CN207802203U - Calibration equipment - Google Patents
Calibration equipment Download PDFInfo
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- CN207802203U CN207802203U CN201820260545.XU CN201820260545U CN207802203U CN 207802203 U CN207802203 U CN 207802203U CN 201820260545 U CN201820260545 U CN 201820260545U CN 207802203 U CN207802203 U CN 207802203U
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- depth correction
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Abstract
The utility model discloses a kind of calibration equipment, is adapted to correct for image capture unit, and it includes depth correction screen, depth correction convex block plate and mobile machine consoles.Depth correction convex block plate has multiple convex blocks, and the protrusion length of these convex blocks is at least partly different.For mobile machine console for being put for image capture unit, mobile machine console is used to drive image capture unit closer or far from depth correction screen to carry out depth correction, or image capture unit is driven to be moved to depth correction convex block plate to carry out depth correction.
Description
Technical field
The utility model is related to a kind of calibration equipment, more particularly to a kind of calibration equipment with correction convex block plate.
Background technology
With advances in technology with evolution, traditional camera gradually develops into from the camera of script camera plane two-dimensional signal
It can be seen that the camera of the depth of photographed, that is, depth camera common at present.Depth camera is different from traditional camera
Place is, depth camera is in addition to can also shoot the three-dimensional of the depth comprising scenery other than the bidimensional image information of photographed
Information.Its design principle is to emit reference beam for scene to be measured, by calculating the time difference or phase difference that light beam is reflected back,
Come convert be taken scenery distance to generate depth information, and can further learn the three-dimensional information of image.
In general, the camera lens of depth camera all will produce tolerance with mechanism element in production and assembling, depth is caused
The three-dimensional information of image captured by camera and actually there is drop, therefore depth camera all can be first corrected before manufacture.
However, depth camera only shoots a panel to carry out depth correction with different shooting distances at present, but captured scenery is often
Object with depth, therefore depth correction only is carried out by shooting a panel with different distance, it is still not enough to depth camera institute
The image three-dimensional information correction of shooting is the three-dimensional information for meeting actual object.
Utility model content
The purpose of this utility model is to provide a kind of calibration equipment, with solve in the prior art depth camera only with difference
Shooting distance shoot a panel to carry out depth correction, be still not enough to be by the image three-dimensional information correction captured by depth camera
The problem of meeting the three-dimensional information of actual object.
In order to achieve the above object, the utility model provides a kind of calibration equipment, it is adapted to correct for image capture unit, it includes：
Depth correction screen；
Depth correction convex block plate has multiple convex blocks, and the protrusion length of these convex blocks is at least partly different；And
Mobile machine console, for being put for the image capture unit, which can drive the image capture unit to lean on
Close or remote from the depth correction screen to carry out depth correction, or the image capture unit is driven to be moved to the depth correction convex block plate
To carry out depth correction.
Above-mentioned calibration equipment, the wherein size of each convex block of the depth correction convex block plate and shape at least partly phase
It is different.
Above-mentioned calibration equipment, wherein also including sliding rail, which is set to the sliding rail, to enable the mobile machine console logical
It crosses sliding rail movement and there is multiple first depth corrections position, the image capture unit is logical in these the first depth correction positions
It crosses the depth correction screen and carries out depth correction, which is moved by the sliding rail also has the second depth correction position, when
The mobile machine console is located at the second depth correction position, which carries out depth school by the depth correction convex block plate
Just.
Above-mentioned calibration equipment, wherein also including the first adjustment of image plate, which also has the first adjustment of image
Position, when the mobile machine console is located at the first adjustment of image position, which passes through the first adjustment of image plate
Carry out adjustment of image.
Above-mentioned calibration equipment, wherein the first adjustment of image plate have multiple first lattice, for being filled for the image capture
Shooting is set to carry out adjustment of image.
Above-mentioned calibration equipment, wherein also including the second adjustment of image plate, which has multiple second
Lattice, these second lattice are different with the size of the first lattice respectively, which also has the second adjustment of image position, when the movement
When board is located at the second adjustment of image position, which carries out adjustment of image by the second adjustment of image plate.
