CN115824253A - Camera and inertial sensor cooperative test equipment - Google Patents

Abstract

The invention discloses a camera and inertial sensor cooperative test device, which comprises a rotating platform and a graphic card assembly, wherein the rotating platform comprises a first base, a first rotating assembly and a second rotating assembly, the first rotating assembly comprises a first supporting sheet and a first connecting part, the first rotating assembly rotates relative to the first base, the second rotating assembly comprises a second supporting sheet and a second connecting part, the second rotating assembly rotates relative to the first rotating assembly, a third motor is arranged on the second connecting part, and the output end of the third motor is connected with the second base; the graphic card assembly comprises a graphic card body. In the invention, a rotating platform makes a specific rotation angle and rotation speed, and compares the specific rotation angle and rotation speed with the rotation angle and rotation speed measured and calculated by an inertial sensor in VR equipment to detect the inertial sensor; and a camera in the VR equipment shoots an image of the graphic card body, compares the image with a real image of the graphic card body and detects the camera.

Description

Camera and inertial sensor cooperative test equipment

Technical Field

The invention relates to the field of VR equipment detection, in particular to camera and inertial sensor cooperative test equipment.

Background

VR equipment utilizes head mounted display device to seal people's vision to the external world, and the guide user produces the sensation of one's own in virtual environment. The display principle is that the left and right eye screens respectively display images of the left and right eyes, and the human eyes generate stereoscopic impression in the brain after acquiring information with difference.

Along with the increase in VR equipment market, also more and more receive attention to the check out test set of VR equipment, mainly include camera and inertial sensor in the VR equipment usually, when detecting VR equipment, need detect camera and inertial sensor. In present detection means, carry out camera detection and inertial sensor detection respectively to VR equipment, need adopt a plurality of equipment, occupation space is big, all need calibrate VR equipment again in each detection, and the operation is complicated, and can't carry out comprehensive detection to the degree of matching of inertial sensor and camera simultaneously.

Disclosure of Invention

In order to solve at least one of the above technical problems, the present invention provides a camera and inertial sensor cooperative test apparatus, which adopts the following technical scheme:

the invention provides a camera and inertial sensor cooperative test device, which comprises a rotating platform and a graphic card assembly, wherein the rotating platform comprises a first base, a first rotating assembly and a second rotating assembly, the first rotating assembly comprises two first supporting sheets and a first connecting part, the two first supporting sheets are arranged in parallel, the two first supporting sheets are connected through the first connecting part, the first supporting sheet comprises a first horizontal part, a first extending part and a second extending part, the first extending part and the second extending part are respectively arranged at two ends of the first horizontal part, the first extending part and the second extending part form an angle with the first horizontal part, the first extending part and the second extending part form a first accommodating area, the first base is provided with a first motor, the output end of the first motor is connected with the first connecting part, the first motor drives the first rotating assembly to rotate relative to the first base, the second rotating assembly is arranged in the first accommodating area, the second rotating assembly comprises two second extending parts, the second extending part and a third extending part, the second extending part and the second extending part are arranged in parallel, the fourth extending part and the second extending part are arranged in parallel with the fourth supporting sheet, the fourth extending part, the second extending part and the second extending part, the second extending part are arranged in an angle with the fourth extending part, the first extending part is provided with a second motor, the output end of the second motor is connected with the third extending part, the second extending part is rotatably connected with the fourth extending part, the second motor drives the second rotating assembly to rotate relative to the first rotating assembly, the second connecting part is provided with a third motor, the output end of the third motor is connected with a second base, and VR equipment can be connected onto the second base; the picture card assembly is horizontally arranged and arranged above the rotating platform, the picture card assembly comprises a picture card body, and the picture card body is used for detecting a camera in VR equipment.

The embodiment of the invention has at least the following beneficial effects: in the invention, VR equipment is connected with a second base, the second base rotates relative to a second rotating assembly to provide a rotational degree of freedom for the VR equipment, the second rotating assembly rotates relative to a first rotating assembly to provide a rotational degree of freedom for the VR equipment, the first rotating assembly rotates relative to the first base to provide a rotational degree of freedom for the VR equipment, and a rotating platform can make a specific rotation angle and rotation speed to be compared with the rotation angle and rotation speed measured by an inertial sensor in RV equipment, so that the inertial sensor is detected; the position of the VR equipment is adjusted by the rotary platform, and the camera in the VR equipment shoots an image of the graphic card body and compares the image with a real image of the graphic card body, so that the camera is detected; VR equipment also can shoot at predetermined rotation in-process, and the image that will shoot compares with predetermineeing the image to will predetermine corner, rotational speed and set for corner, rotational speed and compare, can carry out comprehensive testing to the degree of matching of inertial sensor and camera, promote detection efficiency.

