CN208384634U - The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter - Google Patents
The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter Download PDFInfo
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- CN208384634U CN208384634U CN201820789163.6U CN201820789163U CN208384634U CN 208384634 U CN208384634 U CN 208384634U CN 201820789163 U CN201820789163 U CN 201820789163U CN 208384634 U CN208384634 U CN 208384634U
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Abstract
A kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter, it includes equipment body, host, at least two turning mould groups and image scaling board, turning mould group includes mobile X-axis mechanism, rotation Tx axis mechanism and mobile Y-axis mechanism, rotates the fixed test position in rotation connection ground on Tx axis mechanism；Turning mould group and image scaling board are mounted in equipment body, rotation Tx axis mechanism connect with mobile X-axis mechanism and makes to rotate Tx axis mechanism along the direction sliding for moving X-axis mechanism, mobile Y-axis mechanism connect with mobile X-axis mechanism and slides mobile X-axis mechanism along the direction for moving Y-axis mechanism, and host is connect with turning mould group.The technical issues of the utility model carries out calibration and loading and unloading by the turning mould group alternate cycles of multiple stations, can solve the low output of unit time, makes the yield UPH of unit time be at least up to 120pcs, improves work efficiency.
Description
Technical field
The utility model relates to photogrammetric optical instrument, especially a kind of multiplexing bit interleaving demarcates RGBD camera internal reference
Several equipment.
Background technique
The three-dimensional geometry position of space object surface point and the correlation between its in the picture corresponding points are by phase
What the geometrical model of machine imaging determined, these geometrical model parameters are exactly industrial camera parameter.In general, these parameters
It must can just be obtained by experiment and calculating, and this experiment is thus referred to as NI Vision Builder for Automated Inspection calibration with the process calculated.?
In entire NI Vision Builder for Automated Inspection imaging process, high-precision system calibrating is basis and the emphasis for realizing high definition imaging, to final
Using there is direct influence.Therefore, camera calibration work has only been carried out, follow-up work could normally be unfolded.
It is such as vertical based on 3D if traditional camera marking method is segmented into Ganlei according to calibrated reference and algorithm thinking
The camera calibration of body target, the camera calibration based on 2D plane target drone and camera calibration based on radial constraint etc..
Based on the camera calibration of 2D plane target drone, this method is also known as Zhang Zhengyou calibration method, this is a kind of novel spirit of suitable application
Activating method.This method requires video camera to shoot a plane target drone, video camera and 2D flat target in more than two different orientation
Mark can move freely, and inner parameter is constant always, it is assumed that Z=0 of the 2D plane target drone in world coordinate system, then,
The optimization solution that camera parameters can be calculated by linear model analysis, then carries out non-linear ask with backbone maximum likelihood method
Essence.The inside and outside portion's parameter of required video camera can be found out after obtaining the objective function for considering lens distortion in this process.
Currently, the existing camera calibration equipment based on 2D plane target drone is usually single-station calibration, i.e., primary calibration
One depth camera mould group, and since demarcating steps are comparatively laborious, keep the efficiency of calibration process very low, generally all exists and promoted
The demand of UPH reduces the yield of unit time, limits RGBD camera in the application and development in consumer level market.
Utility model content
In view of the foregoing drawbacks, the utility model intends to solve the technical problem by providing a kind of multiplexing bit interleavings to demarcate RGBD phase
The equipment of machine intrinsic parameter carries out calibration and loading and unloading by multistation alternate cycles, can solve the low output of unit time
Technical problem makes the yield UPH of unit time be at least up to 120pcs.
In order to solve the above technical problems, the technical solution of the utility model are as follows: a kind of multiplexing bit interleaving calibration RGBD camera
The equipment of intrinsic parameter, including equipment body and host, further includes:
At least two turning mould groups, the turning mould group include mobile X-axis mechanism, rotation Tx axis mechanism and mobile Y-axis machine
Structure, the fixed test position in rotation connection ground on the rotation Tx axis mechanism；
Image scaling board, the image scaling board are equipped with black and white chessboard calibration lattice；
The turning mould group and the image scaling board are mounted in the equipment body, the mobile X-axis mechanism, described
Rotation Tx axis mechanism is parallel with the image scaling board, and the mobile Y-axis mechanism is vertical with the image scaling board, the rotation
Tx axis mechanism connect with the mobile X-axis mechanism and slides the rotation Tx axis mechanism along the direction for moving X-axis mechanism,
The mobile Y-axis mechanism connect with the mobile X-axis mechanism and the mobile X-axis mechanism is made to move Y-axis mechanism along described
Direction sliding, the host connect with the turning mould group.
As a further improvement of the above technical scheme, including the first platform and set on institute in the mobile Y-axis mechanism
State the first sliding rail and the positioning column on the first platform, the mobile X-axis mechanism includes bottom plate, the connection that connect with the bottom plate
Bar, the second platform and the second sliding rail connecting with the connecting rod are equipped with and first sliding rail and described on the bottom plate
Corresponding first groove of positioning column, the rotation Tx axis mechanism include the second groove corresponding with second sliding rail.
