CN209120361U - A kind of panoramic shooting mould group automation calibration facility - Google Patents
A kind of panoramic shooting mould group automation calibration facility Download PDFInfo
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- CN209120361U CN209120361U CN201821911933.6U CN201821911933U CN209120361U CN 209120361 U CN209120361 U CN 209120361U CN 201821911933 U CN201821911933 U CN 201821911933U CN 209120361 U CN209120361 U CN 209120361U
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Abstract
The utility model relates to panoramic shooting mould group videographic measurment technical fields, disclose a kind of panoramic shooting mould group automation calibration facility, and equipment includes: round calibration wall, and the inner surface of circle calibration wall is equipped with the calibration maps for parameter calibration；Mould group conveying device, for placing panoramic shooting mould group, and by panoramic shooting mould group by the export-oriented round calibration pars intramuralis the center point conveying of circle calibration wall；Figure tooling out, for being electrically connected with panoramic shooting mould group, panoramic shooting mould group is controlled in the panoramic picture of round calibration pars intramuralis the center point shooting calibration maps, calibrating parameters are obtained with peg model is prestored based on panoramic picture, and calibrating parameters are stored in the storage unit of panoramic shooting mould group.The utility model loading and unloading are convenient, calibration is high-efficient, splicing deviations are small, it can be achieved that occupied area Miniaturization Design, is suitable for panoramic shooting module image splicing volume production and demarcates processing procedure, be conducive to the production yield for improving volume production process and calibration efficiency.
Description
Technical field
The utility model relates to panoramic shooting mould group videographic measurment technical field more particularly to a kind of panoramic shooting mould groups certainly
Dynamicization calibration facility.
Background technique
With the continuous development of science and technology, more and more with electronic equipment (such as mobile phone, phase of image collecting function
Machine etc.) it is widely used in daily life and work, it is brought for daily life and work
Huge convenience becomes the indispensable important tool of current people.The main component of electronic equipment realization image collecting function
It is camera module.With the promotion that electronic equipment imaging function requires, panoramic shooting mould group is come into being, panoramic shooting mould group one
As include two fish-eye cameras, designed and formed using back to back structure, the field angle of each fish-eye camera is more than 180 degree,
Two cameras are spliced into 360 degree of panorama by image stitching technology jointly, and the panoramic shooting mould group also having includes four
A camera, six cameras etc..
It either include the panoramic shooting mould group of several cameras, parameter calibration is essential ring in its production process
Section, the especially biggish binocular panoramic shooting mould group of mass production demand；The precision of parameter calibration is directly related to image mosaic effect
Fruit, single panoramic shooting mould group calibration time used are directly related to production efficiency.Current original single camera information, imaging
Quality checks on and has been unable to satisfy the demand of panoramic shooting module image splicing with calibration facility, and newly-designed most for binocular
The calibration environment of larger space or dependency structure complexity is required in the calibration of panoramic shooting mould group, operating process is also more numerous
It is trivial.This undoubtedly causes the waste of the reduction of production efficiency and space, human resources.
In order to facilitate calibration more convenient and quickly finish calibration, publication number in lesser space
The patent document of CN107464265A proposes " a kind of parameter calibration system and method for binocular panorama camera ", including Calibration Box
Body, camera support bar, characteristic pattern and calibration host.Calibration cabinet is used to support double for demarcating space, camera support bar
Mesh panorama camera, characteristic pattern demarcate host, for controlling binocular panorama phase for characteristic point needed for providing parameter calibration
Machine photographing panorama picture, and parameter calibration is carried out in calibration cabinet after the panoramic picture for receiving the shooting of binocular panorama camera,
And calibration result is stored in the storage unit of binocular panorama camera.It is complete primarily directed to binocular in document conceptual design
Scape camera come design improve calibration efficiency scheme, wherein camera support bar be located at state calibration cabinet lower plane center and with
Lower plane is vertical, and camera is placed and disassembly is needed in the lower plane center progress for demarcating cabinet, operating position and not close to operation
Personnel, therefore the good placement camera of operator cannot be facilitated, if camera is concentrated at calibration cabinet center stacking and
Loading and unloading are unfavorable for demarcating cabinet type small in size, are also unfavorable for that mass production panoramic shooting mould group production line is helped to improve panorama
Camera module loading and unloading efficiency and single panoramic shooting mould group demarcate efficiency；In addition, the characteristic pattern of calibration is set to Calibration Box
Four planes of body, therefore pattern is plane setting, and the angular field of view of fisheye camera camera module is bigger, and then characteristic pattern
Case can not effectively cover the big visual angle of fisheye camera camera module, be unfavorable for demarcating, and be easy to produce overlapping part deviations.
Utility model content
In view of the above-mentioned deficiencies of the prior art, technical problem to be solved by the utility model is to provide one kind can be applied to
The calibration of panoramic shooting mould group volume production, loading and unloading are convenient, calibration is high-efficient, splicing deviations are small and can help to realize that equipment is small-sized
The panoramic shooting mould group of change demand automates calibration facility.
To achieve the goals above, the technical solution adopted in the utility model are as follows:
A kind of panoramic shooting mould group automation calibration facility, comprising:
The inner surface of circle calibration wall, the round calibration wall is equipped with the calibration maps for parameter calibration；
Mould group conveying device is demarcated outside wall for placing panoramic shooting mould group, and by panoramic shooting mould group by the circle
To the round calibration pars intramuralis the center point conveying；
Figure tooling out, for being electrically connected with panoramic shooting mould group, control panoramic shooting mould group is in the round calibration wall
Portion's the center point shoots the panoramic picture of the calibration maps, based on the panoramic picture and prestores peg model acquisition calibrating parameters,
And the calibrating parameters are stored in the storage unit of panoramic shooting mould group.
