CN218825589U

CN218825589U - Camera calibration image taking mechanism and calibration device

Info

Publication number: CN218825589U
Application number: CN202222428653.2U
Authority: CN
Inventors: 向立堂; 李星星; 张海飞
Original assignee: FORYOU SMARTY (HUIZHOU) ELECTRONICS CO LTD
Current assignee: FORYOU SMARTY (HUIZHOU) ELECTRONICS CO LTD
Priority date: 2022-09-13
Filing date: 2022-09-13
Publication date: 2023-04-07
Anticipated expiration: 2032-09-13

Abstract

The utility model discloses a camera mark gets picture mechanism, it includes frame, carrier assembly, optics plane mirror subassembly and picture card, carrier assembly locates the frame, the camera bears in carrier assembly, optics plane mirror subassembly includes optics plane mirror subassembly, optics plane mirror subassembly is located the camera top, and the shooting end of camera is towards optics plane mirror subassembly, picture card and optics plane mirror set up relatively in the X axle direction, and have the interval between the two; the camera shoots the image of the graphic card through the optical plane mirror; the utility model also discloses a calibration device. This application occupies factory building space little, has promoted the space utilization of factory building of enterprise, has reduced the cost of business, and the artifical participation of drawing is got in the demarcation of whole camera is few, and manual work intensity alleviates, and the quality and the efficiency of drawing are got in the demarcation can obtain guaranteeing.

Description

Camera calibration image taking mechanism and calibration device

Technical Field

The utility model relates to a technical field that the camera was markd specifically relates to a camera is markd and is got picture mechanism and calibration device.

Background

In the camera production process, parameter calibration is an essential step. During calibration, the camera shoots and extracts the real image from the graphic card, a distance far enough needs to be reserved between the graphic card and the camera to be calibrated, and no image acquisition blockage needs to be ensured between the graphic card and the camera so as to finish shooting and image acquisition. However, in the prior art, a camera calibration area is generally arranged in a factory building, a graphic card and a camera are respectively arranged in a far linear distance, and the graphic card and the camera are vacant between the graphic card and the camera to avoid shooting blockage, so that a large space is occupied in the factory building, the utilization rate of the factory building space is low, and the production cost is indirectly increased.

SUMMERY OF THE UTILITY MODEL

To the deficiency of the prior art, the utility model provides a camera is markd and is got picture mechanism and calibration device.

The utility model discloses a camera is markd and is got picture mechanism, it includes:

a frame;

the bearing component is arranged on the frame, and the camera is borne on the bearing component;

the optical plane mirror assembly comprises an optical plane mirror piece, the optical plane mirror piece is positioned above the camera, and the shooting end of the camera faces the optical plane mirror piece; and

the image card is arranged opposite to the optical plane mirror in the X-axis direction, and a distance is reserved between the image card and the optical plane mirror; the camera shoots the image of the picture card through the optical plane mirror.

According to the utility model relates to an embodiment, contained angle between the terminal surface of end is shot with the camera to optics plane mirror spare, the contained angle between optics plane mirror spare and the picture card is 45 degrees.

According to an embodiment of the present invention, the optical plane mirror assembly further comprises a plane mirror holder, the frame is located at one end of the plane mirror holder, and the other end of the plane mirror holder is located at the optical plane mirror assembly.

According to an embodiment of the present invention, the planar mirror bracket includes a first bracket, a second bracket, and an inclined surface fixing block; the frame is located perpendicularly to the lower extreme of first support, and the upper end of first support is located perpendicularly to the one end of second support, and the other end of second support is located to the inclined plane fixed block, and the inclined plane fixed block is located directly over the camera, and the inclined plane fixed block is located to the optics plane mirror spare.

According to the utility model relates to an embodiment, the frame includes the support body and divides a plurality of level (l) ing spares of locating the support body lower extreme, and the upper end of support body is located to the carrier assembly, and the frame levelness is adjusted in the cooperation of a plurality of level (l) ing spares to adjust the depth of parallelism of camera.

According to the utility model discloses an embodiment, it still includes the swing subassembly, and the swing subassembly includes first swing, and first swing is located to the carrier assembly, and first swing drives the carrier assembly and swings in the XZ plane.

According to the utility model discloses an embodiment, the swing subassembly still includes the second swing, and the second swing is located in the activity of first swing, and the second swing drives the carrier assembly and swings in the YZ plane.