Above-mentioned calibration equipment, the wherein mobile machine console include frame body and articles holding table, which can slidably be installed in
The sliding rail, the articles holding table are set to the frame body, which has placement surface, for being put for the image capture unit.
Above-mentioned calibration equipment, the wherein frame body include pedestal portion, carrier portion, rotating member and lift component, the seat
Body portion can be slidingly arranged at the sliding rail, which is set between the pedestal portion and the carrier portion, to drive
The carrier portion rotates, which is set to the carrier portion, and the articles holding table is set to the lift component, the lifting structure
Part to drive the articles holding table lift.
Above-mentioned calibration equipment, wherein including also rangefinder, which is set to the mobile machine console, for measuring the survey
The distance between distance meter and the depth correction screen.
Above-mentioned calibration equipment, wherein also including driving controller, the driving controller is for enabling the mobile machine console move, and this is controled
Device is used to collect the correction data of the image capture unit.
Calibration equipment disclosed by above-described embodiment, because calibration equipment has depth correction screen and depth correction simultaneously
Convex block plate, and the convex block that depth correction convex block plate has multiple protrusion length different so that image capture unit is except through shifting
Motivation platform adjusts outside depth correction of the distance between the depth correction screen to carry out different shooting distances, can also pass through moving machine
Platform is moved to depth correction convex block plate, and the convex block to be utilized respectively depth correction screen and different protrusion length carries out secondary depth
Correction, therefore the accuracy of the three-dimensional information of image can be increased.
The utility model is described in detail below in conjunction with the drawings and specific embodiments, but not as to the utility model
Restriction.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of the calibration equipment disclosed by the utility model first embodiment；
Fig. 2 is the floor map of the first adjustment of image plate of Fig. 1；
Fig. 3 is the floor map of the second adjustment of image plate of Fig. 1；
Fig. 4 is the stereoscopic schematic diagram of the depth correction convex block plate of Fig. 1；
Fig. 5 is the enlarged drawing of the mobile machine console of Fig. 1；
Fig. 6 is the correcting process figure of the calibration equipment of Fig. 1.
Wherein, reference numeral
1 calibration equipment
2 image capture units
10 first adjustment of image plates
11 first lattice
20 second adjustment of image plates
21 second lattice
30 depth correction screens
40 depth correction convex block plates
41 convex blocks
50 sliding rails
60 mobile machine consoles
61 frame bodies
611 pedestal portions
612 carrier portions
613 rotating members
614 lift components
62 articles holding tables
621 placement surfaces
70 rangefinders
80 driving controllers
X, Y, Z are axial
S01-S04 steps
Specific implementation mode
The structural principle of the utility model and operation principle are described in detail below in conjunction with the accompanying drawings：
Referring to Fig. 1, Fig. 1 is the stereoscopic schematic diagram of the calibration equipment disclosed by the utility model first embodiment.
The calibration equipment 1 of the present embodiment is adapted to correct for image capture unit 2, and image capture unit 2 is, for example, depth phase
Machine.In general, depth camera is while having TOF (time of flight) camera models and three-primary colours (RGB) camera mould
Block, and RGB camera module is used for shooting bidimensional image information, and TOF camera module is used for the depth information of filmed image, thereby
It can be seen that the three-dimensional information of subject.In practice, the resolution ratio of TOF camera module is less than the resolution ratio of RGB camera module.
Calibration equipment 1 includes the first adjustment of image plate 10, the second adjustment of image plate 20, depth correction screen 30, depth correction
Convex block plate 40, sliding rail 50 and mobile machine console 60.
First adjustment of image plate 10 and the second adjustment of image plate 20 are set to two microscope carriers by way of being pivoted respectively, and divide
Not can along it is parallel two pivot joint axis Z axis to and Y-axis rotation, to enable the first adjustment of image plate 10 and the second adjustment of image plate 20
Adjustable pitch angle and stir angle so that image capture unit 2 can shoot the first adjustment of image plate 10 of different angle with
Second adjustment of image plate 20 is to carry out adjustment of image.In addition, two microscope carriers can drive the first adjustment of image plate 10 and the second shadow respectively
Picture correcting plate 20 is closer or far from sliding rail 50, to adjust the first adjustment of image plate 10 and the second adjustment of image plate 20 and image capture
The distance of device 2.