In above scheme, calibration wall is set as round, compared to original multiple-piece plane target, the integral type of one side structure
More preferably, it is easy to the design and dismounting of calibration maps, on the other hand, after calibration wall is set as circle, so that subsequent entire scaling scheme
Also more simple and convenient, image procossing also do not easily cause deviations when splicing for design and operation；The setting of mould group conveying device
So that panoramic shooting mould group can be realized the operation of feeding and discharging outside round calibration wall, loading and unloading are not limited by a space, can make
Discharge station allows the operator to more convenient execution loading and unloading work, improves calibration efficiency closer to operator；No
The occupancy in space in round calibration wall can be increased because loading and unloading station is arranged in round calibration wall, influence device miniaturization and set
Meter, to the blocking for the panoramic shooting mould group shooting sight demarcated caused by will not being stacked because of material；Figure tooling is removed out
Control panoramic shooting mould group shoots the panoramic picture of the calibration maps and obtains outside calibrating parameters, is also stored in calibrating parameters
It is direct to be conducive to the electronic equipment equipped with the calibrated panoramic shooting mould group of the utility model for the storage unit of panoramic shooting mould group
Image mosaic after completing each image taking in such a way that parameter is called also has so that electronic equipment panoramic imagery is faster
Image procossing configuration is suitably reduced conducive to electronic equipment, saves cost.
As the preferred of the utility model, the mould group conveying device includes:
Fixed plate；
Component is moved left and right, the component that moves left and right includes being set in the fixed plate and along the fixed plate length side
To the lateral KK mould group of extension, the sliding block of the transverse direction KK mould group is equipped with mobile work platform；
Extension assembly is protruded into, the extension assembly that protrudes into includes first that side by side parallel is set in the mobile work platform
Protrude into exposure mechanism and second and protrude into exposure mechanism, first protrude into exposure mechanism and second protrude into the extending direction of exposure mechanism with
The extending direction of the transverse direction KK mould group is vertical, and first, which protrudes into exposure mechanism and second, protrudes into exposure mechanism and be equipped with and protrude into stretching
Portion and placement bracket for placing for panoramic shooting mould group is connect with the extension that protrudes into.
As the preferred of the utility model, described first to protrude into exposure mechanism include first longitudinal direction KK mould group, the placement
Branch is set up on the sliding block of the first longitudinal direction KK mould group.
It further include rack as the preferred of the utility model, the round calibration wall is vertically set in the rack, described
The disk of circle calibration wall is parallel with plane where the rack back；The mould group conveying device is pacified by the fixed plate
Loaded in the rack and being located at the round calibration wall far from rack back side, described first protrude into exposure mechanism and
Second protrudes into the extending direction of exposure mechanism and the round calibration axial line extending direction of wall is consistent；It is located in the rack
The mould group conveying device is equipped with loading and unloading workbench far from the side of the round calibration wall.
As the preferred of the utility model, the figure tooling out is set on the placement bracket, and the placement bracket includes
For with it is described protrude into bottom plate that extension connect, set on the bottom plate support frame, be set to support frame as described above upper end with it is described
The shaft of support frame rotation connection is connect for lifting the tooling lift stand of figure tooling out and being set to institute with the shaft
It states on tooling lift stand for lifting the mould group lift stand of panoramic shooting mould group.
As the preferred of the utility model, the bottom plate is equipped with the driving motor for driving the shaft rotation.
As the preferred of the utility model, one end of the driving motor arbor is equipped with small belt pulley, described shaft one end
Equipped with big belt pulley, the small belt pulley and the big belt pulley are sequentially connected by belt.
As the preferred of the utility model, support frame as described above is equipped with for detecting whether the tooling lift stand is turned to
The optoelectronic switch of position.
As the preferred of the utility model, the optoelectronic switch is set at the shaft and support frame as described above rotation connection
Lower section, described shaft one end, which is connected with, detects whether the tooling lift stand overturns light in place for triggering the optoelectronic switch
Electric baffle.
It is equipped at being located at below the shaft as the preferred of the utility model, on the bottom plate for limiting the tooling
Lift stand overturns degree anticollision limited block.
As the preferred of the utility model, activity is opened equipped with double in the top that the rack is located at the mould group conveying device
Door, double dodge gates of opening are equipped with transparent window and display, and the display is electrically connected with the figure tooling out, for connecing
It receives the panoramic picture and shows.
As the preferred of the utility model, the bottom of the frame is equipped with idler wheel and support leg, and the frame top, which is equipped with, to be referred to
Show lamp.
As the preferred of the utility model, transverse direction KK mould group two sides are respectively equipped with a line rail, and the line rail is equipped with
Line rail sliding block, the line rail sliding block are connect with the mobile work platform.
As the preferred of the utility model, the fixed plate is equipped with drag chain, and one end of the drag chain is fixed on described solid
Fixed board, the other end are fixed on the mobile work platform.
It further include the platform for carrying the round calibration wall, plane where the platform as the preferred of the utility model
It is parallel with the round calibration disk of wall, being conveyed into through the round calibration wall is offered on the round calibration wall
Mouthful, the mould group conveying device is marked panoramic shooting mould group by the round export-oriented circle of calibration wall through the conveying entrance
Determine the conveying of pars intramuralis the center point.
As the preferred of the utility model, the calibration maps are arranged for inner surface one week around the round calibration wall, institute
Calibration maps are stated equipped with several rectangle black patch patterns equidistantly arranged and one group of positioning bar code pattern.
