CN209297360U - Binocular calibration verifies device - Google Patents
Binocular calibration verifies device Download PDFInfo
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- CN209297360U CN209297360U CN201821687476.7U CN201821687476U CN209297360U CN 209297360 U CN209297360 U CN 209297360U CN 201821687476 U CN201821687476 U CN 201821687476U CN 209297360 U CN209297360 U CN 209297360U
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Abstract
The utility model discloses a kind of binocular calibration verifying device, it include: horizontal table, linear guide, test target mounting platform and Devices to test mounting platform, linear guide is arranged on horizontal table to arrange in the horizontal direction, horizontally disposed on horizontal table to have graduated scale；Test target mounting platform is used for bearing test target；Test target mounting platform is slidably disposed in linear guide；Devices to test mounting platform is for carrying Devices to test, third reflecting mirror and the 4th reflecting mirror are provided on Devices to test, third reflecting mirror, the position of the 4th reflecting mirror and the first reflecting mirror, the position of the second reflecting mirror are associated so that laser between the first reflecting mirror of corresponding position, the second reflecting mirror, is fallen on the central calibration line of the graduated scale of corresponding one group of plane mirror institute extending direction on the third reflecting mirror, the 4th reflecting mirror and test target plane of Devices to test plane after multiple reflections.
Description
Technical field
The utility model relates to technical field of machine vision, verify device in particular to a kind of binocular calibration.
Background technique
Binocular stereo vision is based on principle of parallax, by the method for multiple image acquisition object dimensional geological information.In machine
In device vision system, binocular vision system is generally obtained two width digitized maps of object in the same time from different perspectives by twin camera
Picture, or obtain by single camera two width digital pictures of object from different perspectives in different moments, and restore based on principle of parallax
Object dimensional geological information out rebuilds 3D shape and the position of object.
In order to rebuild 3D shape and the position of object, the error of binocular vision need to be controlled, the error is main
Concentrate on vision axial depth range, and calibration in the prior art verifying device is relied primarily on by machining accuracy, with
And in aiding sensors precision.When larger particularly with range to be measured, machining accuracy and mechanical material itself are existing
The problem of, all the precision of entire verification platform can be caused not can guarantee.
Utility model content
The utility model provides a kind of binocular calibration verifying device, to overcome it is existing in the prior art at least one ask
Topic.
In order to achieve the above object, the utility model provides, and a kind of binocular calibration verifies device, comprising: horizontal table,
Linear guide, test target mounting platform and Devices to test mounting platform, in which:
The linear guide is arranged on the horizontal table to arrange in the horizontal direction, edge on the horizontal table
It is horizontally arranged to have distance scale ruler；
The test target mounting platform is used for bearing test target, which is the work with test calibration feature
Part, the side edge of plane is provided with the first laser source that can emit laser vertically downward, the test where the test target
Target is provided with the first reflecting mirror and the second reflecting mirror in the plane；
The test target mounting platform is slidably disposed in the linear guide, by adjusting the test target
Platform the position in the linear guide make where plane where the test target and Devices to test between plane away from
From for set distance；
For the Devices to test mounting platform for carrying the Devices to test, which is that machine stereoscopic vision is set
Standby, the Devices to test is provided with second laser source, third reflecting mirror, third laser source and the 4th reflecting mirror in the plane,
The third reflecting mirror, the position of the 4th reflecting mirror are related to the position of first reflecting mirror, second reflecting mirror
Join so that the laser of second laser source transmitting and the laser of third laser source transmitting are where the Devices to test
The third reflecting mirror, the 4th reflecting mirror and the test target in plane in the plane corresponding position described
Between one reflecting mirror, second reflecting mirror, the laser of corresponding one group of reflecting mirror institute extending direction is fallen in after multiple reflections
On the central calibration line for detecting graduated scale.
Optionally, the machine stereoscopic vision equipment is vertical based on the stereoscopic vision equipment of infrared structure light or laser scanning
Body vision equipment.