According to the utility model discloses an embodiment, first swing piece includes first swing driver, first swing span and second swing span, and the second swing span is located in the rotation of first swing span, and the second swing span is located to first swing driver, and first swing span is located to the carrier module, and the drive end and the first swing span of first swing driver are connected, and the first swing span of its drive swings in the XZ plane to drive the synchronous swing of the camera in the carrier module.

According to the utility model discloses an embodiment, the second swing includes third swing span and second swing driver, and the third swing span is located in the activity of first swing span, and the drive end and the first swing of second swing driver are connected, and its first swing of drive swings in the YZ plane to drive the synchronous swing of camera in the carrier module.

A calibration device, which comprises the camera calibration drawing mechanism; and

and the calibration mechanism is electrically connected with the camera loaded in the bearing component and is used for receiving the image of the graphic card shot by the camera and finishing calculation and parameter calibration.

The beneficial effect of this application lies in: through the setting of the optical plane mirror piece that is in the camera top, make the camera shoot to the picture card and get the looks and see through the optical plane mirror piece of top and obtain, the picture route of getting has been changed, so the picture card can set up in the position that is close to factory building ceiling, the picture route of getting that the camera acquireed the picture card image is mainly that the unobstructed space from the factory building top goes on, can not interfere the regional space of below, make the regional other operations that can carry out in step of below, so the space utilization of factory building has been promoted, indirectly reduced the manufacturing cost of enterprise.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

fig. 1 is a schematic structural diagram of a camera calibration drawing taking mechanism in the embodiment;

FIG. 2 is a schematic diagram illustrating an application of the camera calibration drawing mechanism in the factory floor according to the embodiment;

FIG. 3 is a schematic structural view of another view angle of the camera calibration drawing mechanism in the embodiment;

FIG. 4 is an enlarged view of part A of FIG. 1 in the example.

Detailed Description

In the following description, numerous implementation details are set forth in order to provide a more thorough understanding of the present invention. It should be understood, however, that these implementation details should not be used to limit the invention. That is, in some embodiments of the invention, such practical details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

It should be noted that all the directional indicators in the embodiments of the present invention, such as up, down, left, right, front, back, 82308230, are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture as shown in the drawings, and if the specific posture is changed, the directional indicator is changed accordingly.

In addition, the descriptions related to "first", "second", etc. in the present invention are only for description purposes, not specifically referring to the order or sequence, and are not intended to limit the present invention, but only to distinguish the components or operations described in the same technical terms, and are not to be construed as indicating or implying any relative importance or implicit indication of the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory to each other or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

For further understanding of the contents, features and functions of the present invention, the following embodiments will be described in detail in conjunction with the accompanying drawings:

example one

Referring to fig. 1 and fig. 2, fig. 1 is a schematic structural diagram of a camera calibration drawing-fetching mechanism in the embodiment, and fig. 2 is a schematic application diagram of the camera calibration drawing-fetching mechanism in the embodiment in a factory floor. The camera calibration drawing taking mechanism in the embodiment comprises a frame 1, a bearing assembly 2, an optical plane mirror assembly 3 and a drawing card 4. The bearing assembly 2 is arranged on the frame 1, and the camera 100 is carried on the bearing assembly 2. The optical plane mirror assembly 3 includes an optical plane mirror 31, the optical plane mirror 31 is located above the camera head 100, and the shooting end of the camera head 100 faces the optical plane mirror 31. The graphic card 4 and the optical plane mirror 31 are arranged oppositely in the X-axis direction, and a distance is reserved between the graphic card and the optical plane mirror; the camera takes an image of the card 4 through the optical flat mirror 31.

Through the setting of the optical plane mirror 31 that is in camera 100 top, make camera 100 shoot to figure card 4 and get the looks and see through the optical plane mirror 31 of top and obtain, the route of getting the picture has been changed, so figure card 4 can set up in the position that is close to factory building ceiling, camera 100 obtains getting the picture route of figure card 4 image and mainly goes on from the unobstructed space of factory building top, can not interfere the regional space of below, make the regional other operations that can carry out in step below, so the space utilization of factory building has been promoted, the indirect manufacturing cost who has reduced the enterprise.