Also referring to Fig. 1 to Fig. 3.Fig. 2 is the floor map of the first adjustment of image plate of Fig. 1.Fig. 3 is the of Fig. 1
The floor map of two adjustment of image plates.
First adjustment of image plate 10 has multiple first lattice 11, and the second adjustment of image plate 20 has multiple second lattice 21.
The shape of these first lattice 11 and these the second lattice 21 can be for example square, and these second lattice 21 respectively with these first
The size of lattice 11 is different and the size of every one second lattice 21 is more than the sizes of every 1 first lattice 11.These first lattice 11 and this
A little second lattice 21 are used to carry out adjustment of image for image capture unit 2.
Depth correction screen 30 is, for example, white screen, and depth correction screen 30 is located at the extending direction of sliding rail 50 and faces sliding rail
50.That is, the normal direction of depth correction screen 30 is parallel to the extending direction of sliding rail 50.Depth correction screen 30 is with for shadow
As capture device 2 carries out the depth correction under different shooting distances.In the present embodiment, as shown, image capture unit 2 is located at
Between depth correction screen 30 and the first adjustment of image plate 10.
Referring to Fig. 4, Fig. 4 is the stereoscopic schematic diagram of the depth correction convex block plate of Fig. 1.Depth correction convex block plate 40 is towards cunning
Rail 50, and it is set up in 10 the same side of the first adjustment of image plate.Depth correction convex block plate 40 has multiple convex blocks 41, these convex blocks 41
Protrusion length it is at least partly different and size is also at least partly different.The protrusion of these convex blocks 41 of depth correction convex block plate 40
Length is that the depth camera that different setting can allow depth correction convex block plate 40 to be suitable for different resolution carries out depth with size
Correction, but be not limited thereto.In addition, in the present embodiment and other embodiment, these convex blocks have various shapes, such as can
For cuboid, cylinder or triangulo column etc..
In the present embodiment, the first adjustment of image plate 10, the second adjustment of image plate 20, depth correction screen 30 and depth correction
The installation position of convex block plate 40 is merely illustrative of, and is not limited to the utility model.It in other embodiments, can be according to reality
Border demand adjusts the position of the first adjustment of image plate, the second adjustment of image plate, depth correction screen and depth correction convex block plate.
It is the enlarged drawing of the mobile machine console of Fig. 1 also referring to Fig. 1 and Fig. 5, Fig. 5.
Mobile machine console 60 includes frame body 61 and articles holding table 62, and frame body 61 includes pedestal portion 611, carrier portion 612, rotation
Component 613 and lift component 614.Pedestal portion 611 is slidably disposed in sliding rail 50, and rotating member 613 is set to pedestal portion
Between 611 and carrier portion 612, to drive carrier portion 612 to rotate.Lift component 614 is set to carrier portion 612, and
Articles holding table 62 is set to lift component 614, and lift component 614 is lifting articles holding table 62.Articles holding table 62 has placement surface 621,
Placement surface 621 is put with for image capture unit 2.In the present embodiment, articles holding table 62 is, for example, holder, and image capture fills
Setting 2 can rotate up or move in X, Y, Z axis to carry out the fine tuning of six axis by articles holding table 62.In addition, passing through frame body 61
Rotating member 613 and lift component 614 can roughly adjust the camera site of image capture unit 2.
Calibration equipment 1 includes also driving controller 80, and driving controller 80 is for example comprising computer, control panel and driving unit.Computer
It is electrically connected at control panel and driving unit, and control panel controls driving unit by computer, to enable driving unit drive
Mobile machine console 60 moves.In the present embodiment, driving unit is, for example, drive motor, and computer is in addition to control calibration equipment 1
Outside correcting process, the correction data of image capture unit 2 is also collected.
In the present embodiment, driving controller 80 is used to enable the movement of mobile machine console 60, controls the correcting process of calibration equipment 1 and search
Collect the correction data of image capture unit 2, not limiting the utility model.It in other embodiments, can be without driving controller
Setting, mobile machine console can be moved by manually mode by replacing, and control correcting process by artificial mode, and by shadow
Image as captured by capture device pre-exists in the memory of image capture unit, then collects correction number by subsequent processing
According to.