After adopting the above technical scheme, the beneficial effects of the utility model are: loading and unloading are convenient, calibration is high-efficient, splicing
Deviations are small, especially when circle calibration wall is vertically set in the rack, it can be achieved that occupied area Miniaturization Design, is fitted
For panoramic shooting module image splicing volume production calibration processing procedure, high degree of automation, the production for being conducive to improve volume production process is good
Rate and calibration efficiency.
Detailed description of the invention
It is as follows in order to illustrate more clearly of the utility model embodiment or the technical solution of the prior art, attached drawing:
Fig. 1 is that panoramic shooting mould group automates calibration facility knot under the embodiment that the utility model embodiment 1 provides
Structure schematic diagram；
Fig. 2 is that panoramic shooting mould group automates calibration facility under another embodiment that the utility model embodiment 1 provides
Structural schematic diagram；
Fig. 3 is the mould group conveying device structural schematic diagram that the utility model embodiment 2 provides；
Fig. 4 is that the panoramic shooting mould group that the utility model embodiment 3 provides automates calibration facility structure sectional view；
Fig. 5 is that panoramic shooting mould group automates calibration facility knot under the embodiment that the utility model embodiment 3 provides
Structure schematic diagram；
Fig. 6 is the placement bracket different angle structural schematic diagram that the utility model embodiment 3 provides；
The structural schematic diagram of part-structure in the fixed plate that Fig. 7 provides for the utility model embodiment 3；
Fig. 8 is that the panoramic shooting mould group to be calibrated that the utility model embodiment 4 provides shoots image effect diagram；
Fig. 9 is the panoramic shooting module image splicing effect schematic diagram to be calibrated that the utility model embodiment 4 provides.
Specific embodiment
It is specific embodiment of the utility model and in conjunction with attached drawing below, the technical solution of the utility model is made further
Description, but the utility model is not limited to these examples.
Embodiment 1
As shown in Figure 1, the present embodiment provides a kind of panoramic shooting mould groups to automate calibration facility, comprising:
The inner surface of circle calibration wall 100, the round calibration wall 100 is equipped with the calibration maps for parameter calibration；Calibration
Figure is detachably connected preferably about round calibration 100 inner surface one of the wall circle setting and with the round calibration wall 100, so as to
Different calibration patterns are replaced, help preferably to realize that the calibrating parameters under different purposes and scheme obtain, in camera module
Parameter, outer parameter, distortion factor and image mosaic parameter etc.；The multiple-piece plane mark of middle distributed rectangular compared with the prior art
Plate is easier to obtain preferable image for splicing parameter calculating.
Mould group conveying device 200, for placing panoramic shooting mould group, and by panoramic shooting mould group by the round calibration wall
100 export-oriented round calibration 100 inside the center point of the wall conveyings；Specifically, it is to set that the mould group conveying device 200, which is for example arranged,
Telescopic cylinder outside the round calibration wall 100, the telescopic end of telescopic cylinder are equipped with for fixing panoramic shooting mould group
Device can carry out loading and unloading when telescopic cylinder is in contracting state for operator, and the stretching of motor control telescopic cylinder can be real
Now panoramic shooting mould group is sent to the center of circle in round calibration wall 100 and is used to demarcate test；The mould group conveying dress is for another example set
200 are set as the KK mould group in the round calibration 100 bottom support platform of wall, the mould group one end KK is located at round calibration wall
Outside 100, one end is located at round calibration 100 inside the center point of wall, and the sliding block of KK mould group is equipped with the dress of fixed panoramic shooting mould group
It sets, sliding block drives panoramic shooting mould group to realize that the sliding rail along KK mould group moves back and forth, and realizes that the automation of panoramic shooting mould group is defeated
It send；It should be noted that the round calibration 100 inside the center point of wall can be on round calibration 100 internal axis line segment of wall
Any point, i.e., the center of circle of any one disk of round calibration wall 100, circular are demarcated on 100 three-dimensional space of wall
Why center is arranged and tests panoramic shooting mould group to round calibration 100 inside the center point of the wall conveying, be
It is equidistant to each orientation of calibration maps in order to make the optical center of panoramic shooting mould group, to make more easy to handle, the phase of the image of acquisition
It closes characteristic point to be easier to be determined, reduces the complexity that calibrating parameters obtain.
Figure tooling 300 out, for being electrically connected with panoramic shooting mould group, control panoramic shooting mould group is in the round calibration wall
100 inside the center points shoot the panoramic picture of the calibration maps, based on the panoramic picture and prestore peg model acquisition calibration
Parameter, and the calibrating parameters are stored in the storage unit of panoramic shooting mould group.Peg model is to be pre-stored in out to scheme
The mathematical model and algorithm for being used to help calculate calibrating parameters in tooling 300；Out figure tooling 300 can be computer, MCU,
Host computer, GPU etc. have the processor of calculation processing power.
In above scheme, the circle that round calibration wall 100 is integral type, multiple-piece plane compared to the prior art are set
The integral type of target, one side structure is more preferable, is easy to the design and dismounting of calibration maps, after on the other hand calibration wall is set as circle,
360 degree of visual fields are formd, so that the design and operation of subsequent entire scaling scheme also more simple and convenient, when image procossing splices
Do not easily cause deviations；Advantageously ensure that calibration mass；
The setting of mould group conveying device 200 so that panoramic shooting mould group can be realized outside round calibration wall 100 up and down
Material operation, loading and unloading are not limited by a space, loading and unloading station can be made closer to operator, allowed the operator to more convenient
Execution loading and unloading work, improve calibration efficiency；Circle will not be increased because loading and unloading station is arranged in circle calibration wall 100
The occupancy for demarcating space in wall 100 influences device miniaturization design, to being demarcated caused by will not stacking because of material
The blocking of panoramic shooting mould group shooting sight；Be conducive to the Fast Calibration of volume production panoramic shooting module group procedure.
