CN206863817U - Camera review automatic acquisition device and camera calibration systems - Google Patents
Camera review automatic acquisition device and camera calibration systems Download PDFInfo
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- CN206863817U CN206863817U CN201720413703.6U CN201720413703U CN206863817U CN 206863817 U CN206863817 U CN 206863817U CN 201720413703 U CN201720413703 U CN 201720413703U CN 206863817 U CN206863817 U CN 206863817U
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Abstract
The utility model belongs to acquisition technology field, and in particular to camera review automatic acquisition device and camera calibration systems.Camera review automatic acquisition device described in the utility model, including camera, camera bracket, guide rail, fixed plate and target designation thing, the camera is fixed on the camera bracket；What the camera bracket can move is located on the guide rail；The fixed plate is fixed on the camera lens direction of the camera with certain spacing and set parallel to the guide rail；The target designation thing is fixed in the fixed plate.Camera can be positioned automatically by using camera review automatic acquisition device described in the utility model and camera calibration systems, the relative position between camera and target designation thing need not be manually adjusted, calibrated error is reduced, demarcation efficiency is improved, reduces cost of labor.
Description
Technical field
The utility model belongs to acquisition technology field, and in particular to camera review automatic acquisition device and video camera
Calibration system.
Background technology
The demarcation of video camera is the first step of computer vision application processing, has been increasingly becoming a heat of vision research
Point problem.Its in many image application fields such as:Virtual reality, photogrammetric, medical diagnosis, industrial detection, three-dimensionalreconstruction etc.
Had a wide range of applications in field.Especially fisheye camera, because it can provide the visual field of about 180 degree, in the last few years, in machine
The fields such as people's navigation, three-dimensional modeling, traffic safety are widely used.Fisheye camera is wide-field simultaneously in offer, companion
With and come be image flake distort, therefore fisheye camera application the first step be often obtain fisheye camera accurate ginseng
Number.In computer vision field, our this process is referred to as demarcation.Conventional camera marking method is in certain shooting
Under machine model, photographic subjects thing takes figure from different angles, by the processing to image, utilizes a series of mathematic(al) manipulations and calculating
Method, ask for the parameter of camera model.
Video camera takes the basis that figure is camera calibration, in the prior art generally using the mode for manually taking figure, i.e.,
Demarcation person's hand-held camera, the angle of video camera photographic subjects thing is adjusted, the picture of some target designation things is photographed, to these
Picture carries out processing computing, obtains the parameter of camera model.
Patent No. CN201120076485.4 utility model provides a kind of video camera and takes map device and calibration system,
This takes map device to include a hollow box body and the multiple shooting hole positions being arranged on the casing, by multiple to be set on casing
The mode of hole position is shot, multiple shooting angle are provided to video camera, with big for the shooting angle error that solves manually to choose
The problem of.
Patent No. CN201120347075.9 utility model provides that a kind of hole position is few, takes figure angle reasonable, time saving
Labour-saving camera review harvester, it includes hollow casing and the shooting hole on the casing, and the casing is
The trapezoidal trapezoid cylinder in one section, the trapezoid cylinder include positioned at the side in trapezoidal waist and the vertical section, are located at
The upper bottom surface of trapezoidal short side and the bottom surface positioned at trapezoidal long side, the shooting hole is two, is separately positioned on the trapezoidal column
On the one side and upper bottom surface of body.The utility model additionally provides a kind of demarcation system with above-mentioned camera review harvester
System.
The it is proposed of two above patent, although it is big to solve the shooting angle error manually chosen to a certain extent, shadow
The shortcomings that ringing camera calibration accuracy, is favorably improved and takes figure efficiency, but still have the following disadvantages：Figure can not be taken automatically, taken
Need to manually adjust the putting position of casing hole position and video camera during figure, due to exist during manually adjusting it is certain by mistake
Difference, influence the accuracy of calibration result.
Utility model content
In order to solve at least one problem of above prior art problem, the utility model proposes a kind of camera review
Automatic acquisition device and camera calibration systems, by using camera review automatic acquisition device described in the utility model and
Camera calibration systems can position to video camera automatically, relative between video camera and target designation thing without manually adjusting
Position, calibrated error is reduced, improve demarcation efficiency, reduce cost of labor.