In the present embodiment, image capture unit 2 can be located at the by the pedestal portion 611 of frame body 61 by sliding rail 50 moves
One adjustment of image position and the second adjustment of image position.
When image capture unit 2 is located at the first adjustment of image position and the second adjustment of image position, image capture
Device 2 respectively for and shoot the first adjustment of image plate 10 and the second adjustment of image plate 20 to carry out adjustment of image.For example,
These first smaller lattice 11 carry out adjustment of image with for the higher RGB camera module of resolution ratio, by RGB camera module institute
These 11 deformation extents of the first lattice in the image of shooting, to learn the correction parameter of RGB camera module deformation of image.In addition,
These second larger lattice 21 carry out adjustment of image with for the lower TOF camera module of resolution ratio, and by judging TOF camera
These 21 deformation extents of the second lattice in image captured by module, to learn the correction parameter of TOF camera module deformation of image.
In the present embodiment, image capture unit 2 is while having the RGB camera module and TOF camera of different resolution
Module is merely illustrative of, but is not limited thereto.In other embodiments, image capture unit can only have RGB camera mould
Block or TOF camera module, therefore the setting of the first adjustment of image plate and the second adjustment of image plate can be according to image capture unit
The no camera model with different resolution is as judgement.That is, if image capture unit only has RGB camera module, only need
First adjustment of image plate is set.
In the present embodiment, calibration equipment 1 includes also the rangefinder 70 for being set to carrier portion 612, and rangefinder 70 is for example
For laser range finder, and image capture unit 2 can be located at multiple first by the pedestal portion 611 of frame body 61 by sliding rail 50 moves
Depth correction position.These the first depth correction positions are different from the distance between depth correction screen 30 respectively, i.e., these first
Have between depth correction position near the first depth correction position of depth correction screen 30, the of secondary close depth correction screen 30
One depth correction position, and so on to farthest away from the first depth correction position of depth correction screen 30.
In the present embodiment, rangefinder 70 is set to carrier portion 612, but is not limited thereto.In other embodiments,
Rangefinder, which can change, is set to pedestal portion etc..
When image capture unit 2 is located at these the first depth correction positions, image capture unit 2 shoots depth correction screen
30 to carry out depth correction.Specifically, when image capture unit 2 is located most closely to the first depth correction of depth correction screen 30
When position, the TOF camera module photograph depth correction screen 30 of image capture unit 2, with from image learn image capture unit 2 with
The distance between depth correction screen 30, when then measuring the first depth correction position herein by rangefinder 70 with depth correction screen
The distance between 30, then compare the distance measured by the distance learnt from image and rangefinder 70 again, works as image to obtain
Depth correction parameter of the capture device 2 when near the first depth correction position of depth correction screen 30.Then, then by image
Capture device 2 is moved to time the first depth correction position of close depth correction screen 30, and repeats action above-mentioned, to learn shadow
As capture device 2 is in the depth correction parameter of the first depth correction position of secondary close depth correction screen 30, and so on obtain
Depth correction parameter of the image capture unit 2 at these the first depth correction positions.Thus, by image capture unit
2 are gradually distance from depth correction screen 30 in the first depth correction position near depth correction screen 30, can obtain image capture dress
The 2 depth correction parameter under different shooting distances is set, but is not limited thereto.It in other embodiments, can be from from depth
The first farthest depth correction position of correction screen starts gradually close to depth correction screen to carry out depth correction.
Furthermore image capture unit 2 can also be located at the second depth by the pedestal portion 611 of frame body 61 by sliding rail 50 moves
Correct position.When image capture unit 2 is located at the second depth correction position, image capture unit 2 faces depth correction convex block
Plate 40 simultaneously shoots the convex block 41 on depth correction convex block plate 40 to carry out depth correction.Specifically, when acquirement image capture dress
It, can be convex with these by this these actually known 41 depth of convex block when setting the depth of these 41 images of convex block captured by 2
The depth of 41 image of block is compared, to learn the correction parameter of depth.