Optionally, with the graduation mark of longitudinal gap 1mm on the laser detection graduated scale.
Optionally, first reflecting mirror, second reflecting mirror, the third reflecting mirror and the 4th reflecting mirror are
Plane mirror；First reflecting mirror and the third reflecting mirror are opposite, second reflecting mirror and the 4th reflecting mirror
Relatively.
Optionally, according to laser and the Devices to test laser detection graduated scale in the plane central calibration line
Position is come the rotation for adjusting Devices to test place plane or pitch position so that laser point is fallen on central calibration line.
Optionally, for different measuring distances, pass through the second laser source or third laser source installation section
Micrometer knob realize the variation of incidence angle.
Optionally, the second laser source and the third laser source are laser level rule, described device further include: the
One refracting telescope and the second refracting telescope；The first refractive mirror is used to reflect the laser of the second laser source transmitting, and makes described
The laser of second laser source transmitting repeatedly reflects between the third reflecting mirror and first reflecting mirror；Second refraction
Mirror is used to reflect the laser of the third laser source transmitting, and makes the laser of the third laser source transmitting repeatedly the described 4th
It is reflected between reflecting mirror and second reflecting mirror.
Optionally, the first refractive mirror and second refracting telescope are 45 ° of reflecting mirrors.
This specification embodiment provides a set of binocular calibration verifying device, is measurement working face (or test mesh
Mark the working face of mounting platform) it is remote parallel with working face to be measured (or working face of Devices to test mounting platform)
Degree guarantees that platform has the benefit that in compared with far range for the precision measure of machine stereoscopic vision, leads to
The correction for crossing two-way laser (corresponding second laser source and third laser source) provides measuring table (or test target installation
Platform) and platform to be measured (Devices to test mounting platform) working face the high-precision depth of parallelism.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the operation principle schematic diagram that binocular calibration provided by the embodiment of the utility model verifies device；
Fig. 2 is scaling board direction of error schematic diagram；
Fig. 3 is that binocular calibration provided by the embodiment of the utility model verifies correcting principle schematic diagram of the device about the angle yaw；
Fig. 4 is provided by the embodiment of the utility model about yaw angular displacement analysis schematic diagram；
Fig. 5 is the correcting principle signal that binocular calibration provided by the embodiment of the utility model verifies device about the angle pitch
Figure；
Fig. 6 is provided by the embodiment of the utility model about pitch angular displacement analysis schematic diagram；
Fig. 7 is that binocular calibration provided by the embodiment of the utility model verifying device is anti-about the angle of deviation (by taking the angle yaw as an example)
Penetrate amplification principle schematic diagram；
Fig. 8 is the main view that a kind of binocular calibration provided by the embodiment of the utility model verifies device；
Fig. 9 is the top view that a kind of binocular calibration provided by the embodiment of the utility model verifies device；
Figure 10 is the stereoscopic schematic diagram that a kind of binocular calibration provided by the embodiment of the utility model verifies device；
Figure 11 is the stereoscopic schematic diagram that another binocular calibration provided by the embodiment of the utility model verifies device；
Figure 12 is a kind of stereoscopic schematic diagram of Devices to test mounting plane provided by the embodiment of the utility model.
In figure, symbol description is as follows:
1 horizontal table, 2 linear guides, 3 test target mounting platforms, 31 first reflecting mirrors, 32 second reflecting mirrors, 4 to
Measurement equipment mounting platform, 41 second laser sources, 42 third reflecting mirrors, 43 third laser sources, 44 the 4th reflecting mirrors, 45 first refractives
Mirror, 46 second refracting telescopes, 47 laser detection graduated scales, 48 laser detection graduated scales.
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.Based on the embodiments of the present invention, those of ordinary skill in the art are under that premise of not paying creative labor
Every other embodiment obtained, fall within the protection scope of the utility model.