As a further improvement of the above technical scheme, the equipment body be equipped with operation window, station, status lamp and
Control button panel is equipped with infrared shooting device in the operation window.
As a further improvement of the above technical scheme, two-dimension code recognition device is equipped with above the turning mould group.
As a further improvement of the above technical scheme, display is additionally provided in the equipment body, on the display
Show the operation interface and calibrating parameters of the host.
It as a further improvement of the above technical scheme, is to be set in parallel in the shadow between described two turning mould groups
As the front of scaling board, when one of turning mould group 30 carries out calibration movement, another turning mould group 30 carries out loading and unloading
Movement.
As a further improvement of the above technical scheme, the equipment body bottom is equipped with pulley.
As a further improvement of the above technical scheme, flatness≤0.3mm of the black and white chessboard calibration lattice.
Compared with prior art, the utility model has the beneficial effects that 1, alternately followed by the turning mould groups of multiple stations
The technical issues of ring carries out calibration and loading and unloading, can solve the low output of unit time, makes the yield UPH of unit time at least
Reach 120pcs, improves work efficiency；2, the turning mould group of multiple calibration is integrated into an equipment, save the cost.
Detailed description of the invention
Fig. 1 is the structural schematic diagram that a kind of multiplexing bit interleaving of the utility model demarcates the equipment of RGBD camera intrinsic parameter；
Fig. 2 is the knot for the turning mould group that a kind of multiplexing bit interleaving of the utility model demarcates the equipment of RGBD camera intrinsic parameter
Structure schematic diagram.
Wherein: 10 equipment bodies；20 hosts；30 turning mould groups；40 image scaling boards；50 two-dimension code recognition devices；60 is aobvious
Show device；101 operation windows；1011 infrared shooting devices；102 stations；103 status lamps；104 control button panels；105 pulleys；
301 mobile X-axis mechanisms；302 rotation Tx axis mechanisms；303 mobile Y-axis mechanisms；304 fixed test positions；401 black and white chessboard calibrations
Lattice；First platform 3031；First sliding rail 3032；Positioning column 3033；Bottom plate 3011；Connecting rod 3012；Second platform 3013；Second
Sliding rail 3014；First groove 3015；Second groove 3021.
Specific embodiment
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to this is practical
Novel and its application or any restrictions used.Based on the embodiments of the present invention, those of ordinary skill in the art are not having
Every other embodiment obtained under the premise of creative work is made, is fallen within the protection scope of the utility model.
Referring to Fig. 1, the equipment which demarcates RGBD camera intrinsic parameter, including equipment body 10, host 20, turn over
Revolving die group 30, image scaling board 40 and two-dimension code recognition device 50 and display 60, in the present embodiment, turning mould group 30 is two
It is a.
Referring to fig. 2, turning mould group 30 includes mobile X-axis mechanism 301, rotates Tx axis mechanism 302 and mobile Y-axis mechanism 303,
Rotate the fixed test position 304 in rotation connection ground on Tx axis mechanism 302；Image scaling board 40 is equipped with black and white chessboard calibration lattice 401；
Two-dimension code recognition device 50 is equipped with above turning mould group 30.
Specifically, turning mould group 30 and image scaling board 40 are mounted in equipment body, mobile X-axis mechanism 301, rotation Tx
Axis mechanism 302 is parallel with image scaling board 40, and mobile Y-axis mechanism 303 is vertical with image scaling board 40, rotates Tx axis mechanism 302
It is connect with mobile X-axis mechanism 301, and makes to rotate Tx 302 along the direction sliding for moving X-axis mechanism 301, mobile Y-axis mechanism 303
Connect with mobile X-axis mechanism 301, and makes mobile X-axis mechanism 301 along the direction sliding for moving Y-axis mechanism 303, host 20 with turn over
Revolving die group 30 connects.
It moves the first sliding rail 3032 in Y-axis mechanism 303 including platform 3031 and on the first platform 3031 and determines
Position column 3033, mobile X-axis mechanism 301 connect including bottom plate 3011, the connecting rod 3012 connecting with bottom plate 3011, with connecting rod 306
The second platform 3013 and the second sliding rail 3014 connect is equipped with opposite with the first sliding rail 3032 and positioning column 3033 on bottom plate 3011
The first groove 3015 answered, rotation Tx axis mechanism 302 includes second groove 3021 corresponding with the second sliding rail 3014.
In addition, equipment body 10 is equipped with operation window 101, station 102, status lamp 103 and control button panel 104,
Infrared shooting device 1011 is installed in operation window 101, guarantees that equipment operation is safe and reliable.
The operation interface and calibrating parameters of host 20 are shown on display 60, are to set in parallel between two turning mould groups 30
It sets in the front of image scaling board 40,10 bottom of equipment body is equipped with pulley 105, facilitates the movement and carrying of equipment.