As shown in fig. 1 and 2, XYZ axes are introduced in the present embodiment for easy understanding, in which the Z axis is a vertical direction, and the X axis and the Y axis are two directions perpendicular to each other in a horizontal plane. The optical plane mirror 31 in this embodiment is an optical plane mirror, which can reflect light, and the camera 100 takes a picture of the graphic card 4 reflected by the optical plane mirror 31, thereby completing drawing of the image of the graphic card 4. The camera 100 in this embodiment is a small angle telephoto camera. The existing camera 100 fixture can be adopted by the bearing component 2 in the embodiment, the bearing component 2 can clamp and position the camera 100 and has an electric connection structure, so that the outside is electrically connected with the camera 100, and the information interaction between the camera 100 and the outside is realized. The graphic card 4 in this embodiment may be an existing graphic card, and is not limited herein. The graphic card 4 is parallel to the YZ plane, and the graphic card 4 can be supported by a bracket or suspended from the ceiling of a factory. In a specific application, the distance between the graphic card 4 and the optical plane mirror 31, and the distance between the camera 100 and the optical plane mirror 31 may be adaptively set according to a focal length and a viewing angle of the camera 100 to be actually calibrated, which is not limited herein.

Preferably, the included angle between the optical plane mirror 31 and the end face of the shooting end of the camera 100 and the included angle between the optical plane mirror 31 and the graphic card 4 are both 45 degrees. So for camera 100, optical plane mirror 31 and picture card 4's line in order is the L type, is more convenient for set up in the factory building, also makes camera 100 can be more accurate the image that obtains picture card 4.

Referring to fig. 3, fig. 3 is a schematic structural view of another view angle of the camera calibration image capturing mechanism in the embodiment. Further, the optical plane mirror assembly 3 in this embodiment further includes a plane mirror bracket 32, one end of the plane mirror bracket 32 is disposed on the rack 1, and the optical plane mirror 31 is disposed on the other end of the plane mirror bracket 32. The optical plane mirror element 31 is supported by the plane mirror bracket 32, and the optical plane mirror element 31 is connected with the frame 1 by the plane mirror bracket 32, which is also convenient for the overall movement and transposition of the camera calibration and drawing mechanism. Of course, in other embodiments, the optical plane mirror 31 may also be suspended from the ceiling of the factory.

Preferably, the planar mirror holder 32 includes a first bracket 321, a second bracket 322, and a bevel fixing block 323; the lower end of the first bracket 321 is vertically arranged on the frame 1, one end of the second bracket 322 is vertically arranged on the upper end of the first bracket 321, the inclined plane fixing block 323 is arranged on the other end of the second bracket 322, the inclined plane fixing block 323 is arranged right above the camera 100, and the optical plane mirror 31 is arranged on the inclined plane fixing block 323. The first bracket 321, the second bracket 322 and the bevel fixing block 323 are matched to facilitate the optical plane mirror 31 to be arranged at an angle of 45 degrees right above the camera 100.

Specifically, the first bracket 321 is fixedly arranged on the frame 1 along the Z-axis direction, the upper end of the first bracket is close to the ceiling of the factory building, one end of the second bracket 322 is vertically arranged at the upper end of the first bracket 321 along the X-axis direction, the inclined plane fixing block 323 is arranged at the other end of the second bracket 322, the inclined plane fixing block 323 is inclined in the direction of 45 degrees from the Z-axis to the X-axis, and the optical plane mirror 31 is fixedly arranged on the inclined plane fixing block 323 in an adaptive manner, so that the optical plane mirror 31 is positioned right above the camera 100 and is parallel to the direction of 45 degrees from the Z-axis to the X-axis.

Referring to fig. 1 and 3 again, further, the frame 1 includes a frame body 11 and a plurality of horizontal adjusting members 12 respectively disposed at the lower end of the frame body 1, the bearing assembly 2 is disposed at the upper end of the frame body 1, and the plurality of horizontal adjusting members 12 cooperate to adjust the levelness of the frame 1, so as to adjust the parallelism of the camera 100. Through the levelness that a plurality of parallel adjustment spare 12 cooperation adjustment frame 1 guarantee that the terminal surface of camera 100 shooting end is parallel with the horizontal plane, also be parallel with the XY face promptly to guarantee that camera 100 can be accurate see through optical plane mirror 31 and obtain the positive image of picture card 4, guarantee the accuracy of maring.

Specifically, the frame body 11 is a rectangular box structure, the upper end of the frame body is a working table 111, and the bearing assembly 2 and the first support 321 are both arranged on the working table 111. The number of the horizontal adjusting pieces 12 is four, and the four horizontal adjusting pieces 12 are respectively installed at the lower end of the frame body 11 and are respectively positioned at four corners of the frame body 11. The horizontal adjusting member 12 in this embodiment is a foot pad screwed to the lower end of the frame body 11, and the height of four corners of the frame body 11 can be adjusted by adjusting the depth of the horizontal adjusting member 12 screwed to the lower end of the frame body 11, so that the working table 111 of the frame body 11 is located at a position parallel to the horizontal plane, that is, at a position parallel to the XY plane.