Referring to Fig. 8~12, the utility model embodiment provides a kind of binocular calibration verifying device comprising: horizontal work
Make platform 1, linear guide 2, test target mounting platform 3 and Devices to test mounting platform 4.
Horizontal table 1 is horizontal plane for providing support, upper surface.For the ease of measuring following test targets places
Plane where plane (or working face of test target mounting platform) and Devices to test (or Devices to test mounting platform
The distance between working face), distance scale ruler can be set on horizontal table 1, distance so can be read directly, it should be away from
It is preferably consistent with the extending direction of linear guide 2 from the length direction of graduated scale.In other examples, distance can be passed through
Measuring instrument measures the distance between both of the aforesaid plane, and the present embodiment is to this without limiting.
Linear guide 2 is arranged on horizontal table 1, can arrange in the horizontal direction, i.e. the extension side of linear guide 2
To for horizontal direction, the length direction of distance scale ruler is also horizontal direction at this time.
Test target mounting platform 3 is used for bearing test target, which is the workpiece with test calibration feature,
I.e. the workpiece with test calibration feature is installed on test target mounting platform 3, which can be scaling board or work to be measured
Part.The plane of bearing test target is plane where test target mounting plane or test target.It is set in the side edge of the plane
It is equipped with the first laser source that can emit laser vertically downward, which can play the distance scale ruler on horizontal table 1, so
The distance between two planes can accurately be measured.It is anti-that test target is provided with the first reflecting mirror 31 and second in the plane
Penetrate mirror 32.The reflecting mirror and following reflecting mirrors can also be known as reflective mirror.In Figure 10, the first reflecting mirror 31 is located at test target
The right side edge of place plane, the top edge of plane where the second reflecting mirror 32 is located at test target
Test target mounting platform 3 and/or Devices to test mounting platform 4 are slidably arranged in linear guide 2, by right
Adjust with answering test target mounting platform 3 and/or Devices to test mounting platform 4 in linear guide 2 position, and then adjust two
The distance between a platform, so that the distance between plane is where adjusting plane where test target and following Devices to test to reach
To set distance (or experiment distance).In application, Devices to test mounting platform 4 is usually fixedly provided in linear guide 2
One end, test target mounting platform 3 is slidably arranged in linear guide 2, by adjust test target mounting platform 3 exist
Position in linear guide 2 adjusts the distance between two platforms.
For Devices to test mounting platform 4 for carrying Devices to test 5, which is machine stereoscopic vision equipment, i.e. machine
Device stereoscopic vision equipment is installed on Devices to test mounting platform 4, which can be for based on infrared structure
Light stereoscopic vision equipment or laser scanning stereoscopic vision equipment.Carry Devices to test plane be Devices to test mounting plane or to
Plane where measurement equipment, it is opposite with the plane of bearing test target.Devices to test is provided with second laser source in the plane
41, third reflecting mirror 42, third laser source 43 and the 4th reflecting mirror 44, third reflecting mirror 42, the 4th reflecting mirror 44 position and
First reflecting mirror 41, the position of the second reflecting mirror 42 are associated so that the laser and third laser source that second laser source 41 emits
The laser of 43 transmittings be set to Devices to test third reflecting mirror 42 in the plane, the 4th reflecting mirror 44 and be set to test
Target in the plane between the first reflecting mirror 31 of corresponding position, the second reflecting mirror 32, correspondence is fallen in after multiple reflections
On the central calibration line of the laser detection graduated scale of one group of reflecting mirror institute extending direction.That is, third reflecting mirror 42 and
The position of one reflecting mirror 31 is associated so that the laser of the transmitting of second laser source 41 is in third reflecting mirror 42 and the first reflecting mirror