Figure tooling 300 is in addition to control panoramic shooting mould group shoots the panoramic picture of the calibration maps and obtains calibrating parameters out
Outside, calibrating parameters are also stored in the storage unit of panoramic shooting mould group, are conducive to be equipped with the calibrated panorama of the utility model
The electronic equipment of camera module directly parameter call by way of complete each image taking after image mosaic so that electronics
Faster, be also beneficial to electronic equipment suitably reduces image procossing configuration to equipment panoramic imagery, saves cost.
Optionally, described flat as shown in Fig. 2, the present embodiment further includes the platform 400 for carrying the round calibration wall 100
400 place plane of platform is parallel with the round calibration disk of wall 100, offers on the round calibration wall 100 through institute
The conveying entrance 110 of round calibration wall 100 is stated, the mould group conveying device 200 is set on the platform 400, and the mould group is defeated
Device 200 is sent to include the sliding rail on the platform 400 and be set on sliding rail past along sliding rail by drive and control of electric machine realization
The sliding block moved again, sliding block are equipped with the device for placing fixed panoramic shooting mould group, and sliding block moves back and forth through the conveying entrance
Panoramic shooting mould group is demarcated the conveying of 100 inside the center point of wall by the round export-oriented circle of calibration wall 100 by 110, above-mentioned
Design is conducive to the globality and compactedness of equipment.
Embodiment 2
The present embodiment, which focuses on, further promotes calibration efficiency, as shown in figure 3, the embodiment of the present invention mould group conveying device
200 include:
Fixed plate 210；
Component is moved left and right, the component that moves left and right includes being set in the fixed plate 210 and along the fixed plate 210
The sliding block of the lateral KK mould group 220 that length direction extends, the transverse direction KK mould group 220 is equipped with mobile work platform 230；Laterally
The sliding block movement of KK mould group 220 can drive mobile work platform 230 to move back and forth along 210 length direction of fixed plate；
Extension assembly is protruded into, the extension assembly that protrudes into includes that left and right side by side parallel is set to the mobile work platform 230
On first protrude into exposure mechanism 240 and second and protrude into exposure mechanism 250, first, which protrudes into exposure mechanism 240 and second, protrudes into
The extending direction of mechanism 250 is vertical with the extending direction of the transverse direction KK mould group 220 out, and first protrudes into exposure mechanism 240 and
Two protrude into exposure mechanism 250 be equipped with protrude into extension and with it is described protrude into extension connect for for panoramic shooting mould group place
Placement bracket 260.
Described first, which protrudes into exposure mechanism 240, includes first longitudinal direction KK mould group, and the placement bracket 260 is set to described first
On the sliding block of longitudinal KK mould group, similarly, second, which protrudes into exposure mechanism 250, includes second longitudinal direction KK mould group, the placement bracket 260
On the sliding block of the second longitudinal direction KK mould group.
In above scheme, design first protrudes into exposure mechanism 240 and second and protrudes into exposure mechanism 250 and be equipped with and take the photograph for panorama
As the placement bracket 260 that mould group is placed, it can be used for realizing the double-station operating of equipment, and station operating can be relatively independent, is
The panoramic shooting mould group of each station fixed placement can be sequentially completed the calibration in round calibration wall 100 inside the center point and survey
Examination is devised to move left and right component and protrude into the panoramic shooting mould group placed in exposure mechanism 240 and second for adjusting first and be stretched
Enter the spatial position for the panoramic shooting mould group placed in exposure mechanism 250, so as to eventually by protrude into the flexible of extension assembly and
Move left and right component moves left and right effect, and the optical center for the panoramic shooting mould group for carrying out calibration test is enable to be moved to circle
Shape demarcates 100 inside the center point of wall, is overlapped the optical center of panoramic shooting mould group with circle calibration 100 geometric center of wall, wherein the
One, which protrudes into exposure mechanism 240 and second, protrudes into the telescopic direction of exposure mechanism 250 as 210 width extending direction of fixed plate, controls
The moving direction of moving assembly is 210 length extending direction of fixed plate, and above-mentioned two direction is mutually perpendicular to.In order to promote calibration effect
Rate, extension assembly is protruded into the present embodiment and moves left and right component is both preferably motor-driven KK mould group, to realize equipment
Automate Fast Calibration.