Example two

Referring to fig. 4, fig. 4 is an enlarged view of a portion a of fig. 1 in the embodiment. The difference between the camera calibration and image capturing mechanism in this embodiment and the first embodiment is that it further includes a swing assembly 5. The bearing assembly 2 is arranged on the rack 1 through the swinging assembly 5, and the swinging assembly 5 can enable the bearing assembly 2 to swing in a three-dimensional space, namely an XYZ-axis space, namely, enable the camera 100 to swing in the XYZ-axis space, so as to facilitate multi-angle image taking of the camera 100.

Preferably, the swinging assembly 5 includes a first swinging member 51 and a second swinging member 52, the bearing assembly 2 is disposed on the first swinging member 51, and the first swinging member 51 drives the bearing assembly 2 to swing in the XZ plane. The first swinging member 51 is movably disposed on the second swinging member 52, and the second swinging member 52 drives the bearing assembly 2 to swing in the YZ plane. In this way, the first swinging member 51 and the second swinging member 52 are engaged with each other to swing the camera 100 in the XYZ-axis space.

Specifically, the first swing member 51 includes a first swing driver 511, a first swing frame 512, and a second swing frame 513, the first swing frame 512 is rotatably disposed on the second swing frame 513, the first swing driver 511 is disposed on the second swing frame 513, the carrier module 2 is disposed on the first swing frame 512, a driving end of the first swing driver 511 is connected to the first swing frame 512, and drives the first swing frame 512 to swing in the XZ plane and drive the camera in the carrier module 2 to swing synchronously. The second swinging member 52 includes a third swinging frame 521 and a second swinging driver 522, the first swinging member 51 is movably disposed on the third swinging frame 521, and a driving end of the second swinging driver 522 is connected to the first swinging member 51, and drives the first swinging member 51 to swing in the YZ plane and drive the camera in the bearing assembly 2 to swing synchronously.

The first swing frame 512 includes a first bottom plate 5121 and two first side plates 5122, the first bottom plate 5121 is parallel to the XY plane, and one end of each of the two first side plates 5122 is vertically disposed at two opposite ends of the second bottom plate 5121. The bearing assembly 2 is arranged in the middle of the first bottom plate 5121. The second swing frame 513 includes a second bottom plate 5131 and two second side plates 5132, and the second bottom plate 5131 is located on the same side of the two first side plates 5122 and is parallel to the YZ plane. One ends of the two second side plates 5132 are perpendicularly disposed at the opposite ends of the second base plate 5131, respectively. The other ends of the two first side plates 5122 are respectively rotatably connected to the inner walls of the other ends of the two second side plates 5132, so that a rotating connection structure is formed between the first swing frame 512 and the second swing frame 513. The first swing device 511 is a motor, and is disposed on an outer wall of the first side plate 5121, and is connected to the second side plate 5132 through the first side plate 5121 to drive the second side plate 5132 to rotate, so that the second swing frame 513 drives the camera 100 carried by the carrying assembly 2 to swing in the XZ plane. The third swing frame 521 is a plate and is fixedly arranged on the working platform 111, the third swing frame 521 is positioned on one side of the second bottom plate 5131 and is parallel to the second bottom plate 5131, and the third swing frame 521 is rotatably connected with the second bottom plate 5131 through a rotating shaft. The second swing driver 522 is disposed on a surface of the third swing frame 521, which faces away from the second base plate 5131, and the second swing driver 522 is a motor, and is connected to the second base plate 5131 through the third swing frame 521, and drives the second base plate 5131 to rotate, so that the second swing frame 513 drives the camera 100, which is borne by the bearing assembly 2 on the first swing frame 512, to swing in a YZ plane, thereby realizing the swing of the camera 100 in an XYZ space.

Preferably, a switch 13 is disposed on the working table 111 for controlling the camera calibration and image taking mechanism to be turned on and off. The switch 13 in this embodiment is a push switch.

EXAMPLE III

Referring to fig. 1 and fig. 3 again, the calibration device in this embodiment includes a camera calibration drawing mechanism and a calibration mechanism 6 in the first embodiment or the second embodiment, and the calibration mechanism 6 is electrically connected to the camera 100 carried in the carrier assembly 2, and is configured to receive a graphic card image captured by the camera 100 and complete calculation and parameter calibration. The calibration mechanism 6 is used for acquiring the picture of the graphic card 4 taken by the camera 100 and calibrating the camera 100 after calculation. In this embodiment, the calibration mechanism 6 may be an existing calibration mechanism, such as a combination of an industrial computer and a display screen, which is not limited herein.