Between 31, fallen in after multiple reflections on the laser detection graduated scale 47 of third reflecting mirror institute extending direction or the first reflecting mirror
On the laser detection graduated scale of 31 extending directions.Specifically, the position of third reflecting mirror 42 and the first reflecting mirror 31 is opposite, such as
Figure 11~12, the left side edge of plane where third reflecting mirror 42 is set to Devices to test.4th reflecting mirror 44 and the second reflection
The position of mirror 32 is associated so that the laser that emits of third laser source 43 is between the 4th reflecting mirror 44 and the second reflecting mirror 32,
It is fallen in after multiple reflections on the laser detection graduated scale 48 of the 4th reflecting mirror institute extending direction or the second reflecting mirror is extended
On the laser detection graduated scale in direction.Specifically, the position of the 4th reflecting mirror 44 and the second reflecting mirror 32 is opposite, as Figure 11~
12, the top edge of plane where the 4th reflecting mirror 44 is set to Devices to test.Preferably, third reflecting mirror 42 and the 4th reflecting mirror
44 are vertically arranged, and the first reflecting mirror 31 and the second reflecting mirror 32 are vertically arranged.First reflecting mirror 31 and third reflecting mirror 42 and
Second reflecting mirror 32 and the 4th reflecting mirror 44 are plane mirror, are sent out for reflected second laser source 41 or third laser source 43
The laser penetrated.In order to reach expected experiment effect, the width requirement and experiment effect of above-mentioned each reflecting mirror without interference, in order to
When two planes (plane where plane where Devices to test and test target) depth of parallelism difference is larger, laser remains to be incident upon
On reflecting mirror, the width of reflecting mirror can be as wide as possible, it also requires in view of plane where not interference testing target and to be measured setting
Standby place plane.Laser detection graduated scale includes: blade, central calibration line and graduation mark.The length direction of blade, center calibration
The extending direction (or length direction) of the extending direction of line and reflecting mirror unanimously, is vertically disposed at center in the middle part of graduation mark
On calibration line, i.e., be vertically installed with graduation mark in the two sides of central calibration line, between adjacent graduation mark between be divided into 1mm.When
When two planes are parallel or the depth of parallelism is in default accuracy rating, the laser warp of second laser source 41 or the transmitting of third laser source 43
After crossing multiple reflections, fall on the central calibration line of laser detection graduated scale；When two planes have deviation in the depth of parallelism, the
The laser that the laser and third laser source 43 that two laser sources 41 emit emit can fall in central calibration line after multiple reflections
Certain side in two sides.
It is reflected between two planes for the ease of laser, second laser source 41 and third laser source 43 are laser level
Ruler, binocular calibration verify device further include: first refractive mirror 45 and the second refracting telescope 46.First refractive mirror 45 is for reflecting second
The laser that laser source 41 emits, and the laser for emitting second laser source 41 is repeatedly in third reflecting mirror 42 and the first reflecting mirror 31
Between reflect.Second refracting telescope 46 is used to reflect the laser of the transmitting of third laser source 43, and it is sharp to emit third laser source 43
Light repeatedly reflects between the 4th reflecting mirror 44 and the second reflecting mirror 32.First refractive mirror 45 and the second refracting telescope 46 are preferably all
45 ° of reflecting mirrors.In, the position of 45 ° of reflecting mirrors is that the position got on reflecting mirror by laser determines, laser drop point should be located
In on mirror center line.Equally, laser detection graduated scale be also its center graduation mark (or central calibration line) with it is corresponding
The centerline collineation of reflecting mirror.The position of laser level rule, which will meet laser, can be mapped on 45 ° of reflecting mirrors, and two planes for the first time
Where falling in Devices to test after inside turning back on the reflecting mirror of plane.Third reflecting mirror 42 or the 4th reflecting mirror 44 are reflected close to 45 °
The edge of mirror flushes, and is connected with 45 ° of reflecting mirrors.