The utility model proposes camera review automatic acquisition device, including camera, camera bracket, leads
Rail, fixed plate and target designation thing,
The camera is fixed on the camera bracket；
What the camera bracket can move is located on the guide rail；
The fixed plate is fixed on the camera lens direction of the camera and parallel to institute with certain spacing
State guide rail setting；
The target designation thing is fixed in the fixed plate；
Wherein, the camera can be moved to specified location along the guide rail, and can be in the camera
Camera lens direction on the target designation thing carry out information gathering.
Further, the camera review automatic acquisition device includes four fixed plates, four fixed plate difference
Fixed for the first fixed plate, the second fixed plate, the 3rd and the 4th fixed plate, first fixed plate are demarcated provided with first object
Thing, second fixed plate are provided with the second target designation thing, and the 3rd fixed plate is provided with the 3rd target designation thing, described
4th fixed plate is provided with the 4th target designation thing.
Further, four target designation things are respectively arranged at the different parts of four fixed plates, and described
One target designation thing is located at the below or above of first fixed plate, and the second target designation thing is fixed located at described second
Above or below plate, the 3rd target designation thing is located at the left or right of the 3rd fixed plate, the 4th target
Demarcate right or left that thing is located at the 4th fixed plate.
Further, the guide rail is provided with four IMAQ points, and respectively the first IMAQ point, the second image is adopted
Collect point, the 3rd IMAQ point and the 4th IMAQ point, can when the camera is in described first image collection point
Information gathering is carried out to first object demarcation thing, can be to institute when the camera is in the second IMAQ point
State the second target designation thing and carry out information gathering, can be to described the when the camera is in the 3rd IMAQ point
Three target designation things carry out information gathering, can be to the 4th mesh when the camera is in the 4th IMAQ point
Mark demarcation thing carries out information gathering.
Further, the target designation thing is gridiron pattern scaling board.
Further, the specification of the gridiron pattern scaling board is 15*5.
Further, four fixed plates are arranged in the same plane in the form of equidistant.
Further, four described image collection points are arranged in the form of equidistant on the guide rail.
The utility model also proposed camera calibration systems, including the camera review described in any of the above-described certainly
Dynamic harvester, and the control machine with camera review automatic acquisition device communication connection, the control machine are used for pair
The sliding position of camera is controlled, view data is transmitted and video camera is demarcated.
Further, the control machine is industrial computer, computer, embedded board or is connected into the terminal of Cloud Server wherein
Any one.
By using camera review automatic acquisition device described in the utility model and camera calibration systems, will image
Head enters row information by being moved to specified location on guide rail to the target designation thing on the camera lens direction in camera
Collection, calibration process is more reliable and more stable, without manually adjusting the relative position between video camera and target designation thing, reduces demarcation
Error, demarcation efficiency is improved, reduces cost of labor.
By the way that control machine to be arranged to be connected into the terminal of Cloud Server, collection information can be inputted to high in the clouds, can
Preferably management camera image and nominal data.
Brief description of the drawings
By reading the detailed description of hereafter preferred embodiment, it is various other the advantages of and benefit it is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of preferred embodiment, and is not considered as to this practicality
New limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is one embodiment of camera calibration systems described in the utility model；
Fig. 2 is picture position figure of the gridiron pattern scaling board in industrial computer in Fig. 1.
Each label represents as follows in accompanying drawing：
10：Camera；
20：Guide rail, 21：First IMAQ point, 22：Second IMAQ point；23：3rd IMAQ point；24：4th
IMAQ point；
31：First fixed plate, 32：Second fixed plate, 33：3rd fixed plate, 34：4th fixed plate；
41：First gridiron pattern scaling board, 42：Second gridiron pattern scaling board, 43：3rd gridiron pattern scaling board, 44：4th chess
Disk case marker fixed board；
50：Control machine.
Embodiment
The illustrative embodiments of the disclosure are more fully described below with reference to accompanying drawings.Although this public affairs is shown in accompanying drawing
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure without the reality that should be illustrated here
The mode of applying is limited.Conversely, there is provided these embodiments are to be able to be best understood from the disclosure, and can be by this public affairs
The scope opened completely is communicated to those skilled in the art.
