CN217880361U

CN217880361U - High accuracy camera module calibration equipment

Info

Publication number: CN217880361U
Application number: CN202221767581.8U
Authority: CN
Inventors: 张进步
Original assignee: Juxiang Photoelectric Technology Shanghai Co ltd
Current assignee: Juxiang Photoelectric Technology Shanghai Co ltd
Priority date: 2022-07-08
Filing date: 2022-07-08
Publication date: 2022-11-22
Anticipated expiration: 2032-07-08

Abstract

The utility model provides a high accuracy camera module calibration equipment which characterized in that includes: the device comprises a guide rail, a slide block, a calibration plate and a control console; the calibration plate is arranged on the sliding block; the sliding block is movably arranged on the guide rail; the control console is used for acquiring a first calibration board image of the calibration board at a first position and a second calibration board image of the calibration board at a second position acquired by the camera module, and calibrating the camera module by using three-dimensional space information. The utility model discloses obtain the calibration plate image of the different degree of depth, utilize three-dimensional spatial information to mark, improve and mark the precision.

Description

High accuracy camera module calibration equipment

Technical Field

The utility model relates to a degree of depth camera field specifically relates to a high accuracy camera module calibration equipment.

Background

Depth cameras are increasingly used in various industrial fields, and therefore their accuracy is of great importance. After the camera module is produced, the parameters of the camera need to be calibrated, so that the information of the target object can be more accurately obtained. When the camera is calibrated, the corresponding relation between the three-dimensional space and the two-dimensional pixels of the camera is realized, namely, the world coordinate system is converted into the camera coordinate system, and then the camera coordinate system is converted into the image coordinate system. Since each camera module cannot be truly consistent during production and manufacturing, and differences exist inevitably, and the differences have important significance for calibrating the camera module, each camera module needs to be calibrated.

In the field of camera calibration, in a common pinhole model, camera parameters realize mapping between three-dimensional space points and two-dimensional camera pixel points. The calculation of the pinhole camera model is shown in the following formula.

Wherein, A is camera internal parameters including focal length, image principal point coordinates and the like, and camera external parameters including rotation, translation and the like. In the above formula, R is a rotation matrix, T is a translation matrix, and the coordinates Pw (x) of the spatial points in the world coordinate system _w ,y _w ,z _w ) And when the pixels (u, v) are known, solving A, R and T completes the camera calibration. As the spatial projection relation is known, one pixel point in the image corresponds to one line in the three-dimensional space, the calibration precision of the camera is improved by utilizing the three-dimensional space information, and the calibration precision based on the two-dimensional plane is much higher than that in the prior art.

SUMMERY OF THE UTILITY MODEL

Therefore, the utility model discloses a remove the calibration plate, found three-dimensional space information, carried out the three-dimensional space information calibration that the precision is higher to the camera.

The utility model provides a high accuracy camera module calibration equipment, a serial communication port, include: the device comprises a guide rail, a slide block, a calibration plate and a control console;

the calibration plate is arranged on the sliding block;

the sliding block is movably arranged on the guide rail;

the control console is used for acquiring a first calibration board image of the calibration board at a first position and a second calibration board image of the calibration board at a second position, which are acquired by the camera module, and calibrating the camera module by using three-dimensional space information.

Optionally, the high-precision camera module calibration device is characterized in that the calibration plate is perpendicular to the direction of the optical axis of the camera module.

Optionally, the high-precision camera module calibration device is characterized by further comprising:

and the motor is used for receiving the signal of the console and controlling the calibration plate to move on the guide rail.

and the grating ruler displacement sensor is used for acquiring high-precision position data of the calibration plate.

and the calibration camera is used for synchronously obtaining the image of the calibration plate with the camera module.

Optionally, the high-precision camera module calibration equipment is characterized in that the console controls the calibration board to calibrate a plurality of camera modules simultaneously.

Optionally, the high-precision camera module calibration equipment is characterized in that one calibration plate is used for calibrating the plurality of camera modules simultaneously.

Optionally, the high accuracy camera module calibration equipment, characterized by still include:

and the calibration camera is used for synchronously acquiring the images of the calibration plate with the plurality of camera modules.

