moving the target holder 410 along the z-axis; an x-axis movement mechanism 420 for moving the target holder 410 along the x-axis; a y-axis movement mechanism 430 for moving the targeting mount 410 along the y-axis; rotation mechanism 440 is used to rotate target holder 410 about the x-axis and/or about the y-axis.

According to the camera centering device capable of being adjusted by multiple degrees of freedom, the z-axis moving assembly 300, the x-axis moving mechanism 420, the y-axis moving mechanism 430 and the rotating mechanism 440 are arranged, so that the target holder 410 can be adjusted by five degrees of freedom, namely, the target holder 410 can move along the z-axis, move along the x-axis, move along the y-axis, rotate around the x-axis and rotate around the y-axis, the target body 412 can be adjusted to simultaneously fall to the positive center of the image of the first CCD camera 100 and the image of the second CCD camera 200, the first CCD camera 100 and the second CCD camera 200 can simultaneously acquire a clear image of the target body 412, the alignment precision is improved, and accurate position information relative to a zero point is further acquired; and the CCD cameras with different multiples can be adapted, so that the applicability is improved.

In some embodiments, the z-axis moving assembly 300 includes a sliding table 310, a connecting member 320, and a first driving device 330, the target moving assembly 400 is disposed at an end of the sliding table 310 close to the second CCD camera 200, and the first CCD camera 100 is disposed at an end of the connecting member 320 far from the second CCD camera 200; the sliding table 310 is slidably disposed on the connecting member 320, the first driving device 330 is connected to the sliding table 310, and the first driving device 330 is configured to drive the sliding table 310 to move along the z-axis. By this arrangement, relative movement between the slide table 310 and the connector 320 can be achieved to move the first CCD camera 100 away from or close to the target motion assembly 400.

In some embodiments, the rotation mechanism 440 includes a first base plate 441, a second base plate 442, a flexible hinge 443, and a plurality of piezo ceramic stacks 444, the first base plate 441 is disposed on the sliding table 310 and is perpendicular to the z-axis, the flexible hinge 443 and the plurality of piezo ceramic stacks 444 are connected between the first base plate 441 and the second base plate 442, and the piezo ceramic stacks 444 are used for adjusting the height of their connection point with the second base plate 442 to adjust the inclination angle of the second base plate 442.

In a further embodiment, a connection column 4410 is provided on the first base plate 441, and a flexible hinge 443 is connected with the second base plate 442 and the connection column 4410, respectively.

In order to realize the angle adjustment around the x-axis and/or the y-axis, the number of the piezoelectric ceramic stacks 444 is at least three, which may be set according to practical situations, and the piezoelectric ceramic stacks 444 are not specifically limited in this application and are respectively connected to the first base plate 441 and the second base plate 442. Through the arrangement mode, the piezoelectric ceramic stack 444 generates micron-scale height change by adjusting the voltage of the piezoelectric ceramic stack, and the flexible hinge 443 deforms, so that the second base plate 442 rotates around the x-axis and/or the y-axis, and the first CCD camera 100 and the second CCD camera 200 can be conveniently precisely aligned. For example, in fig. 3, four piezoelectric ceramic stacks 444 are provided, four piezoelectric ceramic stacks 444 are arranged in a cross shape, two piezoelectric ceramic stacks 444 are arranged at intervals along the x-axis, and the other two piezoelectric ceramic stacks 444 are arranged at intervals along the y-axis; therefore, the angle adjustment around the y axis can be realized by controlling the two piezoelectric ceramic stacks 444 on the x axis, the angle adjustment around the x axis can be realized by controlling the two piezoelectric ceramic stacks 444 on the y axis, and the control logic is simple. In addition, by providing the connection column 4410, the fixing effect of the flexible hinge 443 can be improved, so that the flexible hinge is in close contact with the second base plate 442.

In a further embodiment, the y-axis moving mechanism 430 includes a first rail 431, a first voice coil motor 432, and a third base 433, the first rail 431 and the first voice coil motor 432 are disposed between the third base 433 and the second base 442, the first rail 431 is disposed along the y-axis direction, the third base 433 is slidably disposed on the first rail 431, and the first voice coil motor 432 is configured to drive the third base 433 to slide on the first rail 431. The voice coil motor is a direct drive motor in a special form, and has the characteristics of simple structure, small size, high speed, quick response and the like. Through setting up first voice coil motor 432 and setting up first guide rail 431 in the y axle direction, can realize that target seat 410 carries out the rectilinear motion of millimeter level stroke in the y axle direction, further makes things convenient for first CCD camera 100 and second CCD camera 200 to carry out the precision and aims at.