The present embodiment equipment calibration process carrying out practically is as follows:
Feeding: two panoramic shooting mould groups to be calibrated are placed on the first 260 He of placement bracket for protruding into exposure mechanism 240
Second protrudes on the placement bracket 260 of exposure mechanism 250；
Feeding: motor control first protrudes into exposure mechanism 240 and second protrudes into exposure mechanism 250 while or successively flexible shifting
It is dynamic that panoramic shooting mould group to be calibrated is sent into inside round calibration wall 100, at this point, protruding into exposure mechanism 240 and the due to first
Two protrude into the left-right position distribution of exposure mechanism 250, therefore the optical center of only one panoramic shooting mould group to be calibrated and circle are demarcated
100 geometric center of wall is overlapped, it is assumed that it is the panoramic shooting mould group to be calibrated positioned at right side；
Test: the figure tooling 300 that goes out being electrically connected with right side panoramic shooting mould group to be calibrated controls the panoramic shooting to be calibrated
Mould group starts staking-out work；
Left and right Switch of working position: when right side, calibration terminates, and motor control moves left and right component movement, by left side panorama to be calibrated
The optical center of camera module is moved to be somebody's turn to do by the corresponding control of figure tooling 300 out wait mark to after round calibration 100 geometric center of wall coincidence
Determine panoramic shooting mould group and starts staking-out work；
Blanking: when right side, panoramic shooting mould group calibration to be calibrated terminates, and the corresponding exposure mechanism that protrudes into can start work
Make, panoramic shooting mould group has been demarcated on right side and has been transmitted back to progress blanking at feeding operation, at this point, first panoramic shooting mould composition
Product generate, and left side panoramic shooting mould group to be calibrated is carrying out calibration test at the same time；Similarly, when left side panorama to be calibrated
Camera module calibration terminates, and the corresponding exposure mechanism that protrudes into can start to work, and it is defeated that panoramic shooting mould group has been demarcated in left side
Send progress blanking at feeding operation back to, second panoramic shooting mould group finished product generates at this time；
Feeding again: start the new panoramic shooting mould group to be calibrated of feeding after the blanking of right side again at once, and successively execute left and right
The new panoramic shooting mould group to be calibrated on right side is sent to circle calibration wall 100, makes the panorama to be calibrated by switching and feeding
The optical center of camera module is overlapped with circle calibration 100 geometric center of wall and starts to test, can blanking generation the after test
Three panoramic shooting mould group finished products；Similarly, horse back and the panoramic shooting mould group to be calibrated of beginning feeding newly after the blanking of left side, and according to
Secondary execution left and right switching, feeding, test and blanking generates the 4th panoramic shooting mould group finished product, above-mentioned operational process successively class
It pushes away, can be achieved with the calibration volume production of panoramic shooting mould group.
To sum up, the design of above-mentioned double-station a, so that station another station while blowing is carrying out calibration survey
Examination is conducive to equipment and realizes quick calibration process, improves the UPH of panoramic shooting mould group calibration processing procedure.
Embodiment 3
The present embodiment heavy equipment occupied area miniaturization, device structure integrative design, to make device product,
Improve the market competitiveness, as shown in Figure 4, Figure 5, the present embodiment the difference from example 2 is that, further include rack 1, the circle
It demarcates wall 100 to be vertically set in the rack 1, plane where the disk of the round calibration wall 100 and 1 back of rack
In parallel；The mould group conveying device 200 is installed in the rack 1 by the fixed plate 210 and is located at the round calibration
Wall 100 is far from the 1 back side of rack, and for fixed plate 210 in being horizontally disposed in rack 1, described first protrudes into exposure mechanism
240 and second protrude into exposure mechanism 250 extending direction and the round calibration axial line extending direction of wall 100 it is consistent, it is excellent
It selects first to protrude into exposure mechanism 240 and second and protrudes into the several of the placement bracket 260 being arranged in the one of mechanism of exposure mechanism 250
What center is located on the axial line of round calibration wall 100, so that when calibration test, the optical center energy of panoramic shooting mould group to be calibrated
Enough centers for being located at circle calibration 100 three-dimensional space of wall, are conducive to obtain the image being easily processed, and are also beneficial to reduce left and right shifting
The work of dynamic component, saves electric energy；It is located at the mould group conveying device 200 in the rack 1 far from the round calibration wall 100
Side be equipped with loading and unloading workbench 11, loading and unloading workbench 11 unifies loading and unloading platform for providing panoramic shooting mould group.Circle
Shape is demarcated wall 100 and is vertically set in the rack 1, i.e., round calibration wall 100 erects setting, so that script horizontal cross accounts for
Become vertical vertical area occupied with area, originally vertical vertical area occupied becomes horizontal cross area occupied, and originally horizontal
It is related with the circle calibration diameter of wall 100 to area occupied, the diameter of originally vertical vertical area occupied and round calibration wall 100
It is related with circle calibration 100 axial width of wall, although the diameter of round calibration wall 100, due to calibration demand limitation, size subtracts
A possibility that small, is limited, but the size of round calibration 100 axial width of wall then more flexibility and changeability, under normal circumstances, ruler
Very little size again smaller than round calibration 100 diameter of wall size, and can also reduction size appropriate, so as to reduce calibration facility
Occupied area.
It is before real in order to guarantee that panoramic shooting mould group calibration pose is constant since circle calibration wall 100 erects setting
It applies and needs to redesign and assemble for placing the angle of the device of panoramic shooting mould group on the placement bracket 260 of example design,
It is transformed into vertically arranged, places bracket 260 if thinking directly to continue to use and be used to place the structure of panoramic shooting mould group and carry out calibration
When imaging do not blocked by structure, place the overturning that the device on bracket 260 for placing panoramic shooting mould group needs to carry out 90 degree.
In order to facilitate feeding and test, it is preferable that as shown in fig. 6, the figure tooling 300 out is set to the placement bracket
On 260, the bracket 260 of placing includes for protruding into bottom plate 261 that extension connect, set on the bottom plate 261 with described
Support frame 262, the shaft 263 and the shaft 263 being rotatablely connected set on 262 upper end of support frame as described above and support frame as described above 262
It connects for lifting the tooling lift stand 264 of figure tooling 300 out and on the tooling lift stand 264 for lifting
The mould group lift stand 265 of panoramic shooting mould group.It should be noted that placement 260 size of bracket and each components fixed bit install
Timing needs to evade the FPC etc. on tooling lift stand 264, out figure tooling 300, mould group lift stand 265 and panoramic shooting mould group
Component blocks the problem of panoramic shooting mould group imaging.It is emphasized that when mould group conveying device 200 is set as telescopic cylinder,
The extension that protrudes into is described to protrude into extension when mould group conveying device 200 is set as KK mould group for the telescopic end of telescopic cylinder
For the sliding block of KK mould group, but mould group conveying device 200 is not limited only to telescopic cylinder and KK mould group, as long as being able to achieve along fixed plate
Mobile change of 210 width extending directions protrudes into exposure mechanism 240 and second the first of 210 width direction relative position of fixed plate
Extension is protruded into described in being in the position protruded into exposure mechanism 250.
