CN212906384U - Chessboard pattern image automatic acquisition device in binocular camera calibration - Google Patents
Chessboard pattern image automatic acquisition device in binocular camera calibration Download PDFInfo
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- CN212906384U CN212906384U CN202021158047.8U CN202021158047U CN212906384U CN 212906384 U CN212906384 U CN 212906384U CN 202021158047 U CN202021158047 U CN 202021158047U CN 212906384 U CN212906384 U CN 212906384U
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Abstract
The utility model provides a two mesh camera mark medium check image automatic acquisition device, includes three degree of freedom motion platforms, chess board target paper, two mesh camera modules and automatic control system, three degree of freedom motion platforms support chess board target paper, demonstrates the check figure under the different angles in the motion space of setting for, and two mesh camera mould gather image data, automatic control system includes sensor, controller, converter plate and PC host computer, the mode that the PC host computer controlled as required lets the motion platform automatic operation or input anticipated pitch gesture, roll gesture, driftage gesture, selects the gesture and shoots the check image. The utility model provides a chess board check image automatic acquisition device in the higher two mesh camera standards of the multiple motion conversion angle convenience of camera, image acquisition's efficiency.
Description
Technical Field
The utility model belongs to camera calibration equipment especially designs a two mesh camera calibration well check image automatic acquisition device.
Background
With the rapid development of industrial robots and the technology in the field of machine vision, industrial cameras are widely used. Calibration is an uneconomical preparation since the industrial camera must be calibrated before being used formally. However, the calibration effect and efficiency of the video camera are affected to a certain extent due to the problems of manual defects and the like in the calibration process of the existing binocular camera. To change this phenomenon and improve the level of automation, it is necessary to automatically acquire checkerboard images during the calibration process.
Chinese patent document No. CN08750345U discloses a camera calibration device. The left and right positions of the camera are adjusted by adjusting the sliding plate of the supporting device which can move horizontally relative to the supporting device, the up and down positions of the camera are adjusted by installing the adjusting device on the bracket in a vertically sliding manner, the angle of the camera is adjusted by the adjusting device, stable image acquisition can be realized during camera calibration, and the calibration precision of the camera can be improved by different camera poses, so that the camera has a wide application range; just the utility model discloses a camera calibration device convenient operation is suitable for the upper part of the hand.
The camera calibration device disclosed in the above document is only used in the calibration process of the monocular camera, and the movement of the camera position during the calibration process may cause the shot photos to have the problems of incomplete shooting and the like, resulting in the result that the shot photos cannot be used.
Chinese patent document No. CN208569701U discloses a camera calibration device, which includes: a light source for emitting a light beam; a homogenizer for receiving the light beam and producing a uniform light beam; and the surface of the calibration plate, which is back to the light source, is provided with a calibration pattern, and when the light source is turned on, the uniform light beam enters the calibration plate to illuminate the calibration pattern. The light source is arranged on the front side of the calibration plate, the calibration pattern is configured on the back side of the calibration plate, light beams emitted by the light source are homogenized by the homogenizer and then enter the calibration plate, the calibration pattern is illuminated, the camera can shoot the calibration pattern with high contrast, and therefore the effect of improving the calibration precision is achieved.
The camera calibration device disclosed in the above document requires manual movement of the light source to change the calibration target image, and still fails to solve the problems of manual drawbacks and the like. Meanwhile, after the light source is turned on in the actual operation process, the definition and the contrast of the calibrated image cannot be guaranteed.
The camera calibration device disclosed in the above document still needs manual intervention to manually rotate the camera mounting frame to shoot the images of the calibration block from different angles, the angle conversion of multiple motions of the camera is inconvenient, and the efficiency of image acquisition is not high.
Disclosure of Invention
In order to overcome the not enough that the multiple motion conversion angle of the camera of the existing camera calibration mode is very inconvenient, image acquisition's efficiency is not high, the utility model provides a chessboard pattern image automatic acquisition device in the higher binocular camera calibration of multiple motion conversion angle convenience, image acquisition's of camera.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides a two mesh camera mark medium check image automatic acquisition device, includes three degree of freedom motion platforms, chess board target paper, two mesh camera modules and automatic control system, three degree of freedom motion platforms support chess board target paper, demonstrates the check figure under the different angles in the motion space of setting for, and two mesh camera mould gather image data, automatic control system includes sensor, controller, converter plate and PC host computer, the mode that the PC host computer controlled as required lets the motion platform automatic operation or input anticipated pitch gesture, roll gesture, driftage gesture, selects the gesture and shoots the check image.
Furthermore, the three-degree-of-freedom motion platform comprises an azimuth turntable and a parallel platform, wherein the azimuth turntable is connected with the two-degree-of-freedom parallel platform in series, and three rotational degrees of freedom including rolling, pitching and yawing are realized in space.