In addition, the image that can also shoot depth correction convex block plate 40 by image capture unit 2 judges image capture unit 2
Resolution ratio it is whether normal.Specifically, when image capture unit 2 shoots these convex blocks 41, if should be solved without display in image
The 41 relevant information of convex block of precipitation, that is, the resolution ratio for representing image capture unit 2 are inaccurate, and believe by captured image
Breath carries out the correction of resolution ratio.In addition, but if the stroke count of this shown 41 relevant information of convex block is more than original setting in image
Stroke count when, the resolution ratio for also representing image capture unit 2 is problematic.For example, if this convex block 41 is square and originally
Known analysable image data stroke count is normally 5 × 5, but captured 41 image data of convex block is 8 × 8, i.e. generation
The resolution ratio of table image capture unit 2 is parsed more than the data stroke count under normal conditions, therefore, it is determined that image capture unit 2
Resolution ratio is inaccurate, and learns resolution ratio correction parameter by captured image information.
Then, illustrate the correcting process of calibration equipment 1, referring to Fig. 6, Fig. 6 is the correcting process of the calibration equipment 1 of Fig. 1
Figure.
First, such as step S01, image capture unit 2 is first moved to the first adjustment of image plate 10 and the second adjustment of image
Between plate 20, image capture unit 2 is located at by the carrier portion 612 for then rotating frame body 61 towards the first adjustment of image plate 10
First adjustment of image position is shot, and thereby carries out deformation of image school for the RGB camera module in image capture unit 2
Just.
According to the experience in practice, the first step of the correction of depth camera or general traditional camera all needs to first pass through
Deformation of image corrects, and the image captured by camera is ajusted.Thus other subsequent correction term purpose calibration accuracies
Just promoted.
Then, such as step S02, the carrier portion 612 of frame body 61 is rotated by image capture unit 2 towards the second adjustment of image
Plate 20 and shot positioned at the second adjustment of image position, thereby in image capture unit 2 TOF camera module carry out shadow
As correction.
Then, such as step S03, the carrier portion 612 of frame body 61 is rotated by image capture unit 2 towards depth correction screen
30, and image capture unit 2 is adjusted between these the first depth correction positions closer or far from depth correction screen 30, thereby take
Obtain depth correction parameter of the image capture unit 2 under different shooting distances.
Then, such as step S04, movable support body 61 rotates the carrier portion 612 of frame body 61 to depth correction convex block plate 40
In face of depth correction convex block plate 40, is corrected with carrying out 2 secondary depth correction of image capture unit and resolution ratio, thereby carried again
Rise the depth accuracy of measurement of image capture unit 2 and the resolution ratio of correcting image capture device 2.
According to the calibration equipment of above-described embodiment, because calibration equipment has depth correction screen and depth correction convex block simultaneously
Plate, and the convex block that depth correction convex block plate has multiple protrusion length different so that image capture unit is except through moving machine
Platform adjusts outside depth correction of the distance between the depth correction screen to carry out different shooting distances, can also be moved by mobile machine console
It moves to depth correction convex block plate, the convex block to be utilized respectively depth correction screen and different protrusion length carries out secondary depth school
Just, therefore the accuracy of the three-dimensional information of image can be increased.
In addition, by the convex block of depth correction convex block plate, the resolution of the image captured by image capture unit also can determine whether
Whether rate is normal, and the resolution ratio of correcting image capture device so that depth camera can parse subject, with further
Promote the accuracy of the three-dimensional information of image.Thus, the image capture corrected by secondary depth correction and resolution ratio
Device can further promote the three-dimensional information accuracy of image.
Furthermore by the first adjustment of image plate and the second adjustment of image plate, can depth be carried out for image capture unit again
Before correction and resolution ratio correction, the deformation of image correction of image capture unit is first carried out, to promote subsequent correction depth and divide
The accuracy of resolution.
Certainly, the utility model can also have other various embodiments, without departing substantially from the spirit of the present invention and its essence
In the case of, those skilled in the art work as can make various corresponding change and deformations, but these according to the utility model
Corresponding change and deformation should all belong to the protection domain of the utility model the attached claims.
Claims (10)
1. a kind of calibration equipment, is adapted to correct for image capture unit, which is characterized in that include：
Depth correction screen；
Depth correction convex block plate has multiple convex blocks, and the protrusion length of the multiple convex block is at least partly different；And
Mobile machine console, for putting for the image capture unit, the mobile machine console image capture unit can be driven close or
Far from the depth correction screen to carry out depth correction, or drive the image capture unit be moved to the depth correction convex block plate with into
Row depth correction.
2. calibration equipment according to claim 1, which is characterized in that the multiple convex block of the depth correction convex block plate
Size and shape are at least partly different.
3. calibration equipment according to claim 1, which is characterized in that also include sliding rail, which is set to the cunning
Rail, to enable the mobile machine console have multiple first depth corrections position by sliding rail movement, the image capture unit is in institute
It states multiple first depth corrections position and depth correction is carried out by the depth correction screen, which is gone back by sliding rail movement
With the second depth correction position, when the mobile machine console is located at the second depth correction position, which passes through this
Depth correction convex block plate carries out depth correction.
4. calibration equipment according to claim 3, which is characterized in that also include the first adjustment of image plate, the mobile machine console
Also there is the first adjustment of image position, when the mobile machine console is located at the first adjustment of image position, the image capture unit is logical
It crosses the first adjustment of image plate and carries out adjustment of image.
5. calibration equipment according to claim 4, which is characterized in that the first adjustment of image plate has multiple first lattice,
For being shot for the image capture unit to carry out adjustment of image.
6. calibration equipment according to claim 5, which is characterized in that also include the second adjustment of image plate, second image
Correcting plate has multiple second lattice, and the multiple second lattice are different with the multiple size of first lattice respectively, the mobile machine console
Also there is the second adjustment of image position, when the mobile machine console is located at the second adjustment of image position, the image capture unit is logical
It crosses the second adjustment of image plate and carries out adjustment of image.
7. calibration equipment according to claim 3, which is characterized in that the mobile machine console includes frame body and articles holding table, this
Body can slidably be installed in the sliding rail, which is set to the frame body, which has placement surface, for supplying the image
Capture device is put.
8. calibration equipment according to claim 7, which is characterized in that the frame body includes pedestal portion, carrier portion, rotation structure
Part and lift component, the pedestal portion can be slidingly arranged at the sliding rail, which is set to the pedestal portion and the carrying
Between frame portion, for driving the carrier portion to rotate, which is set to the carrier portion, and the articles holding table is set to this
Lift component, the lift component is for driving the articles holding table to lift.
9. calibration equipment according to claim 1, which is characterized in that also include rangefinder, which is set to the shifting
Motivation platform, for measuring the distance between the rangefinder and the depth correction screen.
10. calibration equipment according to claim 1, which is characterized in that also include driving controller, the driving controller is for enabling the shifting
Motivation platform moves, and the driving controller is used to collect the correction data of the image capture unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820260545.XU CN207802203U (en) | 2018-02-13 | 2018-02-13 | Calibration equipment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820260545.XU CN207802203U (en) | 2018-02-13 | 2018-02-13 | Calibration equipment |
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| CN207802203U true CN207802203U (en) | 2018-08-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110108450A (en) * | 2019-04-11 | 2019-08-09 | 歌尔股份有限公司 | A kind of TOF mould group obtains method, test suite and the test macro of point cloud chart |
| CN111147142A (en) * | 2018-11-02 | 2020-05-12 | 光宝电子(广州)有限公司 | Error correction system and method thereof |
-
2018
- 2018-02-13 CN CN201820260545.XU patent/CN207802203U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111147142A (en) * | 2018-11-02 | 2020-05-12 | 光宝电子(广州)有限公司 | Error correction system and method thereof |
| CN111147142B (en) * | 2018-11-02 | 2021-02-26 | 光宝电子(广州)有限公司 | Error correction system and method thereof |
| CN110108450A (en) * | 2019-04-11 | 2019-08-09 | 歌尔股份有限公司 | A kind of TOF mould group obtains method, test suite and the test macro of point cloud chart |
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Address after: Taiwan Xindian District, New Taipei City Chinese Po Road No. 6 Patentee after: GIGA-BYTE TECHNOLOGY Co.,Ltd. Address before: Chinese Taiwan Taipei City store Bao Jiang Road No. 6 Patentee before: GIGA-BYTE TECHNOLOGY Co.,Ltd. |