The bottom plate 261 is equipped with the driving motor for driving the shaft 263 to rotate.Although can be by manually carrying out
Turning operation, but be easy to increase operator's operating quantity, it is easy to produce uncertain factor, production efficiency is caused to reduce, is passed through
Driving motor driving is conducive to improve production efficiency.
One end of the driving motor arbor is equipped with small belt pulley 51, and described 263 one end of shaft is equipped with big belt pulley 52, institute
Small belt pulley 51 and the big belt pulley 52 is stated to be sequentially connected by belt.It is preferred that 52 diameter of big belt pulley is small belt pulley 51
Twice, driving motor is stepper motor；By above-mentioned design, band turn after the rotation of driving motor arbor is slowed down by belt 1:2
Axis 263 rotates, and controls the overturning that tooling lift stand 264 in shaft 263 realizes 90 degree.Small belt pulley 51, big belt pulley 52 and skin
Band also replace by available size gears and gears chain.
Further, support frame as described above 262 is equipped with for detecting whether the tooling lift stand 264 overturns light in place
Electric switch 61.Optoelectronic switch 61 connects circuit by synchronization loop, to detect using detected material blocking or reflect to light beam
The presence or absence of object, tooling lift stand 264 have horizontal positioned and place two kinds of stationary states vertically, and specifically, settable photoelectricity is opened
The transmitter and receiver for closing 61 are located at 262 two sides of support frame, and when tooling lift stand 264 is in vertical placement status, photoelectricity is opened
The light beam for closing the injection of 61 transmitters is blocked, and receiver can not receive beam signal, is turned over when tooling lift stand 264 is in part
When turning placement status, receiver receives weaker beam signal, when tooling lift stand 264 is in horizontal positioned state, light beam
It is not blocked, receiver receives stronger beam signal, judges tooling lift stand with the power that receiver receives beam signal
Whether 264 overturn in place.
Preferably, the optoelectronic switch 61 is set to the shaft 263 and the lower section at 262 rotation connection of support frame as described above,
Described 263 one end of shaft, which is connected with, detects whether the tooling lift stand 264 overturns in place for triggering the optoelectronic switch 61
Photoelectricity baffle 62.While shaft 263 rotates, photoelectricity baffle 62, tooling lift stand 264 are rotated with, when tooling lift stand
264 when being turned to vertical placement status, and photoelectricity baffle 62 triggers optoelectronic switch 61 and works, so that it is determined that overturning is in place.
It is located to be equipped with below the shaft 263 on the bottom plate 261 and overturns journey for limiting the tooling lift stand 264
Spend anticollision limited block 2611.After anticollision limited block 2611 is arranged, when tooling lift stand 264 is turned to vertical placement status Shi Huiyu
Anticollision limited block 2611 contacts, by the abutting of anticollision limited block 2611, if driving motor continues to control arbor by tooling at this time
Lift stand 264 becomes vertical reverses direction rotation from level, and tooling lift stand 264 can't be overturn therewith, but by anticollision
The abutting of limited block 2611 stops, and maintains vertical placement status always, is conducive to avoid driving motor driving is excessive from leading to panorama
Situations such as camera module is fallen.Preferably, the surface that anticollision limited block 2611 is used to contact with tooling lift stand 264 is equipped with
Anticollision buffer layer avoids the excessively vibration or damage of tooling lift stand 264.
Preferably, the top that the rack 1 is located at the mould group conveying device 200 be equipped with it is double open dodge gate 12, it is described double
Dodge gate 12 is opened equipped with transparent window 121 and display 122, the display 122 is electrically connected with the figure tooling 300 out,
For receiving the panoramic picture and showing, it has to be noticed that need to be reserved in rack 1 for stretching when double settings for opening dodge gate 12
Enter extension assembly and stretches by bracket 260 is placed and return back out supreme blanking work platform 11 for the opening of operator's loading and unloading.Transparent window
121 can be used for that operator is facilitated to check whether all parts for placing bracket 260 are accurate in place, and display 122 shows panorama
Image checks whether panoramic picture shoots correctly so as to operator, if equipment is needed to adjust.
1 bottom of rack is equipped with idler wheel and support leg, and the convenient movement of equipment and stabilization is facilitated to put；The rack 1
Top is equipped with indicator light.Indicator light is connect with central controller, so that operator understands equipment working state by indicator light,
Indicator light and 1 top of rack are hinged, there are vertical placement and horizontal positioned two states.
As shown in fig. 7,220 two sides of transverse direction KK mould group are respectively equipped with a line rail 221, the line rail 221 is equipped with line
Rail sliding block, the line rail sliding block are connect with the mobile work platform 230.Line rail 221 and being provided with for line rail sliding block are conducive to avoid
Mobile work platform 230 causes its front and rear sides height to rock because protruding into extension assembly stretching motion centre-of gravity shift, improves movement
The stability that workbench 230 is put advantageously reduces calibration test error.
The fixed plate 210 is equipped with drag chain 211, and the fixed plate 210 is fixed in one end of the drag chain 211, another
The mobile work platform 230 is fixed at end.The setting of drag chain 211 is for the cabling of driving motor, cabling, the light of KK mould group motor
Cabling of electric switch etc. is placed wherein it is possible to avoid messy the destructions equipment aesthetics of cable, and cable can be protected to avoid equipment former
Barrier.
The calibration maps are arranged for inner surface one week around the round calibration wall 100, and the calibration maps are equipped with several etc.