The parallel platform is a parallel mechanism of 3RPS + U, and R refers to fixed hinge joint at the lower end; p refers to a moving pair of a screw rod and a nut in the electric push rod; s refers to a ball pair hinged with the upper platform; u refers to the restraint of the middle welding rod and is used for providing motion with a roll angle, a pitch angle of +/-30 degrees and a yaw angle of 360 degrees; the parallel platform comprises an upper platform, three electric push rods and an auxiliary welding rod, the middle of the bottom surface of the upper platform is connected with the auxiliary welding rod through a spherical hinge, the outer side of the bottom surface of the upper platform is connected with the action ends of the three electric push rods through spherical hinges respectively, the lower ends of the auxiliary welding rod are fixedly connected with the middle of the top surface of the position rotary table, and the lower ends of the three electric push rods are connected with the outer side of the top surface of the position rotary table through a fixed hinged support. The upper platform is driven by the three electric push rods to bring pitching and rolling motions, and meanwhile, the azimuth turntable brings 360-degree rotation motion on a overlooking plane, so that different photo postures are presented.
The three electric push rods extend and shorten between the two platforms, and the three electric push rods have the function of bringing the freedom degrees of pitching and rolling to the platforms under the condition of meeting design indexes.
The electric push rod comprises a motor, a transmission mechanism, a lead screw nut and an inner piston rod, an output shaft of the motor is connected with one end of the lead screw through the transmission mechanism, the lead screw is matched with the lead screw nut, the lead screw nut is connected with the inner piston rod, the inner piston rod is sleeved in the piston cavity in a vertically sliding mode, and the upper end of the inner piston rod is an action end. Under the drive of the motor, the transmission mechanism transmits the torque from the motor, so that the screw rod generates rotary motion to drive the screw rod nut to generate linear motion, and finally the linear motion of the inner piston rod is converted through the connection between the inner piston rod and the screw rod nut.
The beneficial effects of the utility model are that: the camera has convenient multiple motion conversion angles and higher image acquisition efficiency.
Drawings
Fig. 1 is a schematic block diagram of an automatic chessboard pattern image acquisition device in binocular camera calibration.
Fig. 2 is a schematic diagram of a three-degree-of-freedom motion platform, wherein 1 is an upper platform 2, a spherical hinge 3, an electric push rod 4, a fixed articulated support 5, a motor 6 and an azimuth turntable.
Fig. 3 is a diagram of an overall structure model.
Fig. 4 is a top view of fig. 3.
Fig. 5 is a flow chart of the system operation.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 5, an automatic chessboard pattern image acquisition device in binocular camera calibration comprises a three-degree-of-freedom motion platform, chessboard target paper, a binocular camera module and an automatic control system, wherein the three-degree-of-freedom motion platform supports the chessboard target paper, chessboard patterns at different angles are displayed in a set motion space, a binocular camera module acquires image data, the automatic control system comprises a sensor, a controller, a conversion board and a PC upper computer, the PC upper computer enables the motion platform to automatically operate or input expected pitching postures, rolling postures and yawing postures according to a control mode, and the postures are selected to shoot chessboard patterns.
Furthermore, the three-degree-of-freedom motion platform comprises an azimuth turntable and a parallel platform, wherein the azimuth turntable is connected with the two-degree-of-freedom parallel platform in series, and three rotational degrees of freedom including rolling, pitching and yawing are realized in space.
The parallel platform is a parallel mechanism of 3RPS + U, and R refers to fixed hinge joint at the lower end; p refers to a moving pair of a screw rod and a nut in the electric push rod; s refers to a ball pair hinged with the upper platform; u refers to the restraint of the middle welding rod and is used for providing motion with a roll angle, a pitch angle of +/-30 degrees and a yaw angle of 360 degrees; the parallel platform comprises an upper platform 1, three electric push rods 3 and an auxiliary welding rod, the middle of the bottom surface of the upper platform 1 is connected with the auxiliary welding rod through a spherical hinge 2, the outer side of the bottom surface of the upper platform 1 is connected with the action ends of the three electric push rods 3 through the spherical hinges 2 respectively, the lower end of the auxiliary welding rod is fixedly connected with the middle of the top surface of the position rotary table 6, and the lower ends of the three electric push rods 3 are connected with the outer side of the top surface of the position rotary table 6 through a fixed hinged support 4. The upper platform 1 is driven by three electric push rods 3 to bring pitching and rolling motions, meanwhile, the azimuth turntable 6 brings 360-degree rotary motion on a overlooking plane, different photo postures are presented, and the rotary motion of the azimuth turntable 6 is driven by a motor 5.
Table 1 is a motion platform technical parameter table.
TABLE 1
The three electric push rods 3 extend and shorten between the two platforms, and the functions of the electric push rods are to bring the freedom degrees of pitching and rolling to the platforms under the condition of meeting design indexes.