Optionally, the high-precision camera module calibration equipment is characterized in that the step of calibrating the camera module by the console includes:

s1, respectively acquiring a first calibration plate image at a first position and a second calibration plate image at a second position, and acquiring the travel distance of the calibration plate moving from the first position to the second position;

step S2: preliminarily calibrating the parameters of the camera module according to the first calibration plate image; the camera module parameters comprise internal parameters and external parameters;

and step S3: calculating a surface normal vector and a traveling direction of the calibration plate, thereby obtaining a first included angle between the surface normal vector and the traveling direction of the calibration plate;

and step S4: and optimizing the parameters of the camera module according to the first calibration plate image, the second calibration plate image, the first included angle and the travel distance.

Optionally, the high-precision camera module calibration equipment is characterized in that a calibration plate has a mark area, and step S3 includes:

step S321: reconstructing the surface S of the calibration plate by using a calibration camera, deducting the area SA of the mark area, and performing space plane fitting on the residual area (S-SA), wherein the direction of the fitted space plane is the surface normal vector of the calibration plate;

step S322: calculating the spatial positions of the same mark area on the calibration plate at the first position and the second position, and performing straight line fitting to obtain a first direction;

step S323: averaging all the first directions to obtain the advancing direction;

step S324: and calculating to obtain a first included angle between the surface normal vector of the calibration plate and the advancing direction.

Compared with the prior art, the utility model discloses following beneficial effect has:

the utility model discloses acquire the calibration plate image of the different degree of depth respectively, and then can carry out three-dimensional reconstruction, obtain the three-dimensional data of different calibration plates under the camera coordinate system to can utilize three-dimensional space data to mark the camera module parameter, promote the precision of demarcation, the precision of carrying out the demarcation than the adoption two-dimensional plane among the prior art has and promotes by a wide margin.

The utility model discloses a mode that hardware and software combined together promotes the demarcation effect, adopts dedicated calibration equipment can promote the demarcation precision, adopts software to handle simultaneously, can obtain the camera internal reference and the external reference that have the higher accuracy to obtain better demarcation precision.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts. Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

fig. 1 is a schematic structural diagram of a high-precision camera module calibration apparatus according to an embodiment of the present invention;

fig. 2 is a schematic view of a shape of a guide rail according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a positioning device in an embodiment of the present invention;

FIG. 4 is a schematic view of another embodiment of the positioning device of the present invention;

FIG. 5 is a schematic view of another embodiment of the present invention;

FIG. 6 is a schematic diagram of the position of a calibration camera and a camera module according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of a calibration board according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of another high-precision camera module calibration apparatus according to an embodiment of the present invention;

fig. 9 is a flowchart illustrating steps of a calibration method according to an embodiment of the present invention;

fig. 10 is a flowchart illustrating a step of calculating a first included angle according to an embodiment of the present invention.

1-guide rail, 2-slide block, 3-calibration plate, 4-control table, 5-camera module, 6-conveyor belt, 7-positioning rod, 8-scale grating, 9-grating reading head, 10-positioning groove and 11-calibration camera

Detailed Description

The present invention will be described in detail with reference to specific embodiments. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that numerous variations and modifications could be made by those skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention will be described in detail with specific examples. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments.

The embodiment of the utility model provides a pair of high accuracy camera module calibration equipment aims at solving the problem that exists among the prior art.

The following describes the technical solution of the present invention and how to solve the above technical problems with specific embodiments. These several specific embodiments may be combined with each other below, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.

Fig. 1 is the embodiment of the present invention provides a schematic structural diagram of a high-precision camera module calibration apparatus. As shown in fig. 1, the embodiment of the present invention provides a high accuracy camera module calibration equipment including: guide rail 1, slider 2, calibration plate 3 and control cabinet 4.

The calibration plate 3 is arranged on the slide block 2;

the slide block 2 is movably arranged on the guide rail 1;

and the console 4 is used for acquiring a first calibration plate image of the calibration plate at a first position and a second calibration plate image of the calibration plate at a second position, which are acquired by the camera module, and calibrating the camera module by using three-dimensional space information.