The rectangle black patch pattern and one group of positioning bar code pattern of spacing arrangement.Rectangle black patch pattern along the circumferentially-spaced arrangement of calibration maps,
Positioning bar code pattern is located at the blank space between any two rectangle black patch pattern, it should be noted that calibration maps are white background
Paper, positioning bar code pattern thereon are different from rectangle black patch pattern and are conducive to help quickly to position.
Embodiment 4
The present embodiment provides a kind of panoramic shooting mould groups to automate scaling method, applied to the equipment of above example, side
Method includes:
Step 1: the calibration maps of several rectangle black patch patterns equidistantly arranged and one group of positioning bar code pattern will be equipped with
It is fixed on the inner surface of the round calibration wall 100 of equipment, the equipment is any panoramic shooting mould in previous embodiment
Group automation calibration facility；It is preferred that calibration maps are around round inner surface one week for demarcating wall 100, rectangle black patch pattern is along calibration maps
Length direction is arranged at equal intervals, and positioning bar code pattern is then interspersed in the blank space between any two rectangle black patch pattern.
Step 2: panoramic shooting mould group is fixed in the mould group conveying device 200 of the equipment, it is defeated using the mould group
Send device 200 that panoramic shooting mould group is delivered to the round calibration 100 inside the center point of wall, wherein the panoramic shooting mould
Group includes two opposite to each other to the camera of assembling, and two cameras present bottom and are fixed on the mould group conveying device 200, and two
The axle center of wall 100 on the same line, i.e., is all demarcated in circle in the optical center of camera and the round calibration 100 inside center of circle of wall
On line；It is emphasized that it is that calibration is surveyed that two cameras, which present bottom and are fixed in the mould group conveying device 200 bottom,
Mode bit is tried, is with the upper the next for reference of the pattern of calibration maps, such as: when the disk and ground level that calibration maps surround,
It is opposite to stand for the operator on ground, the rectangle black patch pattern of calibration maps it is upper the next in short transverse, therefore two
Camera is upper bottom in the height direction when placing；It is opposite to stand when the disk that calibration maps surround is perpendicular to the ground
For the operator on ground, the rectangle black patch pattern of calibration maps it is upper it is the next in the horizontal direction, i.e., before operator
Afterwards or left and right directions, it should also be as being arranged for front and back when therefore two cameras are placed or the positional relationship of left and right settings.
Step 3: controlling the camera being located above comprising rectangle black patch pattern using the figure tooling 300 that goes out of the equipment
The field angle shooting at two right angles of top obtains the first image, and controlling underlying camera includes entire rectangle black patch
The field angle shooting of pattern obtains the second image；Its first image shot and the second image are as shown in Figure 8.
Step 4: the positioning bar code pattern obtained in the first image and second image carries out first figure
The splicing of picture and second image positions, so that the positioning bar code pattern of the first image and determining for second image
Position bar code pattern is overlapped, and makes the rectangle black patch pattern of the first image and the respective rectangular of second image black
Block pattern registration；It is as shown in Figure 9 to be overlapped effect diagram.
Step 5: according to the characteristic attribute, image quality parameter of characteristic point at pattern registration and prestoring peg model acquisition
The calibrating parameters of image mosaic relative position；Wherein, described image mass parameter includes that the optical center of the panoramic shooting mould group is sat
Mark the distance between optical center of the panoramic shooting mould group to the calibration maps；Peg model is that image mosaic position coordinates are inclined
The algorithm of difference.
Step 6: the calibrating parameters are stored in the storage unit of the panoramic shooting mould group.Be conducive to be equipped with through this reality
The electronic equipment for applying the calibrated panoramic shooting mould group of a method directly completes each image taking in such a way that parameter is called
Image mosaic afterwards, so that electronic equipment panoramic imagery is faster, being also beneficial to electronic equipment suitably reduces image procossing configuration, section
Cost-saving.Wherein step 4,5,6 are configurable is realized using figure tooling 300 is gone out, and can also be configured out in figure tooling 300 and other
Central processor electrical connection, is handled by other central processing units and is realized.
In the above method, by design by two cameras of panoramic shooting mould group be positioned to upper the next positional relationship come into
The subsequent proving operation of row, advantageously reduces the difficulty of panoramic shooting module image splicing, and the circle by demarcating wall is set
Meter, so that the integraty of calibration maps is more preferable, provides 360 degree of visual fields, and calibration maps field angle is not easily caused not cover position and determine
The phenomenon that position deviation；The design for positioning bar code is conducive to realize the fast of image mosaic using positioning bar code image characteristic point
Speed positioning, to sum up, the present embodiment are conducive to reduce splicing difficulty by the design of the above apparatus and method, promote image mosaic mark
Customize the production yield and calibration efficiency of journey.
The specific embodiments described herein are merely examples of the spirit of the present invention.The utility model institute
Belonging to those skilled in the art can make various modifications or additions to the described embodiments or using similar
Mode substitute, but without departing from the spirit of the present application or beyond the scope of the appended claims.
Claims (16)
1. a kind of panoramic shooting mould group automates calibration facility characterized by comprising
The inner surface of circle calibration wall, the round calibration wall is equipped with the calibration maps for parameter calibration；
Mould group conveying device, for placing panoramic shooting mould group, and by panoramic shooting mould group by the round calibration wall extroversion institute
State round calibration pars intramuralis the center point conveying；
Figure tooling out, for being electrically connected with panoramic shooting mould group, control panoramic shooting mould group is in the round calibration pars intramuralis circle
The panoramic picture that the calibration maps are shot at the heart based on the panoramic picture and prestores peg model acquisition calibrating parameters, and
The calibrating parameters are stored in the storage unit of panoramic shooting mould group.