The electric push rod 3 comprises a motor, a transmission mechanism, a lead screw nut and an inner piston rod, an output shaft of the motor is connected with one end of the lead screw through the transmission mechanism, the lead screw is matched with the lead screw nut, the lead screw nut is connected with the inner piston rod, the inner piston rod is sleeved in the piston cavity in a vertically sliding mode, and the upper end of the inner piston rod is an action end. Under the drive of the motor, the transmission mechanism transmits the torque from the motor, so that the screw rod generates rotary motion to drive the screw rod nut to generate linear motion, and finally the linear motion of the inner piston rod is converted through the connection between the inner piston rod and the screw rod nut.
In this embodiment, after the circuit, the control system, and the start device are connected, the start device is started by the upper computer program, and sends the pulse of PWM to the drive circuit. Under the control of the H-shaped bridge of the driving motor, the direct current motor can realize the switching and the speed regulation between positive rotation and negative rotation.
In the automatic control scheme, after a motion platform is started, the motion platform bears a checkerboard target to move in three degrees of freedom, and simultaneously, a PC upper computer times a binocular camera, a checkerboard image of a certain pose is shot every 5-10 s, the image is transmitted to a Matlab calibration program, whether the effective checkerboard image meets the requirement of shooting number (for example, 31 pieces) is judged, if yes, the binocular camera calibration is carried out, calibration of the binocular camera is realized by a calibration algorithm built in the Matlab calibration program, and internal and external parameters and distortion parameters of the binocular camera are obtained; if not, continuing to acquire images regularly.
In the manual control scheme, the position and pose of a specific expected motion platform are manually input, after a certain position and pose are reached, the PC upper computer sends a shooting instruction to the binocular camera, and the binocular camera automatically shoots and collects checkerboard images. Then, the number of effective images is judged continuously, whether the requirement of the number of shot images (for example, 31 images) is met, if yes, the binocular camera is calibrated, calibration of the binocular camera is achieved through a calibration algorithm built in a Matlab calibration program, and internal and external parameters and distortion parameters of the binocular camera are obtained; and if not, continuing to acquire the image according to the posture.
Claims (4)
1. The device is characterized by comprising a three-degree-of-freedom motion platform, chessboard target paper, a binocular camera module and an automatic control system, wherein the three-degree-of-freedom motion platform supports the chessboard target paper, chessboard patterns at different angles are displayed in a set motion space, a binocular camera module collects image data, the automatic control system comprises a sensor, a controller, a conversion board and a PC upper computer, the PC upper computer enables the motion platform to automatically run or input expected pitching postures, rolling postures and yawing postures according to a mode controlled by a requirement, and the chessboard images are shot by the selected postures.
2. The binocular camera calibration chessboard pattern image automatic acquisition device of claim 1 wherein the three-degree-of-freedom motion platform comprises an orientation turntable and a parallel platform, the orientation turntable is connected in series with a two-degree-of-freedom parallel platform to realize three rotational degrees of freedom of roll, pitch and yaw in space.
3. The binocular camera calibration checker board image automatic acquisition device as recited in claim 2, wherein the parallel platform is a parallel mechanism of 3RPS + U, R means a fixed hinge at a lower end; p refers to a moving pair of a screw rod and a nut in the electric push rod; s refers to a ball pair hinged with the upper platform; u refers to the restraint of the middle welding rod and is used for providing motion with a roll angle, a pitch angle of +/-30 degrees and a yaw angle of 360 degrees; the parallel platform comprises an upper platform, three electric push rods and an auxiliary welding rod, the middle of the bottom surface of the upper platform is connected with the auxiliary welding rod through a spherical hinge, the outer side of the bottom surface of the upper platform is connected with the action ends of the three electric push rods through spherical hinges respectively, the lower ends of the auxiliary welding rod are fixedly connected with the middle of the top surface of the position rotary table, and the lower ends of the three electric push rods are connected with the outer side of the top surface of the position rotary table through a fixed hinged support.
4. The binocular camera calibration chessboard pattern image automatic acquisition device of claim 3, wherein the electric push rod comprises a motor, a transmission mechanism, a lead screw nut and an inner piston rod, an output shaft of the motor is connected with one end of the lead screw through the transmission mechanism, the lead screw is matched with the lead screw nut, the lead screw nut is connected with the inner piston rod, the inner piston rod is sleeved in the piston cavity in a vertically sliding manner, and the upper end of the inner piston rod is an action end.
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| CN202021158047.8U CN212906384U (en) | 2020-06-19 | 2020-06-19 | Chessboard pattern image automatic acquisition device in binocular camera calibration |
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| CN202021158047.8U CN212906384U (en) | 2020-06-19 | 2020-06-19 | Chessboard pattern image automatic acquisition device in binocular camera calibration |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111754585A (en) * | 2020-06-19 | 2020-10-09 | 浙江工业大学 | Chessboard pattern image automatic acquisition device in binocular camera calibration |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111754585A (en) * | 2020-06-19 | 2020-10-09 | 浙江工业大学 | Chessboard pattern image automatic acquisition device in binocular camera calibration |
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