Specifically, the shape of the guide rail 1 determines the moving direction and position of the slider 2. When the shape of the guide rail 1 is a straight line, the slider 2 moves in a linear direction in a three-dimensional coordinate system of the camera module. When the shape of the guide rail 1 is circular arc, the slider 2 moves in the three-dimensional coordinate system of the camera module along the circular arc, but the parameters of the circular arc in the three-dimensional coordinate system of the camera module are different from those in the world coordinate system, and the circular arc needs to be obtained through rigid transformation. When the shape of the guide rail is irregular, the movement of the slider 2 in the three-dimensional coordinate system of the camera module also presents irregular shape, but the complexity of rigid transformation is large, and the precision is low.

Preferably, the guide rail 1 is a linear guide rail. In some embodiments, the rail 1 is a simple linear rail, as shown in fig. 2. A consistent inverted T-shaped groove is formed in the guide rail and used for the sliding of the sliding block 2. The bottom of the slide block 2 is also in an inverted T shape and is matched with the groove of the guide rail 1. In some embodiments, the bottom of the guide rail 1 is provided with a conveyor belt 6. The conveyer belt is connected with the motor and is driven by the motor to convey. The movement of the conveyor belt drives the sliding block 2 to slide. The control cabinet controls the rotation of the motor, and then drives the motion of conveyer belt to realize the slip of slider 2 on guide rail 1, make slider 2 remove between predetermined position.

In some embodiments, as shown in FIG. 3, a positioning device is also provided. The positioning device adopts a mode of arranging a positioning rod at a preset position. As shown in fig. 3, the cross-section of the positioning rod 7 is square, and the side length of the square is smaller than the size of the groove in the guide rail 1. The bottom of the positioning rod is provided with a gear clamping groove which can be in butt joint with a gear. The gear is driven by a motor. When the motor rotates, the motor drives the gear to move, and the gear drives the positioning rod to move through the clamping groove. The locating rod is transversely arranged in the guide rail and prevents the sliding block from further moving so as to realize accurate locating. In this embodiment, the motor is composed of two gears: normal gear and low power gear. And when the sliding block is far away from the preset distance, the power transmission is carried out by adopting a normal gear. And when the sliding block is closer to the preset distance, the low-power gear is adopted for power transmission. When the low-power gear is transmitted, the sliding block and the calibration plate can be driven to move at a low speed, certain force is kept after the positioning rod is met, the sliding block is tightly attached to the positioning rod, and therefore the position is more accurate.

In some embodiments, as shown in fig. 4, a grating scale displacement sensor is installed. The displacement sensor of the grating ruler consists of two parts, namely a ruler grating 8 and a grating reading head 9. The scale grating is fixed on the sliding block, the grating reading head is arranged below the camera module, and the indication grating is arranged in the grating reading head. Because the precision of the grating ruler is very high, the data of the grating ruler can be used as accurate distance data, and therefore the accuracy of the distance data is improved. In this embodiment, the camera module and the grating reading head are both located at one end of the guide rail, and the camera module is located above the grating reading head. The mirror surface of the camera module and the mirror surface of the grating reading head are positioned on the same plane and are vertical to the direction of the guide rail. According to the embodiment, the accuracy of the position data is greatly improved, and a high-precision calibration result is obtained.

In some embodiments, the guide rail 1 may also be a rectilinear guide rail with corners, as shown in fig. 5. Different from the previous embodiment, the embodiment has the positioning groove 10 beside the straight line, and the slider 2 is driven to move into the positioning groove, so that more precise positioning is realized. The joint of the positioning groove and the guide rail main body is in an inverted splayed shape, so that the calibration plate can enter the positioning groove more easily. The embodiment realizes accurate positioning in a mechanical mode, and has low cost while obtaining high precision.

In some embodiments, as shown in fig. 6, a calibration camera 11 is further included. The calibration camera 11 is a calibrated high precision camera for providing accurate calibration plate data. The orientation of the calibration camera is the same as that of the camera module, so that the included angle between the optical axis of the camera module and the calibration plate is the same. When the calibration plate moves from the first position to the second position, the included angles between the optical axis of the camera module and the calibration plate are still the same as those between the optical axis of the camera module and the calibration plate.