In application, there is no rotary freedom, Devices to test mounting platform after installing due to test target mounting platform 3
4 need setting tool to have Eulerian angles adjuster, and the position where being used to adjust carrying Devices to test on the Euler angular direction of plane makes this
Plane has rotational freedom on each Euler angular direction, thus when two plane parallelisms have deviation, so that laser is through excessive
Devices to test is fallen in after secondary reflection is provided with swashing for 44 extending directions of third reflecting mirror 42 and the 4th reflecting mirror in the plane
To meet two planes (plane where plane where Devices to test and test target) on the central calibration line of light detection graduated scale
The adjusting of freedom degree.In, Eulerian angles adjuster can be rotation ramp.Devices to test mounting platform 4 is by laser point
As far as possible to just arrive laser detection graduated scale center calibration line position, that is, can guarantee respective shaft to Parallel errors.Laser detection
Graduated scale be separately positioned on third reflecting mirror institute extending direction and the 4th reflecting mirror institute extending direction on.Different tests away from
From the micrometer knob of the laser source installation section on Devices to test mounting platform 4 can be adjusted as needed to realize incidence angle
Variation.
The working principle of binocular calibration provided in this embodiment verifying device is illustrated below:
Referring to Fig. 1, this principle is mainly to pass through the laser reflection of laser level rule and reflecting mirror (or reflective mirror) to inclined
The amplification of firing angle is moved into, as a result compared with final error calibration.
Referring to fig. 2, the error of scaling board shows three directions, as yaw (Y-direction, Objects around A y-axis is rotated in figure),
Pith (direction P, object is rotated around x axis in figure) and roll (direction R, Objects around A z-axis is rotated in figure).Due to scaling board sheet
Body does not have rotary freedom after installing, so needing application method, always makes glasses by adjust spectacle plane three
Plane is parallel with calibration plane.The process of error correction analysis is introduced based on yaw, pitch.It should be understood that
Scaling board is corresponding with test target mounting platform, and eyes plane is corresponding with Devices to test mounting platform.
The correction at the angle yaw.Referring to Fig. 3, this mainly passes through laser level rule on the basis of Fig. 3 right back plate front
Face, with XZ plane at minute angle α, laser can be reflected back glasses when the reflective mirror of Laser emission to scaling board corresponding position
Correspondence reflective mirror at plane, and incident angle α β 1 is amplifying, after the amplification of several secondary reflections, laser is finally penetrated flat in glasses
Certain point on the numerical error thrust line in face.If scaling board and spectacle plane are there are when the deviation in the direction yaw, laser meeting
Thrust line or so is fallen in, or even exceeds error calibration region.By adjust glasses pedestal swivel slide (seeing below figure) with
Change laser facula in the position in error calibration region, falls in hot spot on vertical calibration line, rectifiable scaling board and eye
Deviation of the mirror plane on the direction yaw.Variance analysis schematic diagram is as shown in Figure 4.
The correction of the angle pitch.Referring to Fig. 5, this is similar with the angle yaw correcting principle, is with the upper surface of the bottom right Fig. 5 panel for base
Standard, with the direction YZ at minute angle β, after several secondary reflections, incident angle β 1 finally falls laser facula by amplification laser
On horizontal error calibration reference line.If scaling board and spectacle plane are there are when deviation on the angle pitch, laser can fall in base
Above and below directrix, deviation is too big even to exceed error calibration region.It, can be with by adjusting the β axis slide unit of glasses mounting seat
The position on reference line is fallen in by observation laser facula to correct the deviation of scaling board and spectacle plane on the direction pitch.
Variance analysis schematic diagram is as shown in Figure 6.
Arithmetic accuracy: schematic diagram Fig. 7 can be obtained according to optical path principle of reflection in optics.Deviation corner reflection amplification principle, such as Fig. 7
Shown, back and forth, the angle of deviation is put is twice (angle Yaw is as the algorithm of the angle pitch) to the every reflection one of laser.It is tested by laser reflection
Little deviation can be amplified to macroscopic multiple by the principle of the card angle of deviation, and round-trip number is more, and amplification effect is brighter
It is aobvious.