In a further embodiment, the x-axis moving mechanism 420 includes a second rail 421 and a second voice coil motor 422, the second rail 421 and the second voice coil motor 422 are disposed on a side of the third base plate 433 away from the first rail 431, the second rail 421 is disposed along the x-axis direction, the target holder 410 is slidably disposed on the second rail 421, and the second voice coil motor 422 is used for driving the target holder 410 to slide on the second rail 421. In practical application, provide power through second voice coil motor 422, second guide rail 421 provides the motion direction, can realize that target seat 410 carries out the rectilinear motion of millimeter level stroke in the x axle direction, makes things convenient for first CCD camera 100 and second CCD camera 200 to carry out the accurate alignment further.

In some embodiments, the target holder 410 comprises a base 411, a target body 412 and a cap 413, wherein the target body 412 is disposed on the base 411, the cap 413 is used for fixing the target body 412 on the base 411, and the base 411 is slidably disposed on the second rail 421. In practical applications, a plurality of mounting holes with the same size and position may be formed on the edge of the top cover 413 and the base 411, and the top cover 413 may be fixed on the base 411 by screwing. By the arrangement mode, the stability of the target body 412 can be improved, the target body 412 is prevented from shaking, and the alignment precision is improved.

In some embodiments, the first bottom plate 441, the second bottom plate 442, and the third bottom plate 433 are all opened with through holes for the second CCD camera 200 to capture an image of the target body 412. With this arrangement, the second CCD camera 200 can be facilitated to image.

In some preferred embodiments, a connection plate 321 is disposed at an end of the connection member 320 away from the second CCD camera 200, and a position-limiting portion is disposed on the connection plate 321, and is used for fixing the first CCD camera 100. Wherein, the limiting part can be a round hole or a semicircular groove. By this arrangement, the first CCD camera 100 can be fixed to the connecting plate 321, which facilitates the installation.

In some embodiments, the first driving device 330 may be a pneumatic cylinder.

In some preferred embodiments, the first driving device 330 includes a motor and a lead screw, the lead screw is in threaded transmission connection with the sliding table 310, and the motor is used for driving the lead screw to rotate. In practical application, the lead screw transmission mode can improve the movement precision of the sliding table 310, and further improve the alignment precision.

Therefore, the camera centering device capable of being adjusted by multiple degrees of freedom has the following advantages:

1. by arranging the z-axis moving assembly 300, the x-axis moving mechanism 420, the y-axis moving mechanism 430 and the rotating mechanism 440, multi-angle adjustment of the target holder 410 can be realized, flexibility is improved, alignment of the first CCD camera 100 and the second CCD camera 200 is facilitated, and alignment accuracy is effectively improved.

2. The piezoelectric ceramic stack 444 and the flexible hinge 443 are arranged between the first bottom plate 441 and the second bottom plate 442, and the power supply voltage of the piezoelectric ceramic stack 444 can be adjusted according to needs, so that the piezoelectric ceramic stack 444 generates micron-sized height change, and the flexible hinge 443 deforms due to the height change of the piezoelectric ceramic stack 444, thereby realizing the operation of rotating around the x axis and/or the y axis.

3. Voice coil motors are arranged on the x-axis moving mechanism 420 and the y-axis moving mechanism 430 to provide power, and the characteristics of the voice coil motors are utilized to enable the target holder 410 to realize millimeter-scale stroke movement in the x-axis direction and the y-axis direction, so that the first CCD camera 100 and the second CCD camera 200 can be conveniently and precisely aligned.

In summary, the camera centering device with multiple degrees of freedom is provided with the z-axis moving assembly 300, the x-axis moving mechanism 420, the y-axis moving mechanism 430 and the rotating mechanism 440, so that the target holder 410 can be adjusted with five degrees of freedom, that is, the target holder 410 can move along the z-axis, move along the x-axis, move along the y-axis, rotate around the x-axis and rotate around the y-axis, and the adjustable target body 412 can simultaneously fall on the positive center of the image of the first CCD camera 100 and the image of the second CCD camera 200, so that the first CCD camera 100 and the second CCD camera 200 can simultaneously acquire clear images of the target body 412, thereby improving the alignment precision and further acquiring accurate position information relative to the zero point; and can also adapt to CCD cameras of different multiples, have improved the suitability.

In the description of the present specification, reference to the description of "one embodiment", "certain embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

What has been described above are merely some of the embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.