In some embodiments, as shown in FIG. 7, a high precision calibration plate is used. Compared with a common calibration plate, the high-precision calibration plate has higher precision and higher data density, so that a more accurate calibration result can be obtained. Unlike ordinary calibration plates, the marking points of high-precision calibration plates usually have a certain height, so that the plane of the marking points and the plane of the base plate are not on the same plane. This feature allows better acquisition of landmark point data for normal camera calibration. In this embodiment, the data of the mark point can be better obtained, and the difference between the plane of the mark point and the plane of the bottom plate can be used to simultaneously obtain two planes and simultaneously obtain the data of the two planes, so that the amount of the obtained data is multiplied.

Fig. 8 is a schematic structural diagram of another high-precision camera module calibration apparatus according to an embodiment of the present invention, which is suitable for calibrating a plurality of camera modules simultaneously. As shown in fig. 8, different from the foregoing embodiment, in another high-precision camera module calibration apparatus in this novel embodiment, one calibration plate is used to calibrate the plurality of camera modules simultaneously.

Specifically, the calibration plate is much larger in size than the calibration plate in the previous embodiment, and the calibration plate is rectangular, unlike the square in the prior art. In order to increase the information density of the calibration plate, different patterns exist at different positions of the marking points on the whole calibration plate. Because the calibration plate is only one, only one guide rail is needed to control the movement of the calibration plate. However, at least two guide rails are usually provided to improve the stability of fixing and moving the calibration board. The motion of the calibration plate on the two guide rails is simultaneously controlled through the console, so that the view fields of the plurality of camera modules are changed simultaneously. The included angles between the optical axes of the camera modules and the calibration plate are the same.

In some embodiments, the optical axis of the calibration camera is parallel to the optical axis of the camera module. The calibration camera is positioned at the center of the plurality of camera modules in the horizontal or vertical direction. When the plurality of camera modules are horizontally arranged, the calibration camera is located at the horizontal center of the plurality of camera modules, and may be the same as or different from the plurality of camera modules in the vertical direction. When the plurality of camera modules are vertically arranged, the calibration camera is positioned at the vertical center of the plurality of camera modules, and the calibration camera can be the same as or different from the plurality of camera modules in the horizontal direction.

The embodiment uses one calibration plate to calibrate a plurality of camera modules simultaneously, greatly improves the calibration efficiency, is suitable for the industrial test process, can calibrate the camera modules in batches while acquiring high-precision calibration data, has higher calibration speed, and is suitable for industrial production.

Fig. 9 is a flowchart illustrating steps of a calibration method according to an embodiment of the present invention. As shown in fig. 9, an embodiment of the present invention provides a calibration method, including:

s1, respectively acquiring a first calibration plate image at a first position and a second calibration plate image at a second position, and acquiring the travel distance of the calibration plate from the first position to the second position.

In this step, the camera module to be measured is fixed, and the calibration plate is moved, thereby obtaining images of the calibration plate at different positions. The first position is the initial position of the calibration plate. The second position is the position of the calibration plate after movement. The second position may be plural. The advancing direction and the advancing distance of the calibration plate are obtained by taking a fixed anchor point as a reference, the fixed anchor point can be a part of the calibration plate or not, for example, the fixed anchor point can be the center of the calibration plate or a clamping device of the calibration plate. When the calibration plate is at the first position, the calibration plate is full of the visual field of the camera module to be tested.

In some embodiments, the calibration plate is moved by a sliding rail, so that the travel distance of the calibration plate can be obtained more accurately, and the accuracy of data is improved.

In some embodiments, the calibration plate is perpendicular to the optical axis direction of the camera module, so as to improve the initial data accuracy of the calibration plate.

In some embodiments, the direction of travel is neither parallel nor perpendicular to the direction of the optical axis of the camera module. The utility model discloses can rectify the image of calibration plate for the degree of freedom of calibration process increases, has reduced the complexity of calibration process.

Step S2: and preliminarily calibrating the parameters of the camera module according to the first calibration plate image.

In this step, the camera module parameters include an internal parameter and an external parameter. In the step, calibration data is obtained by a two-dimensional plane calibration method in the prior art, for example, camera module parameters are obtained by a Zhang Yongyou calibration method. The camera module in this embodiment is a device with a depth imaging function, and includes, but is not limited to, a single camera module, a binocular camera module, a monocular structured light camera module, a binocular structured light camera module, and a TOF camera module related thereto.