According to embodiment of the present utility model, a kind of camera review automatic acquisition device and calibration system are proposed.Fig. 1
For one embodiment of camera calibration systems described in the utility model.As described in Figure 1, the present embodiment includes the He of control machine 50
Camera review automatic acquisition device.Wherein camera review automatic acquisition device includes camera 10, camera bracket, guide rail
20th, the first fixed plate 31, the second fixed plate 32, the 3rd fixed plate 33 and the 4th fixed plate 34.Wherein, camera 10 is by taking the photograph
Picture head bracket can be moved on guide rail 20 by camera bracket on the surface of guide rail 20, and its initial position is located at and led
The leftmost side of rail 20.Control machine 50 is connected by data wire with guide rail 20, by setting the relative program in control machine 50 controllable
Camera bracket processed moves on guide rail 20, so as to accurately be positioned to camera 10.Camera 10 is in guide rail 20
On when moving, it is solid that the first fixed plate 31, the second fixed plate the 32, the 3rd are respectively equipped with the camera lens direction of camera 10
Tool is set at regular intervals between the camera lens of the fixed plate 34 of fixed board 33 and the 4th, fixed plate and camera 10.Wherein, the first fixed plate
31st, it is fixed with target designation thing in the second fixed plate 32, the 3rd fixed plate 33 and the 4th fixed plate 34.When camera 10 is logical
Cross when being moved to specified location on guide rail 20, the target designation thing on the camera lens direction of camera 10 can be entered
Row IMAQ.
Can be automatically to taking the photograph by using camera review automatic acquisition device described in the utility model and calibration system
As head is positioned, without manually adjusting the relative position between camera and target designation thing, calibrated error is reduced, improves demarcation
Efficiency, reduce cost of labor.
In the present embodiment, target designation thing is gridiron pattern scaling board.Wherein, the first fixed plate 31 is provided with the first gridiron pattern
Scaling board 41, the second fixed plate 32 are provided with the second gridiron pattern scaling board 42, and the 3rd fixed plate 33 is provided with the 3rd chessboard case marker
Fixed board 43, the 4th fixed plate 34 are provided with the 4th gridiron pattern scaling board 44.
Further, the first gridiron pattern scaling board 41 is located at the lower section of the first fixed plate 31, the second gridiron pattern scaling board 42
Located at the top of the second fixed plate 32, the 3rd gridiron pattern scaling board 43 is located at the left of the 3rd fixed plate 33, the 4th chessboard case marker
Fixed board 44 is located at the right of the 4th fixed plate 34.
By being respectively equipped with the gridiron pattern scaling board in different distributions position in four fixed plates, shooting can be utilized
First 10 carry out multipoint data demarcation, and calibration result is sent to control machine 50 and is uniformly processed, and improve stated accuracy.
Corresponding, when camera review automatic acquisition device is provided with four gridiron pattern scaling boards for being in diverse location
When, also four IMAQ points, respectively the first IMAQ point 21, the second IMAQ point are provided with accordingly on guide rail 20
22nd, the 3rd IMAQ point 23 and the 4th IMAQ point 24.Can be right when camera 10 is in the first IMAQ point 21
First gridiron pattern scaling board 41 carries out information gathering, can be to the second chessboard when camera 10 is in the second IMAQ point 22
Case marker fixed board 42 carries out information gathering, can be to the 3rd gridiron pattern scaling board when camera 10 is in the 3rd IMAQ point 23
43 carry out information gathering, can enter row information to the 4th IMAQ point 44 when camera 10 is in the 4th IMAQ point 24
Collection.
Guide rail 20 is provided at both ends with roller, and roller is provided with conveyer belt, and camera bracket is fixed on conveyer belt.It can replace
Dai Di, camera bracket are fixed on sliding block, and the sliding block can slide on guide rail 20.When control machine 50 sends command signal
Good, guide rail 20 starts running, and conveyer belt carries out translational motion along roller surface, and camera 10 moves with conveyer belt.When taking the photograph
When reaching any one IMAQ point as first 10, conveyer belt stop motion, camera 10 carries out IMAQ, and collection is tied
Fruit is sent to control machine 50.
Camera 10 sends collection information to control machine 50 after IMAQ is carried out to gridiron pattern scaling board, and generation is accordingly
Image and preservation.After camera 10 all carries out picture collection to four gridiron pattern scaling boards, such as Fig. 2 is formed in control machine
Image.The image in Fig. 2 is calculated into camera parameters after the processing of video camera mark software program again.
In the present embodiment, the specification of all gridiron pattern scaling boards is for 15*5.
For convenience of controlling and gather drawing information, the first fixed plate 31, the second fixed plate 32, the 3rd fixed plate the 33, the 4th
Fixed plate 34 is arranged in the same plane in the form of equidistant.Likewise, on guide rail 20, the first IMAQ point 21,
2 IMAQ points 22, the 3rd IMAQ point 23, the 4th IMAQ point 24 are also arranged in guide rail 20 in the form of equidistant
On.
