CN115685578A

CN115685578A - Camera module optical axis calibration device and method, electronic equipment and storage medium

Info

Publication number: CN115685578A
Application number: CN202211318915.8A
Authority: CN
Inventors: 陈展耀; 钟伟新; 钱哲弘
Original assignee: Yinniu Microelectronics Wuxi Co ltd
Current assignee: Yinniu Microelectronics Wuxi Co ltd
Priority date: 2022-10-26
Filing date: 2022-10-26
Publication date: 2023-02-03

Abstract

The device comprises a first adjusting device, a second adjusting device, a first angle adjusting component and a second angle adjusting component, wherein the first adjusting device comprises a substrate support, a first camera module and a second camera module which are arranged on the substrate support and are to be calibrated at a specific distance, and the second camera module and the first camera module are arranged on the first camera module; the second adjusting device comprises a fixing device arranged horizontally, and a first reflective mirror and a second reflective mirror which are arranged on the fixing device according to a preset angle; and the first light source is positioned vertically below the first reflector and used for emitting a collimated circular Gaussian beam to the first reflector. Based on camera module optical axis calibrating device, can calibrate the optical axis between the camera module, can improve camera module's calibration precision and efficiency.

Description

Camera module optical axis calibration device and method, electronic equipment and storage medium

Technical Field

The present disclosure relates to the field of optical technologies, and in particular, to a device and a method for calibrating an optical axis of a camera module, an electronic device, and a storage medium.

Background

In recent years, 3D structured light modules are increasingly applied in the field of consumer electronics, for example, in the fields of robot obstacle avoidance, face payment, and scene modeling. The 3D structured light technology not only can image a target object, but also can acquire the depth information of the target object, and is the 3D imaging equipment which is most widely applied at present.

According to the structured light principle, in the 3D structured light depth camera module, alignment of optical axes among modules is an extremely important ring in the manufacturing link of the structured light depth camera module, and the alignment precision of the alignment precision is closely related to the three-dimensional reconstruction precision of an object. Although the 3D structured light solution is well established, the technique has high requirements on the assembly of the module components during the production process, especially the optical axis parallelism between modules, due to the following reasons: in the matching calculation process, in order to reduce the time consumption of chip calculation and the power consumption of a module, generally, only the pixels in the same line of the reference graph and the scene graph are searched and matched, otherwise, if the line-crossing search results in the multiplied increase of the calculated amount, the hardware cost and the power consumption are greatly improved, and the real-time requirement of deep solution is difficult to achieve in the algorithm. That is, in the manufacturing process of the binocular structured light depth camera module, the calibration of the optical axis between the modules is extremely important, but at present, there is no good calibration device and method for effectively calibrating the optical axis between the modules.

Disclosure of Invention

The present disclosure provides a camera module optical axis calibration apparatus, a camera module optical axis calibration method, an electronic device, and a storage medium. Aim at can be based on camera module optical axis calibrating device, calibrate the optical axis between the two mesh structure optical depth camera modules, can improve camera module's calibration precision and efficiency.

To achieve the above object, a first aspect of an embodiment of the present application provides a camera module optical axis calibration apparatus, including:

the first adjusting device comprises a substrate support, a first camera module and a second camera module which are arranged on the substrate support at a specific distance and are to be calibrated, a first angle adjusting component arranged on the first camera module, and a second angle adjusting component arranged on the second camera module;

the second adjusting device comprises a fixing device arranged horizontally, and a first reflective mirror and a second reflective mirror which are arranged on the fixing device according to a preset angle;

the first light source is positioned vertically below the first reflector and used for emitting a collimated circular Gaussian beam to the first reflector;

wherein the first camera module and the second camera module are movable in a horizontal direction of the first adjusting device, and the first reflective mirror and the second reflective mirror are movable in a horizontal direction of the fixing device.

In some embodiments, the first mirror and the second mirror are each configured as a triangular prism or a specular reflective mirror;

or the first reflecting mirror and the second reflecting mirror are combined to form an optical prism with an isosceles trapezoid structure;

the surface of the first reflector, which receives the emission beam of the first light source, is plated with a reflection increasing film;

the first light source is an edge-emitting laser or a vertical surface-emitting laser.

In some embodiments, the second mirror is coated with an optical film, and the second adjusting device further includes:

the third reflector is arranged on the fixing device according to a preset angle;

the third reflecting mirror is movable in a horizontal direction of the fixing device.

In order to achieve the above object, a second aspect of the embodiments of the present application provides a calibration method for an optical axis of a camera module, which is performed based on the calibration device for an optical axis of a camera module according to the first aspect, and the calibration method includes:

moving the second reflector or the first camera module or the first adjusting device in the horizontal direction to enable the second reflector to be located vertically above the first camera module, so that the circle center coordinates of the circular light spots emitted by the first light source and reflected by the second reflector coincide with the pixel center position of the first camera module;

moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is coincided with the pixel center position of the first camera module for the second time;

if the circle center coordinate is coincided with the pixel center position of the first camera module for the second time, determining that the first camera module is calibrated;

if the circle center coordinate and the pixel center position of the first camera module do not coincide for the second time, executing the following operations:

acquiring a first distance and a second distance, wherein the first distance is a distance for moving the first adjusting device in the vertical direction, and the second distance is a moving distance of the circle center coordinate on an imaging plane of the first camera module;

calculating to obtain a first angle according to the first distance and the second distance, wherein the first angle is an included angle between the first camera module and the horizontal direction;

adjusting the first camera module through the first angle adjusting part according to the first angle until the included angle between the first camera module and the horizontal direction is 0 degree, returning to the vertical direction, and moving the first adjusting device to detect whether the circle center coordinate and the pixel center position of the first camera module coincide for the second time;

moving the second reflector or the first adjusting device in the horizontal direction to enable the second reflector to be located vertically above the second camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflector is overlapped with the pixel center position of the second camera module;

moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is coincided with the pixel center position of the second camera module for the second time;

if the circle center coordinate is coincided with the pixel center position of the second camera module for the second time, determining that the second camera module is calibrated;

if the circle center coordinate does not coincide with the pixel center position of the second camera module for the second time, executing the following operations:

acquiring a third distance and a fourth distance, wherein the third distance is a distance for moving the first adjusting device in the vertical direction, and the fourth distance is a moving distance of the circle center coordinate on an imaging plane of the second camera module;

calculating to obtain a second angle according to the third distance and the fourth distance, wherein the second angle is an included angle between the second camera module and the horizontal direction;

and adjusting the second camera module through the second angle adjusting part according to the second angle until the included angle between the second camera module and the horizontal direction is 0 degree, and returning to the vertical direction to move the first adjusting device so as to detect whether the circle center coordinate and the pixel center position of the second camera module coincide for the second time.

In some embodiments, before moving the second mirror or the first camera module or the first adjusting device in a horizontal direction, the method further comprises:

adjusting the horizontal position of the first light source through a level gauge to ensure that an included angle between an incident beam emitted to the first reflector by the first light source and the horizontal direction is 90 degrees;

the horizontal position of the fixing device is adjusted through the level gauge so as to ensure that the included angle between the reflected light beam reflected to the second reflecting mirror by the first reflecting mirror and the horizontal direction is 0 degree.

In order to achieve the above object, a third aspect of the embodiments of the present application provides a calibration method for an optical axis of a camera module, which is performed based on the calibration device for an optical axis of a camera module according to the first aspect, and the calibration method includes:

moving the third reflector in the horizontal direction to enable the third reflector to be positioned vertically above the second camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the third reflector is overlapped with the pixel center position of the second camera module;

moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is coincided with the pixel center position of the first camera module for the second time or not and detect whether the circle center coordinate is coincided with the pixel center position of the second camera module for the second time or not;

if the circle center coordinate and the pixel center position of the second camera module do not coincide for the second time, executing the following operations:

and adjusting the second camera module through the second angle adjusting part according to the second angle until the included angle between the second camera module and the horizontal direction is 0 degree, returning to the vertical direction, and moving the first adjusting device to detect whether the circle center coordinate is coincided with the pixel center position of the second camera module for the second time.

In some embodiments, after the calibration of the first camera module and the second camera module is completed, the method further comprises:

fixing the calibrated first camera module and the calibrated second camera module on the substrate support in a dispensing manner;

or the first camera module and the second camera module which are calibrated are fixed on the substrate bracket in a screw locking manner.

To achieve the above object, a fourth aspect of the embodiments of the present application provides a camera module optical axis calibration apparatus, including:

the first moving module is used for moving the second reflector or the first camera module or the first adjusting device in the horizontal direction to enable the second reflector to be positioned vertically above the first camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflector is coincided with the pixel center position of the first camera module;

the first detection module is used for moving the first adjusting device in the vertical direction so as to detect whether the circle center coordinate is overlapped with the pixel center position of the first camera module for the second time;

the first determining module is used for determining that the calibration of the first camera module is finished if the circle center coordinate is coincided with the pixel center position of the first camera module for the second time;

a first executing module, configured to execute the following operations if the circle center coordinate does not coincide with a pixel center position of the first camera module for two times:

the first acquisition unit is used for acquiring a first distance and a second distance, wherein the first distance is a distance for moving the first adjusting device in the vertical direction, and the second distance is a moving distance of the circle center coordinate on an imaging plane of the first camera module;

the first calculation unit is used for calculating to obtain a first angle according to the first distance and the second distance, wherein the first angle is an included angle between the first camera module and the horizontal direction;

a first adjusting unit, configured to adjust the first camera module through the first angle adjusting component according to the first angle until an included angle between the first camera module and the horizontal direction is 0 °, return to the vertical direction, move the first adjusting device, and detect whether the center coordinates of the circle and the center position of the pixel of the first camera module coincide for the second time;

the second moving module is used for moving the second reflector or the first adjusting device in the horizontal direction to enable the second reflector to be positioned vertically above the second camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflector is overlapped with the pixel center position of the second camera module;

the second detection module is used for moving the first adjusting device in the vertical direction so as to detect whether the circle center coordinate is overlapped with the pixel center position of the second camera module for the second time;

the second determining module is used for determining that the calibration of the second camera module is finished if the circle center coordinate is coincided with the pixel center position of the second camera module for the second time;

a second execution module, configured to execute the following steps if the circle center coordinate does not coincide with a pixel center position of the second camera module twice:

the second acquisition unit is used for acquiring a third distance and a fourth distance, wherein the third distance is a distance for moving the first adjusting device in the vertical direction, and the fourth distance is a moving distance of the circle center coordinate on an imaging plane of the second camera module;

the second calculation unit is used for calculating a second angle according to the third distance and the fourth distance, wherein the second angle is an included angle between the second camera module and the horizontal direction;

and the second adjusting unit is used for adjusting the second camera module through the second angle adjusting part according to the second angle until the included angle between the second camera module and the horizontal direction is 0 degree, returning to the vertical direction to move the first adjusting device, and detecting whether the circle center coordinate and the pixel center position of the second camera module coincide for the second time.

To achieve the above object, a fifth aspect of the embodiments of the present application provides an electronic device, which includes a memory and a processor, where the memory stores a computer program, and the processor implements the above method when executing the computer program.

To achieve the above object, a sixth aspect of the embodiments of the present application proposes a computer-readable storage medium storing a computer program which, when executed by a processor, implements the above method.

The device comprises a first adjusting device, a second adjusting device, a first angle adjusting component and a second angle adjusting component, wherein the first adjusting device comprises a substrate support, a first camera module and a second camera module which are arranged on the substrate support at a specific distance and are to be calibrated, and the first angle adjusting component is arranged on the first camera module; the second adjusting device comprises a fixing device arranged horizontally, and a first reflective mirror and a second reflective mirror which are arranged on the fixing device according to a preset angle; the first light source is positioned vertically below the first reflector and used for emitting collimated circular Gaussian beams to the first reflector; the first camera module and the second camera module can move in the horizontal direction of the first adjusting device, and the first reflective mirror and the second reflective mirror can move in the horizontal direction of the fixing device. Based on camera module optical axis calibrating device, can calibrate the optical axis between the camera module, can improve camera module's calibration precision and efficiency.

Drawings

Fig. 1 is a schematic structural diagram of an optical axis calibration apparatus of a camera module provided in an embodiment of the present application;

fig. 2 is another schematic structural diagram of an optical axis calibration apparatus of a camera module provided in an embodiment of the present application;

fig. 3 is another schematic structural diagram of an optical axis calibration apparatus of a camera module provided in an embodiment of the present application;

fig. 4 is another schematic structural diagram of an optical axis calibration apparatus of a camera module provided in an embodiment of the present application;

FIG. 5 is a flowchart of steps of a calibration method performed based on the calibration apparatus shown in FIG. 1 or FIG. 2 according to an embodiment of the present application;

fig. 6 is a schematic diagram for calculating an included angle between the first camera module and the horizontal direction according to the embodiment of the present disclosure;

FIG. 7 is a flowchart illustrating steps of a calibration method performed by the calibration apparatus shown in FIG. 4 according to an embodiment of the present application;

fig. 8 is a structural diagram of an optical axis calibration apparatus of a camera module according to an embodiment of the present disclosure;

fig. 9 is a schematic hardware structure diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of and not restrictive on the broad application.

It is noted that while functional block divisions are provided in device diagrams and logical sequences are shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions within devices or flowcharts. The terms first, second and the like in the description and in the claims, and the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the application.

With the gradual upgrade of the consumption field, the 3D imaging technology is increasingly required to be applied to the consumption field, the 3D imaging technology can acquire the depth information of a target object in addition to imaging the target object, and the functions of 3D face recognition, virtual scene modeling, human-computer interaction and the like can be further realized according to the depth information. Meanwhile, the 3D imaging device is required to satisfy the requirements of low power, high performance, and miniaturization to be provided in a portable electronic terminal device.

At present, in the existing 3D imaging technical scheme, the structured light scheme is mature and widely applied. Generally, two mesh structure light cameras can calibrate before leaving the factory and mark at the module factory, but the demarcation of structured light module back end is consuming time very long, consequently before maring, also be exactly the module equipment stage, need guarantee the optical axis of camera module parallel to each other, only like this, just can improve the efficiency that the module back end was markd, use manpower sparingly, material resources etc..

Based on this, the embodiment of the present application provides a camera module optical axis calibration apparatus. Aim at can through this calibrating device to the optical axis of two mesh structure optical depth camera module groups calibrate, can improve camera module group's calibration accuracy and efficiency, be favorable to follow-up demarcation to the module.

Referring to fig. 1, fig. 1 is a schematic structural diagram of an optical axis calibration apparatus of a camera module provided in an embodiment of the present application. As shown in fig. 1, the calibration device includes:

a first adjusting device 100 including a substrate support 101 and a first camera module 102 and a second camera module 103 to be calibrated, which are mounted on the substrate support 101 at a certain distance, and a first angle adjusting part 104 mounted on the first camera module 102 and a second angle adjusting part 105 mounted on the second camera module 103;

a second adjusting device 110 including a fixing device 111 horizontally disposed and a first reflecting mirror 112 and a second reflecting mirror 113 installed at the fixing device 111 at a predetermined angle;

a first light source 120 positioned vertically below the first reflective mirror 112 for emitting a collimated circular gaussian beam toward the first reflective mirror 112;

the first camera module 102 and the second camera module 103 are movable in the horizontal direction of the first adjusting device 100, and the first reflective mirror 112 and the second reflective mirror 113 are movable in the horizontal direction of the fixing device 111.

Specifically, the first light source 120 is an edge emitting laser or a vertical surface emitting laser, and a reflection film is coated on a surface of the first reflective mirror 112, which receives the emission beam of the first light source 120.

In the present embodiment, the first light source 120 is a collimated light source that emits a collimated, circular gaussian beam rather than a diverging beam, with a spot divergence angle less than 0.1 °. The first light source 101 may be an Edge Emitting Laser (EEL) or a vertical surface emitting laser (VCSEL), and the embodiment of the present invention is not particularly limited.

In the first adjustment device 100, a first camera module 102 and a second camera module 103 to be calibrated are mounted on a substrate support 101 at a certain distance. For the active binocular structure optical module, the cameras corresponding to the first camera module 102 and the second camera module 103 are infrared cameras, the wavelength is usually 850nm or 940nm, for the passive binocular structure optical module, the cameras corresponding to the first camera module 102 and the second camera module 103 are color cameras, and the embodiment of the present application does not specifically limit the types of the cameras. The substrate holder 101 is generally a metal holder having good rigidity. After calibration, the first camera module 102 and the second camera module 103 may be fixed on the substrate holder 101 by dispensing, or may be fixed on the substrate holder 101 by screw locking, so as to facilitate calibration of subsequent modules. The first adjusting device 100 can move up, down, left, and right, and can also change the positions of the first camera module 102 and the second camera module 103 by rotating or the like. Meanwhile, the first camera module 102 and the second camera module 103 may move left and right in the horizontal direction of the first adjusting device 100.

In the second adjusting device 110, as shown in fig. 1, the first reflective mirror 112 and the second reflective mirror 113 mounted on the fixing device 111 at an angle of 45 ° with respect to the horizontal direction are isosceles triangular prisms, and the included angle is 45 °, so that the light beam emitted vertically by the first light source 120 is ensured to pass through the first reflective mirror 112 (isosceles triangular prism), and then the reflected light beam is along the horizontal direction. The reflection increasing film is coated on the surface of the first reflective mirror 112 (isosceles triangular prism) receiving the emitted light beam of the first light source 120, the reflectivity is greater than 99.5%, the incident light beam is specular reflection and non-diffuse reflection on the first reflective mirror 112, and the direction consistency of the reflected light beam can be ensured. The operation principle of the second reflecting mirror 113 is identical to that of the first reflecting mirror 112, and is not repeated here. The first and second

reflective mirrors

112 and 113 are movable left and right in the horizontal direction of the fixing device 111, so that the positions of the first and second

reflective mirrors

112 and 113 can be changed.

It is to be understood that the first reflective mirror 112 and the second reflective mirror 113 shown in fig. 1 are each an isosceles triangular prism, which is only one example of the first reflective mirror 112 and the second reflective mirror 113 exemplarily shown, and as shown in fig. 2, the first reflective mirror 112 and the second reflective mirror 113 may also be provided as mirror reflective flat mirrors, which are also installed on the fixing device 111 at 45 ° to the horizontal direction. As shown in fig. 3, in order to protect the optical path from external interference, the first reflective mirror 112 and the second reflective mirror 113 may be combined to form an optical prism having an isosceles trapezoid structure, where the first reflective mirror 112 is a left side of the optical prism having an isosceles trapezoid structure, and the second reflective mirror 113 is a right side of the optical prism having an isosceles trapezoid structure. Therefore, the first and second

reflective mirrors

112 and 113 are also mounted on the fixing device 111 at 45 ° to the horizontal direction.

In some embodiments, referring to fig. 4, considering that the binocular structured light depth camera includes two camera modules, at this time, the optical axes of the two camera modules may be calibrated at the same time, so as to ensure that the optical axes of the camera modules are parallel to each other, and improve the efficiency of calibrating the optical axes of the modules. As shown in fig. 4, in order to simultaneously perform optical axis calibration on the first camera module 102 and the second camera module 103 to be calibrated, which are mounted on the substrate holder 101, a third reflective mirror 114 is additionally provided in the second adjusting device, and is also mounted on the fixing device 111 at an angle of 45 ° to the horizontal direction, for reflecting the light beam emitted from the first light source 120 into the second camera module 103. At this time, an optical film needs to be coated on the second reflective mirror 113, so that the second reflective mirror 113 can reflect the light beam emitted by the first light source 120 into the first camera module 102 and transmit the light beam emitted by the first light source 120 onto the third reflective mirror 114. The optical thin film is formed by plating or coating one or more layers of dielectric films or metal films or a combination of the two films on an optical element or an independent substrate so as to change the transmission characteristics of light waves, such as light transmission and reflection. Therefore, the transmittance and reflectivity of the surface of the device with different wave bands can be modulated by proper design.

It is understood that, in the alignment apparatus shown in fig. 4, the first reflective mirror 112, the second reflective mirror 113, and the third reflective mirror 114 may be provided as an isosceles triangular prism or a specular reflection plane mirror, and at the same time, the first reflective mirror 112, the second reflective mirror 113, and the third reflective mirror 114 may be moved left and right in the horizontal direction of the fixing device 111.

In the embodiment of the application, based on the camera module optical axis calibration device shown in fig. 1-4, the optical axis calibration can be performed on the binocular structured light depth camera module.

Referring to fig. 5, fig. 5 is a flowchart of steps of a calibration method performed based on the calibration apparatus shown in fig. 1 or fig. 2, which is provided in the embodiment of the present application, and includes, but is not limited to, the following steps:

s501, adjusting the horizontal position of a first light source through a level meter to ensure that an included angle between an incident beam emitted to a first reflector by the first light source and the horizontal direction is 90 degrees;

s502, adjusting the horizontal position of the fixing device through a level gauge to ensure that an included angle between a reflected beam reflected to the second reflector from the first reflector and the horizontal direction is 0 degree;

s503, moving the second reflective mirror or the first camera module or the first adjusting device in the horizontal direction to enable the second reflective mirror to be positioned vertically above the first camera module;

s504, turning on the first light source, and calibrating the first camera module;

s505, moving a second reflector or a first camera module or a first adjusting device in the horizontal direction until the circle center coordinate of a circular light spot emitted by a first light source reflected by the second reflector coincides with the pixel center position of the first camera module;

s506, moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is coincided with the pixel center position of the first camera module for the second time;

s507, if the circle center coordinate is coincided with the pixel center position of the first camera module for the second time, determining that the first camera module is calibrated;

s508, if the circle center coordinate does not coincide with the pixel center position of the first camera module for the second time, acquiring a first distance and a second distance, wherein the first distance is a distance for moving the first adjusting device in the vertical direction, and the second distance is a moving distance of the circle center coordinate on an imaging plane of the first camera module;

s509, calculating to obtain a first angle according to the first distance and the second distance, wherein the first angle is an included angle between the first camera module and the horizontal direction;

s510, adjusting the first camera module through the first angle adjusting component according to the first angle until the included angle between the first camera module and the horizontal direction is 0 degree, and returning to S506;

s511, after the first camera module is calibrated, moving the second reflector or the first adjusting device in the horizontal direction to enable the second reflector to be located vertically above the second camera module so as to calibrate the second camera module;

s512, moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is overlapped with the pixel center position of the second camera module for the second time;

s513, if the circle center coordinate is coincided with the pixel center position of the second camera module for the second time, determining that the second camera module is calibrated;

s514, if the circle center coordinate does not coincide with the pixel center position of the second camera module for the second time, acquiring a third distance and a fourth distance, wherein the third distance is a distance for moving the first adjusting device in the vertical direction, and the fourth distance is a moving distance of the circle center coordinate on the imaging plane of the second camera module;

s515, calculating to obtain a second angle according to the third distance and the fourth distance, wherein the second angle is an included angle between the second camera module and the horizontal direction;

and S516, adjusting the second camera module through the second angle adjusting component according to the second angle until the included angle between the second camera module and the horizontal direction is 0 degree, and returning to the step S512.

In the embodiment of the present application, when calibrating the optical axis of the first camera module, the horizontal position of the first light source needs to be adjusted by the level gauge first, so as to ensure that the included angle between the light beam emitted by the first light source and the horizontal direction is 90 °. Meanwhile, the horizontal position of the fixing device needs to be adjusted through the level gauge, and the upper surfaces of the first reflective mirror and the second reflective mirror need to be adjusted to be parallel to the horizontal direction, so that the included angle between the reflected light beam reflected to the second reflective mirror by the first reflective mirror and the horizontal direction is ensured to be 0 degree. Then the second reflector or the first camera module or the first adjusting device is moved in the horizontal direction, so that the second reflector is positioned above the first camera module vertically, the first light source is turned on, and the first camera module is calibrated.

In the embodiment of the present application, the related imaging plane of the first camera module can be displayed through the computer side, that is, the pixel center position of the first camera module can be calculated through the related imaging plane of the first camera module displayed through the computer side. Moving the second reflector or the first camera module or the first adjusting device left and right in the horizontal direction until observing the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflector and the second adjusting deviceThe pixel center positions of a camera module are overlapped. At this time, although the circle center coordinate coincides with the pixel center position of the first camera module, it is not determined whether the reflected light beam is vertically incident so that the circle center coordinate of the circular spot coincides with the pixel center position of the first camera module or obliquely incident so that the circle center coordinate of the circular spot coincides with the pixel center position of the first camera module. Therefore, the first adjusting device needs to be moved up and down in the vertical direction to detect whether the reflected light beam is incident vertically or obliquely so that the center coordinates of the circular light spot coincide with the center position of the pixel of the first camera module. Specifically, if the reflected light beam is vertically incident, so that the coordinate of the circle center of the circular light spot coincides with the pixel center position of the first camera module, the coordinate of the circle center coincides with the pixel center position of the first camera module all the time in the process of vertically moving the first adjusting device up and down in the vertical direction. If the reflected light beam is obliquely incident, so that the center coordinates of the circular light spot are superposed with the center position of the pixel of the first camera module, in the process of vertically moving the first adjusting device up and down, the center coordinates of the circle can deviate from the center position of the pixel of the first camera module, namely after the first adjusting device is moved in the vertical direction, the center coordinates of the circle are not superposed with the center position of the pixel of the first camera module for the second time, at the moment, a first distance and a second distance are obtained, wherein the first distance is the distance for moving the first adjusting device in the vertical direction, and the second distance is the moving distance of the center coordinates on the imaging plane of the first camera module; and calculating to obtain a first angle according to the first distance and the second distance, wherein the first angle is an included angle between the first camera module and the horizontal direction. Referring to fig. 6, the pixel center position of the first camera module is a point O, when the first adjusting device is moved downward in the vertical direction, the movement distance is D, that is, AB = D shown in fig. 6, that is, the first distance is AB, at this time, the center coordinate is shifted from the point O to the point a, the shift distance is OA, that is, the second distance is OA, at this time, according to the first distance AB and the second distance OA, the included angle between the first camera module and the horizontal direction is calculated to be α, that is, the first angle is α. In particular, with reference to FIG. 6,

for small angles α, one can approximate:

then, according to the first angle alpha, the first camera module is adjusted through the first angle adjusting component until the included angle between the first camera module and the horizontal direction is 0 degree. After the first camera module is adjusted, the process returns to step S506, that is, the first adjusting device is moved in the vertical direction to detect whether the center coordinates of the circle are overlapped with the center positions of the pixels of the first camera module for the second time, so that whether the center coordinates of the circle are overlapped with the center positions of the pixels of the first camera module all the time after the first camera module is adjusted can be verified. And if the circle center coordinate and the pixel center position of the first camera module are always overlapped in the process of vertically moving the first adjusting device up and down in the vertical direction, the first camera module is determined to be calibrated.

In the embodiment of the application, after the first camera module is calibrated, the second reflective mirror or the first adjusting device is moved in the horizontal direction, so that the second reflective mirror is positioned vertically above the second camera module, and the second camera module is calibrated. The optical axis calibration method for the second camera module is the same as the optical axis calibration method for the first camera module, and is not repeated herein.

In the embodiment of the present application, when the calibration device is the calibration device shown in fig. 3, that is, the first reflective mirror 112 and the second reflective mirror 113 are combined to form the optical prism having an isosceles trapezoid structure, at this time, the first reflective mirror 112 is the left waist side of the optical prism having an isosceles trapezoid structure, and the second reflective mirror 113 is the right waist side of the optical prism having an isosceles trapezoid structure. The emission beam of the first light source 120 is incident on the first reflective mirror 112, the first reflective mirror 112 reflects the incident emission beam to the second reflective mirror 113, and the second reflective mirror 113 reflects the emission beam to the first camera module 102 or the second camera module 103. Specifically, the first camera module 102 or the first adjustment device 100 is moved in the horizontal direction so that the second reflective mirror 113 is located vertically above the first camera module 102, and then the optical axis calibration is performed on the first camera module 102. After the calibration is completed, the first camera module 102 is fixed, and at this time, since the position of the second camera module 103 is fixed along with the fixing of the first camera module 102, at this time, the first adjusting device 100 needs to be moved in the horizontal direction, so that the second camera module 103 is located vertically below the second reflective mirror 113, and then the optical axis calibration can be performed on the second camera module 103.

Referring to fig. 7, fig. 7 is a flowchart illustrating steps of a calibration method performed based on the calibration apparatus shown in fig. 4 according to an embodiment of the present application, which can perform an optical axis calibration operation on a first camera module and a second camera module simultaneously, including, but not limited to, the following steps:

s701, adjusting the horizontal position of the first light source through a level gauge to ensure that an included angle between an incident beam emitted to the first reflector by the first light source and the horizontal direction is 90 degrees;

s702, adjusting the horizontal position of the fixing device through a level gauge to ensure that an included angle between a reflected beam reflected to the second reflective mirror from the first reflective mirror and the horizontal direction is 0 degree;

s703, moving the second reflector or the first camera module or the first adjusting device in the horizontal direction to enable the second reflector to be positioned vertically above the first camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflector is overlapped with the pixel center position of the first camera module;

s704, moving a third reflector in the horizontal direction to enable the third reflector to be located vertically above a second camera module, so that the circle center coordinate of a circular light spot emitted by a first light source reflected by the third reflector is overlapped with the pixel center position of the second camera module;

s705, moving the first adjusting device in the vertical direction to detect whether the circle center coordinate is coincided with the pixel center position of the first camera module for the second time or not and detect whether the circle center coordinate is coincided with the pixel center position of the second camera module for the second time or not;

s706, if the circle center coordinate and the pixel center position of the first camera module coincide for the second time, determining that the first camera module is calibrated;

s707, if the circle center coordinate does not coincide with the pixel center position of the first camera module for the second time, acquiring a first distance and a second distance, wherein the first distance is a distance for moving the first adjusting device in the vertical direction, and the second distance is a moving distance of the circle center coordinate on the imaging plane of the first camera module;

s708, calculating to obtain a first angle according to the first distance and the second distance, wherein the first angle is an included angle between the first camera module and the horizontal direction;

s709, adjusting the first camera module through the first angle adjusting part according to the first angle until the included angle between the first camera module and the horizontal direction is 0 degree, and returning to S705;

s710, if the circle center coordinate is coincided with the pixel center position of the second camera module for the second time, determining that the second camera module is calibrated;

s711, if the circle center coordinate and the pixel center position of the second camera module do not coincide for the second time, obtaining a third distance and a fourth distance, wherein the third distance is a distance for moving the first adjusting device in the vertical direction, and the fourth distance is a moving distance of the circle center coordinate on the imaging plane of the second camera module;

s712, calculating a second angle according to the third distance and the fourth distance, wherein the second angle is an included angle between the second camera module and the horizontal direction;

and S713, adjusting the second camera module through the second angle adjusting component according to the second angle until the included angle between the second camera module and the horizontal direction is 0 degree, and returning to the S705.

In the embodiment of the application, through add a third reflector at second adjusting device for carry out the optical axis calibration to second camera module, at this moment, need plate optical film at the second reflector, so that the second reflector both can reflect the transmission beam of first light source to first camera module, can transmit the transmission beam of first light source to the third reflector again, so that the third reflector reflects the transmission beam of first light source to second camera module. Therefore, the optical axes of the first camera module and the second camera module can be calibrated at the same time, and the calibration efficiency can be improved.

Referring to fig. 8, an embodiment of the present invention further provides a camera module optical axis calibration apparatus 80, which can implement the camera module optical axis calibration method, and the apparatus includes:

the first moving module 810 is configured to move the second reflective mirror, the first camera module, or the first adjusting device in the horizontal direction, so that the second reflective mirror is located vertically above the first camera module, and the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflective mirror coincides with the pixel center position of the first camera module;

a first detecting module 820, configured to move the first adjusting device in the vertical direction to detect whether the circle center coordinate coincides with the pixel center position of the first camera module for two times;

the first determining module 830, configured to determine that the calibration of the first camera module is completed if the circle center coordinate coincides with the pixel center position of the first camera module for the second time;

a first executing module 840, configured to execute the following operations if the circle center coordinate does not coincide with the pixel center position of the first camera module twice:

the first obtaining unit 841 is configured to obtain a first distance and a second distance, where the first distance is a distance for moving the first adjusting device in the vertical direction, and the second distance is a moving distance of a circle center coordinate on an imaging plane of the first camera module;

a first calculating unit 842, configured to calculate a first angle according to the first distance and the second distance, where the first angle is an included angle between the first camera module and the horizontal direction;

a first adjusting unit 843, configured to adjust the first camera module through the first angle adjusting component according to the first angle until an included angle between the first camera module and the horizontal direction is 0 °, return to the vertical direction, move the first adjusting device, and detect whether the center coordinates of the circle are overlapped with the center positions of the pixels of the first camera module for the second time;

a second moving module 850, configured to move the second reflective mirror or the first adjusting device in the horizontal direction, so that the second reflective mirror is located vertically above the second camera module, and the circle center coordinate of the circular light spot emitted by the first light source reflected by the second reflective mirror coincides with the pixel center position of the second camera module;

a second detecting module 860, configured to move the first adjusting apparatus in the vertical direction to detect whether the center coordinates of the circle coincide with the center positions of the pixels of the second camera module for the second time;

the second determining module 870 is configured to determine that the calibration of the second camera module is completed if the circle center coordinate coincides with the pixel center position of the second camera module for the second time;

a second executing module 880, configured to, if the circle center coordinate does not coincide with the pixel center position of the second camera module for the second time, execute the following steps:

a second obtaining unit 881, configured to obtain a third distance and a fourth distance, where the third distance is a distance for moving the first adjusting device in the vertical direction, and the fourth distance is a moving distance of the circle center coordinate on the imaging plane of the second camera module;

the second calculating unit 882 is configured to calculate a second angle according to the third distance and the fourth distance, where the second angle is an included angle between the second camera module and the horizontal direction;

and a second adjusting unit 883, configured to adjust the second camera module through the second angle adjusting component according to the second angle until an included angle between the second camera module and the horizontal direction is 0 °, return to the vertical direction, move the first adjusting device, and detect whether the center coordinates of the circle and the center position of the pixel of the second camera module coincide for the second time.

The specific implementation of the apparatus is substantially the same as the specific implementation of the method for calibrating the optical axis of the camera module, and is not described herein again.

The embodiment of the application further provides electronic equipment, the electronic equipment comprises a memory and a processor, the memory stores a computer program, and the processor executes the computer program to realize the camera module optical axis calibration method. The electronic equipment can be any intelligent terminal including a tablet computer, a vehicle-mounted computer and the like.

Referring to fig. 9, fig. 9 is a hardware structure of an electronic device according to an embodiment of the present disclosure, where the electronic device includes:

the processor 901 may be implemented by a general-purpose CPU (central processing unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits, and is configured to execute a relevant program to implement the technical solution provided in the embodiment of the present application;

the memory 902 may be implemented in the form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a Random Access Memory (RAM). The memory 902 may store an operating system and other application programs, and when the technical solution provided by the embodiments of the present disclosure is implemented by software or firmware, the relevant program codes are stored in the memory 902, and the processor 901 calls to execute the method for calibrating the optical axis of the camera module according to the embodiments of the present disclosure;

an input/output interface 903 for implementing information input and output;

a communication interface 904, configured to implement communication interaction between the device and another device, where communication may be implemented in a wired manner (e.g., USB, network cable, etc.), and communication may also be implemented in a wireless manner (e.g., mobile network, WIFI, bluetooth, etc.);

a bus 905 that transfers information between various components of the device (e.g., the processor 901, the memory 902, the input/output interface 903, and the communication interface 904);

wherein the processor 901, the memory 902, the input/output interface 903 and the communication interface 904 enable a communication connection within the device with each other through a bus 905.

The embodiment of the application also provides a storage medium which is a computer readable storage medium, the storage medium stores a computer program, and the computer program is executed by a processor to realize the camera module optical axis calibration method.

The memory, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer-executable programs. Further, the memory may include high speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory located remotely from the processor, and these remote memories may be connected to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The embodiments described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute limitations on the technical solutions provided in the embodiments of the present application, and it is obvious to those skilled in the art that the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems with the evolution of technologies and the emergence of new application scenarios.

It will be appreciated by those skilled in the art that the embodiments shown in the figures are not intended to limit the embodiments of the present application and may include more or fewer steps than those shown, or some of the steps may be combined, or different steps may be included.

The above described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, and functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.

The terms "first," "second," "third," "fourth," and the like in the description of the application and the above-described figures, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

It should be understood that, in this application, "at least one" means one or more, "a plurality" means two or more. "and/or" is used to describe the association relationship of the associated object, indicating that there may be three relationships, for example, "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b and c may be single or plural.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes multiple instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing programs, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The preferred embodiments of the present application have been described above with reference to the accompanying drawings, and the scope of the claims of the embodiments of the present application is not limited thereto. Any modifications, equivalents and improvements that may occur to those skilled in the art without departing from the scope and spirit of the embodiments of the present application are intended to be within the scope of the claims of the embodiments of the present application.

Claims

1. A camera module optical axis calibration device, comprising:

the first camera module and the second camera module can move in the horizontal direction of the first adjusting device, and the first reflective mirror and the second reflective mirror can move in the horizontal direction of the fixing device.

2. The apparatus of claim 1, wherein:

the first reflector and the second reflector are both set to be triangular prisms or mirror reflection plane mirrors;

the surface of the first reflector, which receives the light beam emitted by the first light source, is plated with a reflection increasing film;

3. The apparatus of claim 1, wherein the second mirror is coated with an optical film, the second adjustment device further comprising:

4. A camera module optical axis calibration method, which is performed based on the camera module optical axis calibration apparatus of any one of claims 1 to 3, the calibration method comprising:

moving the second reflector or the first camera module or the first adjusting device in the horizontal direction to enable the second reflector to be located vertically above the first camera module, so that the circle center coordinates of the circular light spots emitted by the first light source reflected by the second reflector coincide with the pixel center position of the first camera module;

if the circle center coordinate does not coincide with the pixel center position of the first camera module for the second time, executing the following operations:

moving the first adjusting device in the vertical direction to detect whether the circle center coordinates are overlapped with the pixel center position of the second camera module for the second time;

acquiring the third distance and a fourth distance, wherein the third distance is the distance for moving the first adjusting device in the vertical direction, and the fourth distance is the moving distance of the circle center coordinate on the imaging plane of the second camera module;

5. The method of claim 4, wherein prior to moving the second mirror or the first camera module or the first adjustment device in a horizontal direction, the method further comprises:

adjusting the horizontal position of the first light source through a level gauge to ensure that an included angle between an incident beam emitted by the first light source to the first reflective mirror and the horizontal direction is 90 degrees;

the horizontal position of the fixing device is adjusted through the level gauge so as to ensure that an included angle between a reflected light beam reflected to the second reflecting mirror by the first reflecting mirror and the horizontal direction is 0 degree.

6. A camera module optical axis calibration method, performed based on the camera module optical axis calibration apparatus of any one of claims 1 to 3, the calibration method comprising:

moving the third reflector in the horizontal direction to enable the third reflector to be located vertically above the second camera module, so that the circle center coordinate of the circular light spot emitted by the first light source reflected by the third reflector is overlapped with the pixel center position of the second camera module;

7. The method of any of claims 4-6, wherein after the first camera module and the second camera module are calibrated, the method further comprises:

8. A camera module optical axis calibration apparatus, the apparatus comprising:

the first detection module is used for moving the first adjusting device in the vertical direction so as to detect whether the circle center coordinate is coincided with the pixel center position of the first camera module for the second time;

the second detection module is used for moving the first adjusting device in the vertical direction so as to detect whether the circle center coordinate is coincided with the pixel center position of the second camera module for the second time;

the second calculation unit is used for calculating to obtain a second angle according to the third distance and the fourth distance, wherein the second angle is an included angle between the second camera module and the horizontal direction;

9. An electronic device, characterized in that the electronic device comprises a memory storing a computer program and a processor implementing the method of any of claims 4 to 7 when the processor executes the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method of any one of claims 4 to 7.