And step S3: and calculating the surface normal vector and the advancing direction of the calibration plate so as to obtain a first included angle between the surface normal vector and the advancing direction of the calibration plate.

In the step, the image of the calibration plate is subjected to three-dimensional reconstruction, so that the surface parameters of the calibration plate can be calculated, and the surface normal vector of the calibration plate is obtained; and then calculating the advancing direction of the anchor point consistent with the calibration plate to obtain the advancing direction of the calibration plate, so as to obtain the first included angle. When the surface normal vector of the calibration plate is calculated, different schemes can be adopted for processing according to different hardware. For example, when the orientation consistency of the calibration plate is good, the surface normal vector of the first calibration image can be adopted for calculation; and when the orientation consistency of the calibration plate is poor, the first calibration image and the second calibration image can be adopted to respectively calculate. When calculating the traveling direction, different schemes may be adopted according to different hardware. For example, when a marking area is provided on the calibration plate, the traveling direction may be calculated by the characteristics of the marking area. The first angle may be one angle or a set of angles at different positions.

And step S4: and optimizing the parameters of the camera module according to the first calibration plate image, the second calibration plate image, the first included angle and the advancing distance.

In this step, complete three-dimensional spatial data can be obtained by using the first calibration plate image, the second calibration plate image, the first included angle and the travel distance in a camera coordinate system, so that parameters of a camera module can be optimized by using known information. When optimization is carried out, the more three-dimensional space data has better optimization effect, so that the first calibration plate image and the second calibration plate image are adopted for carrying out optimization together. When the number of the second calibration plate images is more than 3, the calibration effect can meet various application requirements.

Fig. 10 is a flowchart illustrating a step of calculating a first included angle according to an embodiment of the present invention. In this embodiment the marking plate has a marking area. As shown in fig. 10, another flowchart of the step of calculating the first included angle in the embodiment of the present invention includes:

step S321: and reconstructing the surface S of the calibration plate by using a calibration camera, deducting the area SA of the mark area, and performing space plane fitting on the residual area (S-SA), wherein the direction of the fitted space plane is the surface normal vector of the calibration plate.

In this step, the characteristics of the marking area on the calibration plate are taken into account. Because the high-precision calibration plate is generally manufactured by adopting a ceramic + printing (or etching) process, the influence of printing (or etching) on the space position of the mark area needs to be considered in the actual use process. Such as a high precision calibration plate manufactured by a company, which prints indicia having a height of about 20 microns. In practice, the height of the marking area needs to be actually measured, so that in actual use, whether the height of the marking area on the surface of the calibration board is corrected or not can be comprehensively considered according to requirements. The calibration area includes, but is not limited to, calibration primary spots, cross hairs, checkerboards, two-dimensional codes, and the like.

When three-dimensional reconstruction is carried out, a certain mark area is taken as an origin of coordinates, the normal vector direction of the surface is taken as the Z-axis direction, and the X and the Y are respectively taken as the X direction and the Y direction along the horizontal and vertical directions in which the mark areas on the calibration plate are regularly distributed, so that the coordinates of all the mark areas can be obtained as (X is _ij ,Y _ij ,Z _ij ) Where i is the number of the mark regions from the origin in the X direction, and j is the number of the mark regions from the origin in the Y direction, for example, starting from the origin, the mark regions in the 3 rd row along the X axis and the mark regions in the 4 th row along the Y axis are represented as (X) ₃₄ ,Y ₃₄ ,Z ₃₄ ). Based on the characteristics of the calibration plate, the location and area of the marker region can be determined.

Since the height of the mark area SA is different from the heights of other areas (S-SA), there is a sudden change in depth data, and it is easy to cause a sudden change in measurement, for example, TOF depth data is prone to have a multipath interference problem when measuring such a corner, so that the mark area SA needs to be eliminated to obtain more stable and reliable depth data, and especially data in the Z-axis direction has better consistency, so that the spatial plane fitting is more accurate.