In a specific embodiment of the present utility model, control machine 50 is to be connected into the terminal in high in the clouds, utilizes the present embodiment
The specific workflow that described camera calibration systems carry out camera calibration is as follows：
1st, camera 10 is fixedly installed on camera bracket, activation system；
2nd, control machine 50 exports coasting distance signal, and distance value is the initial position of camera 10 to the first IMAQ point 21
Distance；
3rd, camera 10 slides on guide rail 20, and camera 10 reaches the position of the first IMAQ point 21 and stopped；
4th, control machine 50 gathers the image of a secondary first gridiron pattern scaling board 41 and saves as image 1；
5th, control machine 50 exports coasting distance signal, camera 10 is reached the position of the second IMAQ point 22 and stops
Stay；
6th, control machine 50 gathers the image of a secondary second gridiron pattern scaling board 42 and saves as image 2；
7th, control machine 50 exports coasting distance signal, camera 10 is reached the position of the 3rd IMAQ point 23 and stops
Stay；
8th, control machine 50 gathers the image of a secondary 3rd gridiron pattern scaling board 43 and saves as image 3；
9th, control machine 50 exports coasting distance signal, camera 10 is reached the position of the 4th IMAQ point 24 and stops
Stay；
10th, control machine 50 gathers the image of a secondary 4th gridiron pattern scaling board 44 and saves as image 4；
11st, image 1~4 is transferred to cloud server by control machine 50；
12nd, the output regression initial position signal of control machine 50, camera 10 return to initial position；
13rd, cloud server operation camera calibration software program, carries out image procossing and mathematical computations, calculates shooting
Machine parameter.
During calibration system actual motion, to a camera, operating procedure 1-13 carries out the automatic data collection of camera picture.
When the camera for having batch is demarcated, the step that reruns 1-10 carries out the collection of each camera picture, control machine
Software will be grouped to the fourth officer of each camera demarcation picture.After the collection of a collection of camera picture is completed, control
Picture is uploaded to Cloud Server by machine, and the clearing of the camera parameter of batch are carried out by server.
In the step of above-mentioned collection image, the angles of gridiron pattern scaling board have specific position.Put these positions
Put the areas imaging that position covers video camera by the image 1-4 for enabling to preserve after collection.The wherein shooting of image 1 obtains mesh
Mark object image is located at the latter half of whole sub-picture；The shooting of image 2 obtains the top half that target object image is located at whole sub-picture；
The shooting of image 3 obtains the left-half that target object image is located at whole sub-picture；The shooting of image 4 obtains target object image and is located at whole pair
The right half part of image, then be uniformly processed by control machine, form the image such as Fig. 2.
By the way that control machine to be arranged to be connected into the terminal of Cloud Server, collection information can be inputted to high in the clouds, can
Preferably management camera image and nominal data.
It is described above, the only preferable embodiment of the utility model, but the scope of protection of the utility model is not
This is confined to, any one skilled in the art can readily occur in the technical scope that the utility model discloses
Change or replacement, should all cover within the scope of protection of the utility model.Therefore, the scope of protection of the utility model should be with
The scope of the claims is defined.
Claims (10)
1. a kind of camera review automatic acquisition device, it is characterised in that including camera, camera bracket, guide rail, fixed plate
And target designation thing,
The camera is fixed on the camera bracket；
What the camera bracket can move is located on the guide rail；
The fixed plate is fixed on the camera lens direction of the camera with certain spacing and led parallel to described
Rail is set；
The target designation thing is fixed in the fixed plate；
Wherein, the camera can be moved to specified location along the guide rail, and can be to the mirror in the camera
The target designation thing on head direction carries out information gathering.
2. camera review automatic acquisition device according to claim 1, it is characterised in that the camera review is automatic
Harvester includes four fixed plates, and four fixed plates are respectively the first fixed plate, the second fixed plate, the 3rd fixed and the
Four fixed plates, first fixed plate are provided with first object demarcation thing, and second fixed plate is provided with the second target designation
Thing, the 3rd fixed plate are provided with the 3rd target designation thing, and the 4th fixed plate is provided with the 4th target designation thing.
3. camera review automatic acquisition device according to claim 2, it is characterised in that four target designation things
The different parts of four fixed plates are respectively arranged at, the first object demarcation thing is located at the lower section of first fixed plate
Or top, above or below second fixed plate, the 3rd target designation thing is set the second target designation thing
In the left or right of the 3rd fixed plate, the 4th target designation thing is located at the right or a left side of the 4th fixed plate
Side.
4. camera review automatic acquisition device according to claim 3, it is characterised in that the guide rail is provided with four
IMAQ point, respectively the first IMAQ point, the second IMAQ point, the 3rd IMAQ point and the 4th IMAQ
Point, thing progress information gathering can be demarcated to the first object when the camera is in described first image collection point,
Information gathering can be carried out to the second target designation thing, work as institute when the camera is in the second IMAQ point
Information gathering can be carried out when camera is in the 3rd IMAQ point to the 3rd target designation thing by stating, and be taken the photograph when described
When being in the 4th IMAQ point as head information gathering can be carried out to the 4th target designation thing.
5. the camera review automatic acquisition device according to any one of claim 1-4, it is characterised in that the target
It is gridiron pattern scaling board to demarcate thing.
6. camera review automatic acquisition device according to claim 5, it is characterised in that the gridiron pattern scaling board
Specification is 15*5.
7. the camera review automatic acquisition device according to any one of claim 2-4, it is characterised in that described in four
Fixed plate is arranged in the same plane in the form of equidistant.
8. camera review automatic acquisition device according to claim 7, it is characterised in that four described image collection points
It is arranged in the form of equidistant on the guide rail.
9. a kind of camera calibration systems, it is characterised in that including the video camera figure any one of the claims 1-8
As automatic acquisition device, and the control machine with camera review automatic acquisition device communication connection, the control machine are used
It is controlled in the sliding position to camera, view data is transmitted and video camera is demarcated.
10. camera calibration systems according to claim 9, it is characterised in that the control machine be industrial computer, computer,
Embedded board or be connected into Cloud Server terminal it is therein any one.
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| CN201720413703.6U CN206863817U (en) | 2017-04-19 | 2017-04-19 | Camera review automatic acquisition device and camera calibration systems |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108346216A (en) * | 2018-04-27 | 2018-07-31 | 珠海亨天宇网络科技有限公司 | A kind of intellectual analysis display instrument |
| CN109493390A (en) * | 2018-11-23 | 2019-03-19 | 华勤通讯技术有限公司 | The calibration fixture of dual camera, device and method |
| CN109712058A (en) * | 2018-12-03 | 2019-05-03 | 深圳前海达闼云端智能科技有限公司 | Dataset acquisition device |
| CN110826367A (en) * | 2018-08-10 | 2020-02-21 | 北京魔门塔科技有限公司 | Human face image acquisition system for data analysis |
| CN115937332A (en) * | 2023-03-09 | 2023-04-07 | 江西明天高科技股份有限公司 | Multi-camera rapid calibration method and three-dimensional calibration object |
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2017
- 2017-04-19 CN CN201720413703.6U patent/CN206863817U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108346216A (en) * | 2018-04-27 | 2018-07-31 | 珠海亨天宇网络科技有限公司 | A kind of intellectual analysis display instrument |
| CN110826367A (en) * | 2018-08-10 | 2020-02-21 | 北京魔门塔科技有限公司 | Human face image acquisition system for data analysis |
| CN109493390A (en) * | 2018-11-23 | 2019-03-19 | 华勤通讯技术有限公司 | The calibration fixture of dual camera, device and method |
| CN109493390B (en) * | 2018-11-23 | 2021-08-06 | 华勤技术股份有限公司 | Calibration fixture, equipment and method for double cameras |
| CN109712058A (en) * | 2018-12-03 | 2019-05-03 | 深圳前海达闼云端智能科技有限公司 | Dataset acquisition device |
| CN115937332A (en) * | 2023-03-09 | 2023-04-07 | 江西明天高科技股份有限公司 | Multi-camera rapid calibration method and three-dimensional calibration object |
| CN115937332B (en) * | 2023-03-09 | 2023-08-15 | 江西明天高科技股份有限公司 | Multi-camera quick calibration method and three-dimensional calibration object |
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Address after: 215347 no.707, complex building, Kunshan Industrial Technology Research Institute, no.1699, Zuchongzhi South Road, Kunshan, Suzhou, Jiangsu Province Patentee after: Kunshan Microelectronics Technology Research Institute Address before: 215347 7th floor, North building, complex building, 1699 Zuchongzhi South Road, Kunshan City, Suzhou City, Jiangsu Province Patentee before: KUNSHAN BRANCH, INSTITUTE OF MICROELECTRONICS OF CHINESE ACADEMY OF SCIENCES |