Theoretically, the minimum length range of human eye range estimation is 2mm, and laser facula can be transferred to 2mm, and the precision of the program is reachable
It arrives: when 2m measuring distance, trueness error 38.2um；When 50mm measuring distance, trueness error 1.186um.
Deviation precision arithmetic: as shown in fig. 7, the every reflection one of laser is back and forth, the angle of deviation, which is put, is twice (angle Yaw and pitch
Angle algorithm is the same).If scaling board is in angle upper deviation 0.1mm, corresponding sin (yaw/pitch)=0.1/200, yaw/
0.03 ° of pitch ≈, it is assumed that reflective mirror is sufficiently wide, and α is set to laser and reflects two when two pieces of reflective mirrors are at a distance of 2m back and forth, that
Final laser facula falls in reference-calibrating line position should be with reference line distance are as follows:
L (max)=2000* (sin (yaw)+sin (2yaw)+sin (3yaw)+sin (4yaw)) ≈ 10.467mm=
104.67*0.1mm
In the case where minimum test distance 50mm:
L (min)=50* (sin (yaw)+sin (2yaw)+...+sin ((4*2000/50) yaw))=50* ((cos (a/
2)-cos (N*a+a/2))/(2sin (a/2))) ≈ 50*6.748=337.385mm=3373.85*0.1mm, wherein N is sharp
Light number of turns.
Thus it proves, in the distance of 2m, deviation can be amplified 100 times or more by roundtrip twice, and identical mirror is grown 50mm's
Distance reflection can amplify 3373.85 times afterwards several times.
Theoretically, the minimum length range of human eye range estimation is 2mm, and laser facula can be transferred to 2mm, so the precision of the program
It can reach: when 2m measuring distance, trueness error 0.1/ (10.467/4)=38.2um；When 50mm measuring distance, trueness error
0.1/ (337.385/4)=1.186um.
The use process of binocular calibration provided by the utility model verifying device is illustrated below:
Operator moves the pedestal under test target mounting platform 3 with hand push, makes in this binocular calibration verifying device front
It is moved on line slide rail 2；It projects downward vertically in measuring distance first laser source at planar side edge where test target
The laser rays distance scale ruler beaten on the table top of horizontal table 1 determine so that operator can will test mesh
Planar movement is to thinking experiment distance to be tested where mark；
The second laser source 41 on Devices to test mounting platform 4 is opened, laser is mapped to 45 ° of reflecting mirrors (i.e. the from laser source
One refracting telescope 45) on, then perpendicular to plane refraction where Devices to test to test target reflecting mirror in the plane, Zhi Houhui
It is reflected in plane where test target and the optical mirror where Devices to test in the two planes of plane, final laser
Devices to test institute can be fallen in the plane, and according to laser and Devices to test on laser detection graduated scale in the plane in
The position of calibration line is entreated to adjust the rotation position of Devices to test place plane, so that laser point is fallen on central calibration line.So
It opens the third laser source 43 on Devices to test mounting platform again afterwards, is executed according to abovementioned steps, and set according to laser with to be measured
The position of central calibration line on the laser detection graduated scale of standby institute in the plane adjusts the pitching of Devices to test place plane
Position, so that laser point is fallen on central calibration line.
Those of ordinary skill in the art will appreciate that: attached drawing is the schematic diagram of one embodiment, module in attached drawing or
Process is not necessarily implemented necessary to the utility model.
Those of ordinary skill in the art will appreciate that: the module in device in embodiment can describe to divide according to embodiment
It is distributed in the device of embodiment, corresponding change can also be carried out and be located in one or more devices different from the present embodiment.On
The module for stating embodiment can be merged into a module, can also be further split into multiple submodule.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It can still modify to technical solution documented by previous embodiment, or be equal to part of technical characteristic
Replacement；And these are modified or replaceed, the utility model embodiment technical solution that it does not separate the essence of the corresponding technical solution
Spirit and scope.