The mark region in the present embodiment refers to a region in a certain range of the mark region and its vicinity. The index area differs depending on the calibration plate. For example, when the height of the marking area on the Z axis is higher, the marking area is larger; when the area of the mark region on the XY plane is large, the mark region is also large. When the parameters of the marking plate are determined, the marking area is usually also determined and remains unchanged during a calibration process. Since the area of the remaining region (S-SA) is not smaller than the area S of the calibration board, usually not smaller than 50%, the area of the mark in the selected mark board is not larger than 20% to ensure sufficient effective measurement area.

In some embodiments, step S321 may further be:

step S321: and reconstructing the surface S of the calibration plate by using a calibration camera, fitting a space plane, solving a surface normal vector, and taking the average value of the surface normal vectors of the calibration plate at the first position and the second position as the surface normal vector of the calibration plate.

In this step, more stable surface normal vector data can be obtained by averaging the surface normal vectors at a plurality of positions. This step is applicable to schemes that do not easily cause erroneous measurement results for depth variations, such as binocular camera modules or structured light cameras. Compared with the previous steps, the mark area and other areas are not distinguished in the step, and the surface normal vector is directly calculated. Since the surface normal vectors of the mark region and other regions are generally consistent, this step is the simplest, efficient and stable solution when the depth variation of the mark region has no significant influence on the measurement result.

It is easy for those skilled in the art to understand that the measurement in the previous step is also calculated at multiple positions and averaged, and the solution is also within the scope of the present invention.

Step S322: and calculating the spatial positions of the same mark area on the calibration plate at the first position and the second position, and performing straight line fitting to obtain a first direction.

In this step, the traveling direction is calculated using the characteristic that the marker region is easily recognized in the three-dimensional space. In a camera coordinate system, spatial positions of the same mark region at different positions are obtained through calculation, and a first direction is obtained through straight line fitting. In calculating the marker region position, the position of the marker region is represented by the center of the marker region. The first direction is the direction of a straight line obtained by straight line fitting. In the calculation process, the spatial positions of all the mark areas need to be calculated in the first position and the second position, so that the three-dimensional spatial positions of all the mark areas can be obtained more quickly.

Step S323: and averaging all the first directions to obtain the advancing direction.

In this step, the traveling direction is obtained by averaging the plurality of first directions obtained in step S322. The directions obtained by calculating the plurality of mark areas are averaged, so that errors easily caused by a single mark area can be well avoided, and more accurate and stable data, namely more accurate traveling directions, can be obtained. Compared with the direction obtained by a single mark area and the direction obtained by measuring with a tool, the travelling direction obtained by the step has obvious advantages and is more accurate and reliable.

In this step, a first included angle between the surface normal vector of the calibration board and the traveling direction can be obtained through the calculation in the foregoing step.

In the embodiment, the calibration plate with the mark area is used, the surface normal vector is calculated by using the area except the mark area, the traveling direction is calculated by using the mark area, the characteristics of the high-precision calibration plate are fully utilized, and higher calibration precision can be obtained.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.

Claims

1. The utility model provides a high accuracy camera module calibration equipment which characterized in that includes: the device comprises a guide rail, a slide block, a calibration plate and a control console;

the calibration plate is arranged on the sliding block;

the sliding block is movably arranged on the guide rail;

2. A high accuracy camera module calibration apparatus according to claim 1, wherein said calibration plate is perpendicular to the direction of the optical axis of said camera module.

3. The high-precision camera module calibration device according to claim 1, further comprising:

4. The high-precision camera module calibration device according to claim 1, further comprising:

5. The high-precision camera module calibration device according to claim 1, further comprising:

6. A high precision camera module calibration apparatus according to claim 1, wherein said console controls said calibration board to calibrate a plurality of said camera modules simultaneously.

7. A high accuracy camera module calibration apparatus according to claim 6, wherein a single calibration plate is used to calibrate said plurality of camera modules simultaneously.

8. The high-precision camera module calibration device according to claim 6, further comprising:

9. A high precision camera module calibration apparatus according to claim 1, wherein the step of the console in calibrating the camera module comprises:

and step S3: calculating a surface normal vector and a traveling direction of the calibration plate, so as to obtain a first included angle between the surface normal vector and the traveling direction of the calibration plate;

10. A high precision camera module calibration apparatus according to claim 9, wherein said calibration plate has a mark area, and said step S3 includes: