CN218819553U - Camera fixing device and camera calibration device - Google Patents

Abstract

The utility model provides a camera fixed equipment and camera calibration equipment relates to artificial intelligence technical field, especially relates to the autopilot field. The specific implementation scheme is as follows: the camera fixing equipment comprises a mounting seat and a gland, wherein the mounting seat comprises a mounting plate and a first positioning pin, and the first positioning pin is arranged on the mounting plate and is used for being matched with a mounting hole of a camera; the gland comprises a gland body and an elastic piece, the gland body is detachably connected with the mounting plate, and the gland body forms a mounting cavity for accommodating a camera main body of a camera; the elastic piece is arranged at the gland body and used for clamping the camera main body in the installation cavity. This camera fixed equipment can also quick clamping camera to improve the convenience of changing the camera, improve camera dismouting efficiency and use manpower sparingly.

Description

Camera fixing device and camera calibration device

Technical Field

The utility model relates to an artificial intelligence technical field especially relates to the autopilot field, more specifically, the utility model provides a camera fixed equipment and camera calibration equipment.

Background

The automatic driving vehicle needs to be provided with a camera to realize a sensing function, the camera needs to calibrate a focal length, a principal point, distortion parameters and the like before being used, and the accuracy of a calibration result directly influences the accuracy of a camera working result. The apparatus for calibrating the camera needs to fix the camera at a specific position and make the camera stable and not move, and the apparatus and the camera are easily damaged during the assembly process.

SUMMERY OF THE UTILITY MODEL

The utility model provides a camera fixed equipment and camera calibration equipment.

According to an aspect of the present invention, there is provided a camera fixing device, comprising a mounting base and a gland, wherein the mounting base comprises a mounting plate and a first positioning pin, and the first positioning pin is arranged on the mounting plate and used for being matched with a mounting hole of a camera; the gland comprises a gland body and an elastic piece, the gland body is detachably connected with the mounting plate, and the gland body forms a mounting cavity for accommodating a camera main body of a camera; the elastic piece is arranged at the gland body and used for clamping the camera main body in the installation cavity.

According to the utility model discloses an on the other hand provides a camera calibration equipment, including above-mentioned camera fixed equipment and mobile device, mobile device's expansion end and camera fixed equipment fixed connection to it removes according to predetermined route to drive camera fixing device.

It should be understood that the statements herein are not intended to identify key or critical features of any embodiment of the present invention, nor are they intended to limit the scope of the invention. Other features of the present invention will be readily apparent from the following specification.

Drawings

The attached drawings are used for better understanding the present solution and do not constitute a limitation to the present invention. Wherein:

fig. 1 is a schematic structural view of a camera fixing device according to an embodiment of the present invention;

fig. 2 is a schematic structural view of a bottom surface of a camera according to an embodiment of the present invention;

fig. 3A is a schematic front view of a mount according to an embodiment of the invention;

fig. 3B is a schematic back view of a mounting base according to an embodiment of the invention;

figure 4 is a schematic structural diagram of a gland according to an embodiment of the present invention;

fig. 5A is a schematic isometric view of a camera fixture according to another embodiment of the invention;

FIG. 5B is a front view of the camera fixture shown in FIG. 5A;

FIG. 5C is a top view of the camera fixture shown in FIG. 5A;

FIG. 5D is a left side view of the camera fixture shown in FIG. 5A;

FIG. 5E is a right side view of the camera fixture shown in FIG. 5A;

FIG. 5F is a bottom view of the camera fixture shown in FIG. 5A;

FIG. 6 isbase:Sub>A sectional view taken along line A-A of FIG. 5C;

FIG. 7 is a cross-sectional view of the mount and gland prior to assembly; and

fig. 8 is a schematic structural diagram of a camera calibration device according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

In some embodiments, during calibration of camera parameters (e.g., internal parameters), the camera may be fixed in a particular position using a fixture, which may include a fixed gantry having a bracket fixed thereto, the camera and the bracket being fixed by screws. Then the target is held by hand, and images are shot at different positions in the visual field of the camera, so that internal parameters of the camera are obtained.

It should be noted that the camera is fixed on the bracket through the screw, and the screw needs to be repeatedly disassembled and assembled when the camera is fixed and replaced every time, so that the internal thread of the threaded hole of the camera is easily damaged in the disassembling and assembling process, and the camera is scrapped. In addition, the screw dismounting mode still has the problem that wastes time and energy, influences dismouting efficiency.

The utility model aims at providing a camera fixed equipment, this camera fixed equipment are applicable to the demarcation operation of camera internal parameter or other parameters, and this camera fixed equipment can also not damage the screw hole of camera at the in-process of dismouting camera on realizing that camera remains stable and unmovable basis after fixed to alleviate the condemned problem of camera. Furthermore, the accuracy of the position after each camera change can be ensured. In addition, in some embodiments, the camera fixing device can also quickly clamp the camera, so that the convenience of replacing the camera is improved, the camera dismounting efficiency is improved, and manpower is saved.

The technical solution provided by the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

Fig. 1 is a schematic structural diagram of a camera fixing device according to an embodiment of the present invention.

As shown in fig. 1, in the present embodiment, the camera fixing device 100 is used to fix the camera 200, and parameter calibration may be performed after the camera 200 is fixed. The camera 200 may include a camera body 210 and a lens 220 provided to the camera body 210. The camera fixture 100 may include a mount 110 and a gland 120.

The mounting base 110 includes a mounting plate 111, and the mounting plate 111 has a flat plate structure of any shape.

The mounting base 110 further includes a first positioning pin 112, and a central axis of the first positioning pin 112 forms an included angle with the plate surface of the mounting plate 111, and the included angle may be substantially 90 degrees, or may be other angles. The first positioning pin 112 is provided on the mounting plate 111, and the first positioning pin 112 is provided on the mounting plate 111 by means of, for example, adhesion, screwing, interference fit, integral molding, or the like. For example, the screw connection may be performed by forming the mounting plate 111 with a threaded hole having an internal thread, forming an external thread at the end of the first positioning pin 112, and then screwing the threaded hole of the mounting plate 111 with the end of the first positioning pin 112. The number of the first positioning pins 112 is at least one, and may be 2 or more, for example. The first positioning pin 112 is used for being matched with the mounting hole 211 of the camera 200, when the camera is used, the mounting hole 211 of the camera 200 can be sleeved on the periphery of the first positioning pin 112, the mounting hole 211 of the camera 200 can be provided with internal threads, and the mounting hole 211 of the camera 200 and the first positioning pin 112 can be in interference fit or can be provided with a gap.

The gland 120 includes a gland body 121, and the gland body 121 and the mounting plate 111 are detachably connected through a bolt connection, a clamping connection, a magnetic attraction and the like. The cover body 121 is formed with a mounting cavity at a position opposite to the position of the first positioning pin 112, thereby accommodating the camera main body 210 of the camera 200.

The pressing cover 120 further includes an elastic member 122, the elastic member 122 may be a spring, a spring plate, a supporting block made of an elastic material, and the like, and the elastic material may be rubber, silicone, and the like. The elastic member 122 is disposed at the gland body 121, for example, the elastic member 122 and the gland body 121 may be connected by bonding, bolting, integral molding, or the like. In use, after the camera 200 is placed in the mounting cavity, the elastic member 122 may contact the outer sidewall of the camera body 210 of the camera 200 and apply a force to the camera body 210 by elasticity, and the force may include a first component toward the mounting plate 111 and may further include a second component toward the center of the mounting cavity, so that the camera body 210 is stable and does not shake after being fixed, and the camera 200 is prevented from falling off the first positioning pin 112.

The number of the elastic members 122 may be at least one, for example, when the number of the elastic members 122 is one, the elastic members 122 may cooperate with the inner side wall of the gland body 121 to clamp the camera main body 210 in the mounting cavity. For example, when the number of the elastic members 122 is at least two, a plurality of elastic members 122 are distributed on the outer circumference of the camera 200, and the plurality of elastic members 122 cooperate with each other to hold the camera body 210 in the mounting cavity.

In the process of mounting the camera 200, the mount 110 and the cover 120 may be separated from each other, and then the mounting hole 211 of the camera 200 is sleeved on the periphery of the first positioning pin 112, so that the camera body 210 can be quickly positioned at an accurate position by using the mounting hole 211 of the camera 200 and the first positioning pin 112 of the mount 110. Next, the cover 120 may be fitted over the camera body 210 through the lens 220 of the camera 200, and the cover 120 may be assembled with the mount 110. In the process that the pressing cover 120 is close to the mounting seat 110, the elastic member 122 in the pressing cover 120 contacts with the outer side wall of the camera body 210 and generates elastic deformation, so that the camera body 210 is clamped, the camera 200 is circumferentially fixed, the camera body 210 is prevented from shaking, and the camera 200 is also prevented from falling off from the first positioning pin 112 in the mounting seat 110.

In the process of detaching the camera 200, the mount 110 may be separated from the cover 120, and then the camera 200 may be removed from the first positioning pin 112 of the mount 110.

The embodiment of the present invention provides a camera fixing device 100, which can fix and position the camera 200, and since the first positioning pin 112 is used to cooperate with the mounting hole 211 of the camera 200, there is no need to install screws in the mounting hole 211 of the camera 200, thereby avoiding the problem that the screw is screwed in the process of damaging the internal thread of the mounting hole 211 of the camera 200 due to improper operation.

The following describes how the mount 110 and the camera 200 are positioned, with reference to fig. 2 and 3A.

As shown in fig. 2, the camera 200 may include a camera body 210 and a lens 220, at least one mounting hole 211 may be formed on a bottom surface of the camera body 210, and the number of the mounting holes 211 may be 2.

Accordingly, as shown in fig. 3A, the mount 110 may include a mounting plate 111 and a first positioning pin 112, the first positioning pin 112 being disposed at the mounting plate 111, the first positioning pin 112 being engaged with a mounting hole 211 at the bottom surface of the camera body 210.

The positioning of the mount 110 and the gland 120 will be described below with reference to fig. 3A and 4.

As shown in fig. 3A, the mounting base 110 may further include a second positioning pin 113, the second positioning pin 113 is disposed on the mounting plate 111, and an included angle is formed between a central axis of the first positioning pin 112 and a plate surface of the mounting plate 111, and the included angle may be substantially 90 degrees or other angles. The connection manner of the second positioning pin 113 and the mounting plate 111 can refer to the connection manner of the first positioning pin 112 and the mounting plate 111, and is not described herein again. The number of the second aligning pins 113 may be at least one.

Accordingly, as shown in fig. 4, the gland body 121 is formed with a positioning hole 12111, and the positioning hole 12111 of the gland body 121 is matched with the second positioning pin 113 of the mounting seat 110 to realize the positioning of the gland body 121.

The embodiment realizes the positioning of the mounting seat 110 and the gland 120 through the second positioning pin 113, the positioning precision is high, and the disassembly and the assembly are convenient.

The fixing method of the mount 110 and the gland 120 will be described below with reference to fig. 3B and 4.

The camera fixture 100 may also include a first magnet 130 and a second magnet 140. The first magnet 130 is provided on the mounting plate 111, and the first magnet 130 is fixed to the mounting plate 111 by means of adhesion, bolting, interference fit, or the like. The second magnet 140 is disposed on the gland body 121, and the second magnet 140 is fixed to the gland body 121 by bonding, bolting, interference fit, or the like. In addition, the position of the first magnet 130 is matched with the position of the second magnet 140, and the two magnets have opposite magnetic polarities, so that after the mount 110 is assembled with the cover 120, the magnetic force between the first magnet 130 and the second magnet 140 is along the axial direction of the lens 220 of the camera 200, and the mount 110 and the cover 120 are kept fixed by the magnetic force.

The fixing of the mount 110 and the gland 120 is realized by the first magnet 130 and the second magnet 140, and compared with other modes such as bolt connection, in the process of assembling and disassembling the camera 200, the bolt does not need to be disassembled, and the mount 110 and the gland 120 can be directly controlled to be separated from each other, so that the disassembling efficiency is improved.

As shown in fig. 3B, the mounting plate 111 may form at least one first mounting hole 1111, and accordingly, as shown in fig. 4, the gland body 121 may form at least one second mounting hole 12112, the positions of the first mounting holes 1111 and the positions of the second mounting holes 12112 corresponding one to one. A first magnet 130 is disposed in each first mounting hole 1111, and a second magnet 140 is disposed in each second mounting hole 12112. In addition, the number of the first mounting holes 1111 and the second mounting holes 12112 may be at least two, respectively, so that at least two first magnets 130 are fixed to the mount 110 and at least two second magnets 140 are fixed to the cover 120, thereby improving the fixing effect of the mount 110 and the cover 120.

As shown in fig. 4 and 5A, the gland body 121 includes a first body 1211 and a second body 1212.

For example, the first body 1211 has a plate-shaped structure, and an opening is formed at a middle portion of the first body 1211, the position of the opening corresponding to the position of the camera 200. The first body 1211 may be attached to the mounting plate 111 in an assembled state, the first body 1211 and the mounting plate 111 may be fixed by a bolt connection or the like, and when the first body 1211 and the mounting plate 111 are fixed by a magnetic attraction, the above-mentioned second magnet 140 may be disposed at the first body 1211 in the gland body 121.

For example, the second body 1212 is disposed at an opening in the middle of the first body 1211, the second body 1212 may be in a shell structure, and the second body 1212 protrudes toward a side of the first body 1211 away from the mounting plate 111, so as to form a mounting cavity, in which the camera 200 may be placed.

For example, the first body 1211 and the second body 1212 may be fixedly connected by bolts or other mechanical means, and the first body 1211 and the second body 1212 may also be an integrally formed member.

The gland body 121 in this embodiment includes a first body 1211 and a second body 1212, and different regions of the gland body 121 are used to fix the gland body to the mounting seat 110 and form a mounting cavity, so that the gland body is simple in structure and convenient to machine.

In other embodiments, the gland body 121 may also have other structures, so as to be fixed to the mount 110 and form a mounting cavity capable of accommodating the camera 200.

As shown in fig. 5A, 6 and 7, the elastic element 122 includes a resilient piece, a first end of the resilient piece is connected to the opening of the first body 1211, for example, the first end of the resilient piece is fixed to the opening of the first body 1211 by a bolt, or both are integrally formed. The second end of the spring is far away from the mounting plate 111 and close to the center of the mounting cavity relative to the first end. By adopting the technical scheme provided by the embodiment, the elastic sheet can clamp the camera body 210 of the camera 200 and circumferentially fix the camera body 210. The number of the elastic pieces is four, for example, so that the periphery of the camera body 210 is clamped, the camera 200 is locked, and the camera 200 is prevented from shaking.

As shown in fig. 5A, 6 and 7, the second body 1212 forms a notch 12121 avoiding the spring, the first end of the spring is located outside the mounting cavity, the middle of the spring passes through the notch 12121 of the second body 1212, and the second end of the spring extends into the inside of the mounting cavity to contact the camera main body 210. By adopting the technical scheme provided by the embodiment, when in actual processing, the material at the notch 12121 of the second body 1212 can be used as the elastic element 122, and other materials do not need to be consumed to separately manufacture the elastic element 122, thereby saving the equipment cost.

As shown in fig. 5A, 6 and 7, the camera 200 may include a camera main body 210 and a lens 220, the camera main body 210 may be located in the installation cavity, the cover pressing body 121 forms an avoidance hole 12122 for avoiding the lens 220 of the camera 200, for example, the avoidance hole 12122 is formed in a middle region of the second body 1212, the lens 220 of the camera 200 may protrude to an outer side of the cover pressing body 121 through the avoidance hole 12122, and the avoidance hole 12122 may avoid the cover pressing body 121 from shielding the lens 220 of the camera 200, thereby ensuring a photographing effect of the camera 200.

In other embodiments, the region of the gland body 121 corresponding to the lens 220 may be made of a transparent material, and the shooting effect of the camera 200 may also be ensured.

As shown in fig. 5A, the cover 120 further includes a handle 123 disposed on the cover body 121, for example, the handle 123 may be disposed on at least one of the first body 1211 and the second body 1212, and for example, the handle 123 is disposed on the first body 1211, and the handle 123 may be integrally formed or bolted or otherwise fixedly connected to the first body 1211. The gland body 121 is convenient to take and disassemble through the handle 123.

As shown in fig. 5A to 7, the mounting base 110 further includes a connecting portion 114, for example, the connecting portion 114 is disposed on a side of the mounting plate 111 facing away from the gland 120, and the connecting portion 114 may be a column structure, a tube structure, or the like. The connecting portion 114 is used for being connected with the movable end of the mobile device 300 in a matching manner, for example, the connecting portion 114 is detachably connected with the movable end of the mobile device 300 through a bolt.

As shown in fig. 8, in the present embodiment, the camera calibration apparatus includes a camera fixing apparatus 100 and a mobile device 300.

The structure of the camera fixing device 100 can be referred to above and will not be described in detail here. In some embodiments, the components of the camera fixture 100 having relative motion may be made of engineering plastic with high hardness, wear resistance, and self-lubricity, such as POM (polyoxymethylene), and include the mount 110, the cover 120, and the like.

The mobile device 300 may be a mechanical arm, a sliding table, or the like, and the movable end of the mobile device 300 is fixedly connected to the camera fixing apparatus 100 through a bolt connection, an interference fit, or other mechanical structure. In the process of calibrating the camera 200, the movable end of the moving device 300 drives the camera fixing equipment 100 to move according to a predetermined path by setting a program.

The camera calibration equipment provided by the embodiment can realize standardization and automation of a calibration process. Compared with the mode of keeping the camera 200 fixed and manually moving the target, the calibration efficiency can be improved, and the calibration cost is reduced.

The above detailed description does not limit the scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (11)

1. A camera fixing device, comprising:

the mounting base comprises a mounting plate and a first positioning pin, and the first positioning pin is arranged on the mounting plate and is used for being matched with a mounting hole of a camera; and

the gland comprises a gland body and an elastic piece, the gland body is detachably connected with the mounting plate, and the gland body forms a mounting cavity for accommodating a camera main body of a camera; the elastic piece is arranged at the gland body and used for clamping the camera main body in the installation cavity.

2. The apparatus of claim 1, further comprising:

a first magnet disposed on the mounting plate; and

the second magnet is arranged at the position of the gland body, which is matched with the first magnet, and has opposite magnetism to the first magnet.

3. The apparatus of claim 2, wherein the mounting plate defines at least two first mounting holes, the gland body defines at least two second mounting holes, and the positions of the at least two first mounting holes correspond one-to-one with the positions of the at least two second mounting holes; the first magnet is disposed in each of the at least two first mounting holes, and the second magnet is disposed in each of the at least two second mounting holes.

4. The apparatus of claim 1, wherein the gland body comprises:

the first body is of a plate-shaped structure, and an opening is formed in the middle of the first body; the first body is configured to fit against the mounting plate in an assembled state; and

the second body is arranged at the opening in the middle of the first body, and the second body deviates from the first body and protrudes from one side of the mounting plate to form the mounting cavity.

5. The apparatus of claim 4, wherein the resilient member comprises a resilient tab, a first end of the resilient tab is connected to the opening of the first body, and a second end of the resilient tab is away from the mounting plate and is closer to a center of the mounting cavity than the first end.

6. The apparatus of claim 5, wherein the second body forms a gap that clears the spring.

7. The apparatus of claim 1, wherein the mounting block further comprises a second locating pin disposed on the mounting plate, and the gland body is formed with a locating hole that mates with the second locating pin.

8. The apparatus of claim 1, wherein the gland body forms an avoidance hole for avoiding a lens of the camera.

9. The apparatus of claim 1, wherein the gland further comprises a handle disposed on the gland body.

10. The apparatus of claim 1, wherein the mounting block further comprises a connecting portion for mating connection with a moving device, the connecting portion being disposed on a side of the mounting plate facing away from the gland.

11. A camera calibration apparatus, comprising:

the camera fixture of any one of claims 1-10; and

and the movable end of the moving device is fixedly connected with the camera fixing equipment and is used for driving the camera fixing equipment to move according to a preset path.

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