Claims (8)
1. a kind of binocular calibration verifies device characterized by comprising horizontal table, linear guide, test target installation are flat
Platform and Devices to test mounting platform, in which:
The linear guide is arranged on the horizontal table to arrange in the horizontal direction, along level on the horizontal table
Direction is provided with distance scale ruler；
The test target mounting platform is used for bearing test target, which is the workpiece with test calibration feature,
The side edge of plane is provided with the first laser source that can emit laser vertically downward, the test target where the test target
It is provided with the first reflecting mirror and the second reflecting mirror in the plane；
The test target mounting platform is slidably disposed in the linear guide, by adjusting the test target platform
The position in the linear guide make plane where the test target between plane where Devices to test at a distance from be
Set distance；
For the Devices to test mounting platform for carrying the Devices to test, which is machine stereoscopic vision equipment, institute
It states Devices to test and is provided with second laser source, third reflecting mirror, third laser source and the 4th reflecting mirror in the plane, described
Three reflecting mirrors, the position of the 4th reflecting mirror and first reflecting mirror, second reflecting mirror position it is associated so that
Second laser source transmitting laser and the third laser source issue the Devices to test institute in the plane
State third reflecting mirror, the 4th reflecting mirror and the test target in the plane first reflecting mirror of corresponding position,
Between second reflecting mirror, the laser detection graduated scale of corresponding one group of reflecting mirror institute extending direction is fallen in after multiple reflections
On central calibration line on.
2. the apparatus according to claim 1, which is characterized in that the machine stereoscopic vision equipment is based on infrared structure light
Stereoscopic vision equipment or laser scanning stereoscopic vision equipment.
3. the apparatus according to claim 1, which is characterized in that have longitudinal gap 1mm on the laser detection graduated scale
Graduation mark.
4. the apparatus according to claim 1, which is characterized in that first reflecting mirror, second reflecting mirror, described
Three reflecting mirrors and the 4th reflecting mirror are plane mirror；
First reflecting mirror and the third reflecting mirror are opposite, and second reflecting mirror and the 4th reflecting mirror are opposite.
5. the apparatus according to claim 1, which is characterized in that according to laser and Devices to test institute in the plane sharp
The position of the central calibration line of light detection graduated scale come the rotation of plane where adjusting the Devices to test or pitch position so that
Laser point is obtained to fall on central calibration line.
6. the apparatus according to claim 1, which is characterized in that for different measuring distances, pass through the second laser
The micrometer knob of source or third laser source installation section realizes the variation of incidence angle.
7. the apparatus according to claim 1, which is characterized in that the second laser source and the third laser source are sharp
Light level ruler, described device further include: first refractive mirror and the second refracting telescope；
The first refractive mirror is used to reflect the laser of the second laser source transmitting, and makes swashing for the second laser source transmitting
Light repeatedly reflects between the third reflecting mirror and first reflecting mirror；Second refracting telescope is for reflecting the third
The laser of laser source transmitting, and make the laser of third laser source transmitting repeatedly in the 4th reflecting mirror and described second anti-
It penetrates between mirror and reflects.
8. device according to claim 7, which is characterized in that the first refractive mirror and second refracting telescope are
45 ° of reflecting mirrors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821687476.7U CN209297360U (en) | 2018-10-18 | 2018-10-18 | Binocular calibration verifies device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821687476.7U CN209297360U (en) | 2018-10-18 | 2018-10-18 | Binocular calibration verifies device |
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| Publication Number | Publication Date |
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| CN209297360U true CN209297360U (en) | 2019-08-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544637A (en) * | 2018-10-18 | 2019-03-29 | 北京伟景智能科技有限公司 | Binocular calibration verifies device |
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2018
- 2018-10-18 CN CN201821687476.7U patent/CN209297360U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109544637A (en) * | 2018-10-18 | 2019-03-29 | 北京伟景智能科技有限公司 | Binocular calibration verifies device |
| CN109544637B (en) * | 2018-10-18 | 2024-02-27 | 北京伟景智能科技有限公司 | Double-target fixed verification device |
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