Claims

1. A camera centering device capable of being adjusted in multiple degrees of freedom comprises a first CCD camera (100), a second CCD camera (200) and a z-axis moving assembly (300), and is characterized in that the first CCD camera (100) and the second CCD camera (200) are oppositely arranged along the z-axis; the first CCD camera (100) is arranged at one end of the z-axis moving assembly (300), and a target motion assembly (400) is arranged at one end, far away from the first CCD camera (100), of the z-axis moving assembly (300); the target motion assembly (400) comprises a target holder (410), an x-axis moving mechanism (420), a y-axis moving mechanism (430) and a rotating mechanism (440);

the z-axis moving mechanism is used for moving the target seat (410) along a z-axis; the x-axis moving mechanism (420) is used for moving the target holder (410) along an x-axis; the y-axis moving mechanism (430) is used for moving the target holder (410) along the y-axis; the rotation mechanism (440) is configured to rotate the target mount (410) about an x-axis and/or about a y-axis.

2. The multi-degree-of-freedom adjustable camera centering device according to claim 1, wherein the z-axis moving assembly (300) comprises a sliding table (310), a connecting piece (320) and a first driving device (330), the target moving assembly (400) is arranged at one end of the sliding table (310) close to the second CCD camera (200), and the first CCD camera (100) is arranged at one end of the connecting piece (320) far away from the second CCD camera (200); the sliding table (310) is arranged on the connecting piece (320) in a sliding mode, the first driving device (330) is connected with the sliding table (310), and the first driving device (330) is used for driving the sliding table (310) to move along the z axis.

3. The multi-degree-of-freedom adjustable camera centering device according to claim 2, wherein the rotating mechanism (440) comprises a first base plate (441), a second base plate (442), a flexible hinge (443), and a plurality of piezo ceramic stacks (444), the first base plate (441) is disposed on the sliding table (310) and perpendicular to the z-axis, the flexible hinge (443) and the plurality of piezo ceramic stacks (444) are connected between the first base plate (441) and the second base plate (442), and the piezo ceramic stacks (444) are used for adjusting the height of the connection point of the piezo ceramic stacks with the second base plate (442) to adjust the inclination angle of the second base plate (442).

4. The multiple degree of freedom adjustable camera centering device of claim 3, wherein a connection post (4410) is provided on the first base plate (441), and the flexible hinge (443) is connected with the second base plate (442) and the connection post (4410), respectively.

5. The multi-degree-of-freedom adjustable camera centering device according to claim 3, wherein the y-axis moving mechanism (430) comprises a first guide rail (431), a first voice coil motor (432) and a third base plate (433), the first guide rail (431) and the first voice coil motor (432) are arranged between the third base plate (433) and the second base plate (442), the first guide rail (431) is arranged along the y-axis direction, the third base plate (433) is slidably arranged on the first guide rail (431), and the first voice coil motor (432) is used for driving the third base plate (433) to slide on the first guide rail (431).

6. The multi-degree-of-freedom adjustable camera centering device according to claim 5, wherein the x-axis moving mechanism (420) comprises a second guide rail (421) and a second voice coil motor (422), the second guide rail (421) and the second voice coil motor (422) are disposed on a side of the third base plate (433) away from the first guide rail (431), the second guide rail (421) is disposed along the x-axis direction, the target holder (410) is slidably disposed on the second guide rail (421), and the second voice coil motor (422) is used for driving the target holder (410) to slide on the second guide rail (421).

7. The multiple degree of freedom adjustable camera centering device of claim 6, wherein the target holder (410) comprises a base (411), a target body (412) and a top cover (413), the target body (412) is disposed on the base (411), the top cover (413) is used for fixing the target body (412) on the base (411), and the base (411) is slidably disposed on the second guide rail (421).

8. The multi-degree-of-freedom adjustable camera centering device of claim 7, wherein the first bottom plate (441), the second bottom plate (442) and the third bottom plate (433) are all provided with through holes for the second CCD camera (200) to shoot the image of the target body (412).

9. The camera centering device with multiple degrees of freedom adjustment according to claim 2, wherein a connecting plate (321) is disposed at an end of the connecting member (320) away from the second CCD camera (200), and a limiting portion is disposed on the connecting plate (321) and used for fixing the first CCD camera (100).

10. The multi-degree-of-freedom adjustable camera centering device according to claim 2, wherein the first driving device (330) comprises a motor and a lead screw, the lead screw is in threaded transmission connection with the sliding table (310), and the motor is used for driving the lead screw to rotate.