In some embodiments of the present invention, the graphic card assembly further includes a substrate and a light source, the light source is fixedly connected to the substrate, the substrate is provided with a hollow portion, the graphic card body is disposed in the middle of the substrate, and light emitted from the light source can irradiate the graphic card body and pass through the hollow portion.

In some embodiments of the invention, the card assembly further includes at least two light-transmitting plates, each of the light-transmitting plates is arranged in parallel, each of the light-transmitting plates is arranged horizontally, the edge of the hollow portion is provided with a plurality of fixing structures, the fixing structures are provided with recessed portions, the edge of each of the light-transmitting plates is embedded into each of the recessed portions, and the card body is arranged between the light-transmitting plates.

In some embodiments of the present invention, a part of the fixing structure is fixedly connected to the base plate through a fastener, and a horizontal adjusting bracket and a horizontal adjusting bolt are disposed at another part of the fixing structure, and the horizontal adjusting bolt passes through the horizontal adjusting bracket and abuts against the fixing structure.

In some embodiments of the invention, the cooperative testing equipment for the camera and the inertial sensor further includes a casing, the rotating platform and the graphic card assembly are arranged inside the casing, the inner wall of the casing is provided with a plurality of vertical adjusting brackets, each vertical adjusting bracket is provided with a vertical adjusting bolt, each vertical adjusting bolt passes through each vertical adjusting bracket, each vertical adjusting bolt passes through the substrate, a nut is arranged at the connection position of the two ends of the substrate and the vertical adjusting bolt, and each nut is engaged with the vertical adjusting bolt.

In some embodiments of the invention, a sliding seat and a screw rod are connected to the bottom of the first base, a threaded hole structure is arranged at the bottom of the sliding seat, the screw rod is meshed with the threaded hole structure, and the screw rod can drive the sliding seat and the first base to move by rotating.

In some embodiments of the present invention, a fixed seat is disposed at the bottom of the first sliding seat, an accommodating groove is disposed in the middle of the fixed seat, the lead screw is disposed in the accommodating groove, a sliding rail is disposed at the top of the fixed seat, a recessed structure is disposed at the bottom of the sliding seat, and the sliding rail is embedded in the recessed structure.

In some embodiments of the present invention, the bottom of the first base is provided with a plurality of anti-seismic supports, and the anti-seismic supports are connected to the top of the sliding seat through fasteners.

In some embodiments of the present invention, the cooperative testing equipment of the camera and the inertial sensor further includes a frame structure, a cross beam is disposed in the middle of the frame structure, and the fixing seat is connected to the top of the cross beam.

In some embodiments of the present invention, a reinforcing plate is disposed between the two first supporting sheets, and a reinforcing plate is disposed between the two second supporting sheets.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

FIG. 1 is a schematic structural diagram of a cooperative testing device of a camera and an inertial sensor according to the present invention;

FIG. 2 is a schematic view of the camera and inertial sensor cooperative test apparatus of the present invention with the housing removed;

FIG. 3 is a schematic structural diagram of a rotating platform in the cooperative testing apparatus of the camera and the inertial sensor according to the present invention;

FIG. 4 is a schematic structural diagram of a first supporting sheet in the cooperative testing apparatus of the camera and the inertial sensor according to the present invention;

FIG. 5 is a schematic structural diagram of a second support plate of the apparatus for testing the cooperation of a camera and an inertial sensor according to the present invention;

FIG. 6 is a schematic view of the camera and inertial sensor cooperative test apparatus of the present invention with the housing removed;

FIG. 7 is a schematic diagram of the structure of a graphic card assembly in the cooperative testing equipment of the camera and the inertial sensor according to the invention;

FIG. 8 is an enlarged view of a portion of a graphics card assembly of the camera and inertial sensor cooperative testing apparatus of the present invention.

Reference numerals:

101. rotating the platform; 102. a first base; 103. a first support sheet; 104. a second support sheet; 105. a second base; 106. a reinforcing plate;

201. a first horizontal portion; 202. a first extension portion; 203. a second extension portion; 204. a first motor; 205. a second horizontal portion; 206. a third extension portion; 207. a fourth extension portion; 208. a second motor; 209. a third motor;

301. a sliding seat; 302. a screw rod; 303. a fixed seat; 304. a slide rail; 305. an anti-seismic support;

401. a graphics card component; 402. a substrate; 403. a light source; 404. a light-transmitting plate; 405. a fixed structure;

501. a horizontal adjustment bracket; 502. a horizontal adjusting bolt; 503. a housing; 504. a vertical adjustment bracket; 505. a vertical adjusting bolt; 506. and a nut.

Detailed Description

This section will describe in detail embodiments of the invention, examples of which are illustrated in the accompanying drawings, in conjunction with fig. 1 to 8, in which like or similar reference numerals refer to like or similar elements or elements having like or similar functions 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 if the terms "center", "middle", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., are used in an orientation or positional relationship indicated based on the drawings, it is merely for convenience of description and simplicity of description, and it is not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore, is not to be considered as limiting the present invention. The features defined as "first" and "second" are used to distinguish feature names rather than having a special meaning, and further, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

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; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

As shown in fig. 1 to 2, an embodiment of the present invention provides a camera and inertial sensor cooperative testing apparatus, which includes a rotating platform 101 and a graphics card assembly 401, where the rotating platform 101 is used to detect an inertial sensor in a VR device, the graphics card assembly 401 is used to detect a camera in the VR device, and meanwhile, the rotating platform 101 and the graphics card assembly 401 cooperate with each other to comprehensively detect matching degrees of the inertial sensor and the camera.

As shown in fig. 3, the rotating platform 101 can perform three degrees of freedom rotation, and the VR device is fixed on the rotating platform 101 and rotates together with the rotating platform 101. The VR equipment has the rotation angle and the rotation speed of three kinds of directions in the rotation process, the actual rotation angle and the actual rotation speed of the VR equipment are consistent with the rotation platform 101, the rotation angle and the actual rotation speed of the VR equipment are manually set by workers, meanwhile, an inertial sensor in the VR equipment can detect the rotation angle and the rotation speed to be checked, the value to be checked and a set value are compared with each other, and therefore the detection of the inertial sensor is carried out.

The rotating platform 101 includes a first base 102, a first rotating component, and a second rotating component, wherein the first rotating component can rotate relative to the first base 102, and the second rotating component can rotate relative to the first rotating component to form two degrees of freedom rotation. Further, the first rotating assembly comprises two first supporting pieces 103 and a first connecting part, the two first supporting pieces 103 are arranged in parallel, the first connecting part is arranged between the two first supporting pieces 103, and the two first supporting pieces 103 are connected with each other through the first connecting part to form a whole. As shown in fig. 4, the first supporting sheet 103 includes a first horizontal portion 201, a first extending portion 202, and a second extending portion 203, the first extending portion 202 and the second extending portion 203 are respectively disposed at two ends of the first horizontal portion 201, a position where the first horizontal portion 201 is connected to the first extending portion 202 is bent, and a position where the first horizontal portion 201 is connected to the second extending portion 203 is bent, it can be understood that the first horizontal portion 201 forms an angle with the first extending portion 202, the first horizontal portion 201 forms an angle with the second extending portion 203, and the first horizontal portion 201, the first extending portion 202, and the second extending portion 203 enclose an open first accommodating area. Since the number of connecting structures between the two first supporting pieces 103 is small, the first rotating assembly is favorably lightened.

Wherein, the first base 102 is provided with a first motor 204, and an output end of the first motor 204 is connected to the first connecting component, it can be understood that the first motor 204 can drive the first rotating component to rotate relative to the first base 102.

The second rotating assembly is located in the first accommodating area, which is beneficial to reducing the overall volume of the rotating platform 101. The second rotating assembly includes two second supporting plates 104 and a second connecting member, the two second supporting plates 104 are disposed in parallel, the second connecting member is located between the two second supporting plates 104, and the two second supporting plates 104 are connected to each other through the second connecting member to form a whole. As shown in fig. 5, the second support piece 104 includes a second horizontal portion 205, a third extending portion 206, and a fourth extending portion 207, the third extending portion 206 and the fourth extending portion 207 are respectively located at two ends of the second horizontal portion 205, a position where the second horizontal portion 205 is connected to the third extending portion 206 is bent, and a position where the second horizontal portion 205 is connected to the fourth extending portion 207 is bent, it can be understood that the second horizontal portion 205 forms an angle with the third extending portion 206, the second horizontal portion 205 forms an angle with the fourth extending portion 207, and the second horizontal portion 205, the third extending portion 206, and the fourth extending portion 207 enclose an open second receiving area.

Further, a second motor 208 is disposed on the first extension portion 202, the second motor 208 is located between the first extension portion 202 and the third extension portion 206, an output end of the second motor 208 is connected to the third extension portion 206, and under the driving of the motor, the second support plate 104 can rotate relative to the first rotation assembly, that is, the second rotation assembly rotates relative to the first rotation assembly, and the second rotation assembly gradually gets out of the range of the first accommodation area in the rotation process, so that the VR device rotates with a second degree of freedom. To ensure that the second rotating assembly rotates smoothly relative to the first rotating assembly, the fourth extending portion 207 is rotatably connected to the second extending portion 203, and it can be understood that the rotating shaft of the fourth extending portion 207 rotatably connected to the second extending portion 203 is located approximately in a straight line with the output shaft of the second motor 208.

Wherein, the second connecting part is provided with a third motor 209, the output shaft of the third motor 209 is connected with a second base 105, the VR device is connected with the second base 105, when the third motor 209 rotates, the VR device can rotate relative to the second rotating component, thereby forming the rotation of the VR device with a third degree of freedom.

In some examples, a sliding seat 301 and a screw rod 302 are connected to the bottom of the first base 102, a threaded hole structure is provided at the bottom of the sliding seat 301, and the screw rod 302 is engaged with and passes through the threaded hole structure. When lead screw 302 rotates, sliding seat 301 can remove along the direction of lead screw 302 to adjust the overall position of rotating platform 101, also be convenient for VR equipment to aim at picture card subassembly 401, promote the position flexibility of VR equipment, be convenient for synthesize and detect.

In some examples, the bottom of the first base 102 is provided with a plurality of anti-vibration supports 305, specifically, the anti-vibration supports 305 are provided in four, and are respectively located at the corners of the first base 102. The anti-vibration support 305 is connected to the top of the sliding seat 301 through a fastener, so that the overall position of the rotating platform 101 is stable, and the relative movement in the horizontal direction between the rotating platform 101 and the sliding seat 301 is avoided. Antidetonation support 305 can promote the stability of rotating platform 101, and when the external environment vibration appeared, antidetonation support 305 will cushion external vibration, avoids external vibration direct transmission to rotating platform 101 on, influences the testing result.

In some examples, the bottom of the sliding seat 301 is provided with a fixing seat 303, and the fixing seat 303 is used for supporting the sliding seat 301 and at the same time, facilitating the fixing of the position of the screw rod 302. Specifically, the fixing base 303 is provided with a containing groove in the middle, and the lead screw 302 is located in the containing groove, and it can be understood that the two ends of the lead screw 302 are rotatably connected with the fixing base 303, so that the rotation of the lead screw 302 is not affected on the premise of ensuring the position of the lead screw 302. Further, in order to ensure that the sliding seat 301 can move along the direction of the screw rod 302 and avoid the rotation of the sliding seat 301, the top of the fixed seat 303 is provided with a sliding rail 304, the bottom of the sliding seat 301 is provided with a recessed structure, and the sliding rail 304 is embedded into the recessed structure, so as to further limit the advancing direction of the sliding seat 301.

In some examples, the camera and inertial sensor collaborative testing apparatus further includes a frame structure for supporting the rotating platform 101 with a height of the transmission platform for a worker to operate in a standing position. Specifically, the middle part of the frame structure is provided with a beam, and the fixing seat 303 is connected to the top of the beam.

In some examples, a reinforcing plate 106 is disposed between the two first supporting sheets 103, a reinforcing plate 106 is disposed between the two second supporting sheets 104, and the reinforcing plate 106 is used to further connect the two first supporting sheets 103 and the two second supporting sheets 104, so as to ensure that the first rotating assembly and the second rotating assembly are structurally stable.

As shown in fig. 6 to 7, the card assembly 401 is disposed horizontally, the card assembly 401 is located above the rotating platform 101, and the card assembly 401 and the rotating platform 101 have a certain distance therebetween, so as to avoid affecting the posture and position change of the rotating platform 101. Further, the card assembly 401 includes a card body.

In some examples, the card assembly 401 further includes a substrate 402 and a light source 403, the light source 403 is fixedly connected to the substrate 402, specifically, the light source 403 adopts a parallel light source 403, the parallel light source 403 irradiates light to the card body, so that the VR device can capture the pattern on the card body, in order to expose the card body in the field of view of the VR device, a hollow portion is provided on the substrate 402, the card body is located within the hollow portion, and it is ensured that the light emitted by the parallel light source 403 can pass through the hollow portion to reach the VR device.

In some examples, the card assembly 401 further includes at least two light-transmitting panels 404, each light-transmitting panel 404 is disposed side by side and kept horizontal, and the hollow portion has a fixing structure 405 at an edge thereof, and the fixing structure 405 is used for positioning the light-transmitting panels 404. Specifically, the fixing structures 405 are provided in plural numbers, and the fixing structures 405 are provided with recesses into which the edges of the light-transmitting plate 404 can be fitted, thereby supporting the light-transmitting plate 404. The graphic card body is arranged between the transparent boards 404, so that the graphic card body keeps flat, and the position of the graphic card body can be adjusted by adjusting the positions of the transparent boards 404, thereby facilitating the operation.

In some examples, a portion of the securing structure 405 is secured to the base plate 402 by fasteners, thereby defining an extreme position of the light-transmissive panel 404; another portion of the securing structure 405 can be displaced horizontally at the edge of the hollow portion to fine tune the position of the light transmissive panel 404 to accommodate camera detection by the VR device. Specifically, a horizontal adjusting support 501 and a horizontal adjusting bolt 502 are arranged at the position of the fixing structure 405, the horizontal adjusting bolt 502 penetrates through the horizontal adjusting support 501, the end of the horizontal adjusting bolt 502 abuts against the movable fixing structure 405, and along with the screwing of the horizontal adjusting bolt 502, the end of the horizontal adjusting bolt 502 gradually applies force to the fixing structure 405, so that the position of the light-transmitting plate 404 is finely adjusted, namely the position of the map card body is finely adjusted.

As shown in fig. 8, in some examples, the camera and inertial sensor cooperation testing apparatus further includes a housing 503, the rotating platform 101 and the image card assembly 401 are both located inside the housing 503, specifically, the image card assembly 401 is located at the top of the housing 503, a plurality of vertical adjusting brackets 504 are disposed on the inner wall of the housing 503, and the image card assembly 401 is disposed on the vertical adjusting brackets 504, so that the image card assembly 401 is suspended inside the housing 503. A vertical adjusting bolt 505 is arranged on the vertical adjusting bracket 504, the vertical adjusting bolt 505 penetrates through the vertical adjusting bracket 504 and the base plate 402, and the vertical adjusting bolt 505 is fastened through a nut 506 to prevent the vertical adjusting bolt 505 and the vertical adjusting bracket 504 from moving relatively without blocking relative rotation. The vertical adjusting bolt 505 inserts base plate 402 and wears out the position of base plate 402 and all is provided with nut 506, and two nuts 506 centre gripping base plate 402, at vertical adjusting bolt 505 pivoted in-process, the height of base plate 402 relevant position can finely tune to guarantee that the picture card body is in the horizontality all the time, be favorable to promoting detection accuracy.

In the using process, the rotating track and the equivalent weight of the VR device can be obtained by controlling the rotating angles and the speeds of the three shafts, the inertial sensor arranged in the product can also have corresponding data feedback in the rotating process, and then the two groups of data are compared and calibrated so as to calibrate the parameters and the precision of the inertial sensor arranged in the VR device.

Further, the light source 403 is fixed on the substrate 402, the graphic card body is sandwiched between the transparent plates 404 to form the graphic card assembly 401, the transparent plates 404 and the graphic card body are roughly placed in the middle of the substrate 402, then fine adjustment is performed through the horizontal adjusting bolt 502, so that the graphic card body is located in the center of the substrate 402 and is calibrated through the verification tool, and after the position is adjusted, the position of the fixing structure 405 is limited through the fastener, so that the adjusted position of the graphic card body is maintained. And finally, finely adjusting the levelness of the graphic card body by adjusting the vertical adjusting bolt 505, so that camera test or camera and inertial sensor cooperative test can be performed.

In the description herein, references to the terms "one embodiment," "some examples," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like, if any, mean 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, the schematic representations of the terms used above 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.

While the embodiments of the present invention have been described in detail with reference to the drawings, the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.