In addition, flatness≤0.3mm of black and white chessboard calibration lattice 401, is conducive to avoid causing since light reflection surface is coarse
Calibrated error.
In the operating process of the present embodiment, mobile 301 He of X-axis mechanism is controlled by the operating software on host 20 first
Upper material position near mobile Y-axis mechanism 303 to station, then control rotation Tx axis mechanism 302 rotates, and makes fixed test position
After 304 at horizontal attitude, RGBD camera is placed on fixed test position 304, then controls rotation Tx axis mechanism 302 and rotates, is made
Fixed test position 304 finally controls mobile X-axis mechanism 301 and mobile Y-axis mechanism 303 arrives preset calibration position at perpendicular attitude
Multipoint depth calibration is carried out, when one of turning mould group 30 carries out calibration movement, another turning mould group 30 is carried out
The technical issues of loading and unloading movement, two 30 alternate cycles of turning mould group carry out, can solve the low output of unit time, make list
The yield UPH of position time is at least up to 120pcs, improves efficiency, and the turning mould group that two are demarcated is integrated into an equipment,
Cost has been saved, and there is equipment state to show and identified with two dimensional code, it is more convenient to operate.
Above are merely preferred embodiments of the utility model, it is noted that above-mentioned preferred embodiment should not regard
For limitations of the present invention, the protection scope of the utility model should be defined by the scope defined by the claims..For
For those skilled in the art, without departing from the spirit and scope of the utility model, it can also make several
Improvements and modifications, these improvements and modifications also should be regarded as the protection scope of the utility model.
Claims (8)
1. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter, including equipment body and host, which is characterized in that also
Include:
At least two turning mould groups, comprising: mobile X-axis mechanism, rotation Tx axis mechanism and mobile Y-axis mechanism, the rotation Tx axis
Test position is rotationally connected and fixed in mechanism；
Image scaling board, the image scaling board are equipped with black and white chessboard calibration lattice；
The turning mould group and the image scaling board are mounted in the equipment body, the mobile X-axis mechanism, the rotation
Tx axis mechanism is parallel with the image scaling board, and the mobile Y-axis mechanism is vertical with the image scaling board, the rotation Tx axis
Mechanism connect with the mobile X-axis mechanism and slides the rotation Tx axis mechanism along the direction for moving X-axis mechanism, described
Mobile Y-axis mechanism connect with the mobile X-axis mechanism and keeps the mobile X-axis mechanism sliding along the direction for moving Y-axis mechanism
Dynamic, the host is connect with the turning mould group.
2. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
State includes the first platform and the first sliding rail and positioning column on first platform, the movement in mobile Y-axis mechanism
X-axis mechanism includes bottom plate, the connecting rod connecting with the bottom plate, the second platform and the second sliding rail connecting with the connecting rod,
The first groove corresponding with first sliding rail and the positioning column, the rotation Tx axis mechanism packet are equipped on the bottom plate
Include the second groove corresponding with second sliding rail.
3. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
Equipment body is stated equipped with operation window, station, status lamp and control button panel, it is infrared right to be equipped in the operation window
Injection device.
4. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
It states and is equipped with two-dimension code recognition device above turning mould group.
5. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
It states and is additionally provided with display in equipment body, the operation interface and calibrating parameters of the host are shown on the display.
6. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
State is to be set in parallel in the front of the image scaling board between two turning mould groups.
7. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
Equipment body bottom is stated equipped with pulley.
8. a kind of equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter according to claim 1, which is characterized in that institute
State flatness≤0.3mm of black and white chessboard calibration lattice.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820789163.6U CN208384634U (en) | 2018-05-25 | 2018-05-25 | The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820789163.6U CN208384634U (en) | 2018-05-25 | 2018-05-25 | The equipment of multiplexing bit interleaving calibration RGBD camera intrinsic parameter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822604A (en) * | 2019-03-29 | 2019-05-31 | 哈尔滨理工大学 | Can automatic turning calibration board mount |
| CN112509066A (en) * | 2021-01-21 | 2021-03-16 | 深圳市三杰宜科技有限公司 | Full-automatic tool suitable for multi-view camera space external parameter calibration |
| CN113084798A (en) * | 2021-03-16 | 2021-07-09 | 浙江大学湖州研究院 | Robot calibration device based on multi-station measurement |
-
2018
- 2018-05-25 CN CN201820789163.6U patent/CN208384634U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109822604A (en) * | 2019-03-29 | 2019-05-31 | 哈尔滨理工大学 | Can automatic turning calibration board mount |
| CN112509066A (en) * | 2021-01-21 | 2021-03-16 | 深圳市三杰宜科技有限公司 | Full-automatic tool suitable for multi-view camera space external parameter calibration |
| CN112509066B (en) * | 2021-01-21 | 2023-08-22 | 深圳市三杰宜科技有限公司 | Full-automatic frock suitable for calibration of multi-camera space external parameter |
| CN113084798A (en) * | 2021-03-16 | 2021-07-09 | 浙江大学湖州研究院 | Robot calibration device based on multi-station measurement |
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