2. a kind of panoramic shooting mould group according to claim 1 automates calibration facility, which is characterized in that the mould group is defeated
The device is sent to include:
Fixed plate；
Component is moved left and right, the component that moves left and right includes being set in the fixed plate and prolonging along the fixed plate length direction
The sliding block of the lateral KK mould group stretched, the transverse direction KK mould group is equipped with mobile work platform；
Protrude into extension assembly, the extension assembly that protrudes into includes first protruding into of being set in the mobile work platform of side by side parallel
Exposure mechanism and second protrudes into exposure mechanism, first protrude into exposure mechanism and second protrude into the extending direction of exposure mechanism with it is described
The extending direction of lateral KK mould group is vertical, first protrude into exposure mechanism and second protrude into exposure mechanism be equipped with protrude into extension and
Placement bracket for placing for panoramic shooting mould group is connect with the extension that protrudes into.
3. a kind of panoramic shooting mould group according to claim 2 automates calibration facility, which is characterized in that described first stretches
Entering exposure mechanism includes first longitudinal direction KK mould group, and the placement branch is set up on the sliding block of the first longitudinal direction KK mould group.
4. a kind of panoramic shooting mould group according to claim 2 automates calibration facility, which is characterized in that further include machine
Frame, the round calibration wall are vertically set in the rack, where the disk of the round calibration wall and the rack back
Plane is parallel；The mould group conveying device is installed in the rack by the fixed plate and to be located at the round calibration wall remote
From rack back side, described first protrude into exposure mechanism and second protrude into exposure mechanism extending direction and the circle
The axial line extending direction for demarcating wall is consistent；It is located at the mould group conveying device in the rack far from the round calibration wall
Side is equipped with loading and unloading workbench.
5. a kind of panoramic shooting mould group according to claim 2 or 4 automates calibration facility, which is characterized in that it is described go out
Figure tooling is set on the placements bracket, and the placement bracket includes for protruding into bottom plate that extension connect with described, being set to
The support frame of the bottom plate, the shaft being rotatablely connected with support frame as described above set on support frame as described above upper end are connect with the shaft
For lifting the tooling lift stand of figure tooling out and on the tooling lift stand for lifting panoramic shooting mould group
Mould group lift stand.
6. a kind of panoramic shooting mould group according to claim 5 automates calibration facility, which is characterized in that on the bottom plate
Equipped with for driving the driving motor of the shaft rotation.
7. a kind of panoramic shooting mould group according to claim 6 automates calibration facility, which is characterized in that the driving electricity
One end of machine arbor is equipped with small belt pulley, and described shaft one end is equipped with big belt pulley, the small belt pulley and the big belt pulley
It is sequentially connected by belt.
8. a kind of panoramic shooting mould group according to claim 5 automates calibration facility, which is characterized in that support frame as described above
It is equipped with for detecting whether the tooling lift stand overturns optoelectronic switch in place.
9. a kind of panoramic shooting mould group according to claim 8 automates calibration facility, which is characterized in that the photoelectricity is opened
The lower section being set at the shaft and support frame as described above rotation connection is closed, described shaft one end is connected with for triggering the photoelectricity
Switch detects whether the tooling lift stand overturns photoelectricity baffle in place.
10. a kind of panoramic shooting mould group according to claim 5 automates calibration facility, which is characterized in that the bottom plate
It is upper to be located at the shaft lower section equipped with for limiting the tooling lift stand overturning degree anticollision limited block.
11. a kind of panoramic shooting mould group according to claim 4 automates calibration facility, which is characterized in that the rack
Dodge gate is opened equipped with double positioned at the top of the mould group conveying device, double dodge gates of opening are equipped with transparent window and display
Device, the display is electrically connected with the figure tooling out, for receiving the panoramic picture and showing.
12. a kind of panoramic shooting mould group according to claim 4 automates calibration facility, which is characterized in that the rack
Bottom is equipped with idler wheel and support leg, and the frame top is equipped with indicator light.
13. a kind of panoramic shooting mould group according to claim 2 automates calibration facility, which is characterized in that the transverse direction
KK mould group two sides are respectively equipped with a line rail, and the line rail is equipped with line rail sliding block, the line rail sliding block and the mobile work platform
Connection.
14. a kind of panoramic shooting mould group according to claim 2 automates calibration facility, which is characterized in that the fixation
Plate is equipped with drag chain, and the fixed plate is fixed in one end of the drag chain, and the other end is fixed on the mobile work platform.
15. a kind of panoramic shooting mould group according to claim 1 automates calibration facility, which is characterized in that further include holding
The platform of the round calibration wall is carried, plane where the platform is parallel with the round calibration disk of wall, the circle
The conveying entrance through the round calibration wall is offered on calibration wall, the mould group conveying device will be complete through the conveying entrance
Scape camera module is by the round export-oriented round calibration pars intramuralis the center point conveying of calibration wall.
16. a kind of panoramic shooting mould group according to claim 1 automates calibration facility, which is characterized in that the calibration
Figure is arranged for inner surface one week around the round calibration wall, and the calibration maps are equipped with several rectangle black patch figures equidistantly arranged
Case and one group of positioning bar code pattern.
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| CN201821911933.6U CN209120361U (en) | 2018-11-20 | 2018-11-20 | A kind of panoramic shooting mould group automation calibration facility |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111200729A (en) * | 2018-11-20 | 2020-05-26 | 余姚舜宇智能光学技术有限公司 | Automatic calibration equipment and method for panoramic camera module |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111200729A (en) * | 2018-11-20 | 2020-05-26 | 余姚舜宇智能光学技术有限公司 | Automatic calibration equipment and method for panoramic camera module |
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