Claims (10)

1. A camera and inertial sensor co-testing apparatus, comprising:

the rotary platform comprises a first base, a first rotary component and a second rotary component, wherein the first rotary component comprises two first supporting pieces and a first connecting part, the two first supporting pieces are arranged in parallel, the two first supporting pieces are connected through the first connecting part, each first supporting piece comprises a first horizontal part, a first extending part and a second extending part, the first extending part and the second extending part are respectively arranged at two ends of the first horizontal part, the first extending part and the second extending part form an angle with the first horizontal part, the first extending part and the second extending part enclose a first containing area, a first motor is arranged on the first base, the output end of the first motor is connected with the first connecting part, and the first motor drives the first rotary component to rotate relative to the first base, the second rotating assembly is located in the first accommodating area and comprises two second supporting pieces and a second connecting part, the two second supporting pieces are arranged in parallel and connected through the second connecting part, the second supporting pieces comprise a second horizontal part, a third extending part and a fourth extending part, the third extending part and the fourth extending part are arranged at two ends of the second horizontal part, the third extending part and the fourth extending part form an angle with the second horizontal part, the third extending part and the fourth extending part enclose a second accommodating area, a second motor is arranged on the first extending part, the output end of the second motor is connected with the third extending part, and the second extending part is rotatably connected with the fourth extending part, the second motor drives the second rotating assembly to rotate relative to the first rotating assembly, a third motor is arranged on the second connecting component, the output end of the third motor is connected with a second base, and VR equipment can be connected onto the second base;

the picture card assembly is horizontally arranged and arranged above the rotating platform and comprises a picture card body, and the picture card body is used for detecting a camera in VR equipment.

2. The apparatus for testing coordination between camera and inertial sensor as claimed in claim 1, wherein said graphic card assembly further comprises a substrate and a light source, said light source is fixedly connected to said substrate, said substrate is provided with a hollow portion, said graphic card body is disposed in the middle of said substrate, and light emitted from said light source can irradiate said graphic card body and pass through said hollow portion.

3. The apparatus for testing coordination of camera and inertial sensor according to claim 2, wherein said graphic card assembly further comprises at least two transparent plates, each transparent plate is disposed side by side, each transparent plate is disposed horizontally, a plurality of fixing structures are disposed on the edge of said hollow portion, a recess is disposed on each fixing structure, the edge of each transparent plate is embedded into each recess, and said graphic card body is disposed between each transparent plate.

4. The cooperative testing apparatus for camera and inertial sensor according to claim 3, wherein a portion of the fixing structure is fixedly connected to the substrate by a fastener, and a horizontal adjusting bracket and a horizontal adjusting bolt are disposed at another portion of the fixing structure, and the horizontal adjusting bolt passes through the horizontal adjusting bracket and abuts against the fixing structure.

5. The camera and inertial sensor cooperative testing device according to claim 2, wherein the camera and inertial sensor cooperative testing device further comprises a housing, the rotating platform and the graphic card assembly are disposed inside the housing, a plurality of vertical adjusting brackets are disposed on an inner wall of the housing, a vertical adjusting bolt is disposed on each vertical adjusting bracket, each vertical adjusting bolt passes through the base plate, nuts are disposed at joints between two ends of the base plate and the vertical adjusting bolts, and each nut is engaged with the vertical adjusting bolt.

6. The camera and inertial sensor collaborative testing apparatus according to claim 1, wherein a sliding seat and a lead screw are connected to a bottom of the first base, a threaded hole structure is provided on the bottom of the sliding seat, the lead screw is engaged with the threaded hole structure, and the lead screw can drive the sliding seat and the first base to move by rotation.

7. The cooperative testing equipment of a camera and an inertial sensor, according to claim 6, wherein a fixing seat is disposed at the bottom of the sliding seat, an accommodating groove is disposed at the middle of the fixing seat, the lead screw is disposed in the accommodating groove, a slide rail is disposed at the top of the fixing seat, a recessed structure is disposed at the bottom of the sliding seat, and the slide rail is embedded in the recessed structure.

8. The camera and inertial sensor collaborative testing apparatus according to claim 6, wherein the first base bottom is provided with a plurality of anti-vibration supports, and the anti-vibration supports are connected to the sliding seat top through fasteners.

9. The camera and inertial sensor collaborative testing apparatus according to claim 7, wherein the camera and inertial sensor collaborative testing apparatus further comprises a frame structure, a beam is disposed in a middle portion of the frame structure, and the fixing base is connected to a top portion of the beam.

10. The cooperative camera and inertial sensor testing device according to claim 1, wherein a reinforcing plate is disposed between the two first supporting plates, and a reinforcing plate is disposed between the two second supporting plates.

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