The calibration and image-taking process of the camera in the embodiment is as follows: in the initial position, the carrier 2 is horizontally placed, the operator places the camera 100 on the carrier 2, then presses the switch 13 to start the camera calibration drawing mechanism, then the first swing driver 511 is started to drive the camera 100 to swing in the XZ plane, then the second swing driver 522 is started to drive the camera 100 to swing in the YZ axis space, and in the process, the camera 100 takes pictures of the graphic card 4 reflected by the optical plane mirror 31 for many times, and draws the pictures to the calibration mechanism 6. After the calibration mechanism 6 finishes drawing, and after calculation and calibration, the first swing driver 511 and the second swing driver 522 are closed, the camera 100 carried by the carrier assembly 2 returns to the initial position, and the operator takes the camera 100 out of the carrier assembly 2. The whole calibration graph-taking process is less in manual participation, the working strength is low, the whole process is automatically carried out, and the quality and the efficiency of the calibration graph-taking process can be guaranteed.

To sum up, the camera calibration image taking mechanism occupies a small plant space in the embodiment, the space utilization rate of an enterprise plant is improved, the enterprise cost is reduced, manual participation of the whole camera calibration image taking mechanism is less, the manual operation intensity is reduced, and the quality and the efficiency of the calibration image taking mechanism can be guaranteed.

The above is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims

1. A camera calibration and image retrieval mechanism, comprising:

a frame (1);

the bearing component (2) is arranged on the rack (1), and the camera is borne on the bearing component (2);

the optical plane mirror assembly (3) comprises an optical plane mirror piece (31), the optical plane mirror piece (31) is positioned above the camera, and the shooting end of the camera faces the optical plane mirror piece (31); and

a graphic card (4) which is arranged opposite to the optical plane mirror (31) in the X-axis direction with a space therebetween; the camera shoots the image of the picture card (4) through the optical plane mirror piece (31).

2. The camera calibration drawing mechanism according to claim 1, wherein an included angle between the optical plane mirror element (31) and an end face of a shooting end of the camera, and an included angle between the optical plane mirror element (31) and the graphic card (4) are both 45 degrees.

3. The camera calibration drawing mechanism according to claim 1, wherein the optical plane mirror assembly (3) further comprises a plane mirror bracket (32), one end of the plane mirror bracket (32) is arranged on the frame (1), and the optical plane mirror element (31) is arranged on the other end of the plane mirror bracket (32).

4. The camera calibration drawing mechanism according to claim 3, wherein the planar mirror bracket (32) comprises a first bracket (321), a second bracket (322) and a bevel fixing block (323); the lower extreme of first support (321) is located perpendicularly frame (1), the one end of second support (322) is located perpendicularly the upper end of first support (321), inclined plane fixed block (323) are located the other end of second support (322), inclined plane fixed block (323) are located directly over the camera, optical plane mirror spare (31) are located inclined plane fixed block (323).

5. The camera calibration drawing mechanism according to claim 1, wherein the frame (1) includes a frame body (11) and a plurality of horizontal adjusting members (12) respectively disposed at a lower end of the frame body (11), the bearing assembly (2) is disposed at an upper end of the frame body (11), and the plurality of horizontal adjusting members (12) are used for adjusting levelness of the frame (1) in a matching manner, so as to adjust parallelism of the camera.

6. The camera calibration drawing mechanism according to any one of claims 1 to 5, further comprising a swinging component (5), wherein the swinging component (5) comprises a first swinging member (51), the bearing component (2) is arranged on the first swinging member (51), and the first swinging member (51) drives the bearing component (2) to swing in the XZ plane.

7. The camera calibration drawing mechanism according to claim 6, wherein the swinging assembly (5) further comprises a second swinging member (52), the first swinging member (51) is movably disposed on the second swinging member (52), and the second swinging member (52) drives the bearing assembly (2) to swing in the YZ plane.

8. The camera calibration drawing mechanism according to claim 6, wherein the first swing member (51) includes a first swing driver (511), a first swing frame (512) and a second swing frame (513), the first swing frame (512) is rotatably disposed on the second swing frame (513), the first swing driver (511) is disposed on the second swing frame (513), the bearing component (2) is disposed on the first swing frame (512), and a driving end of the first swing driver (511) is connected to the first swing frame (512) and drives the first swing frame (512) to swing in the XZ plane and drive the camera in the bearing component (2) to swing synchronously.

9. The camera calibration drawing mechanism according to claim 7, wherein the second swinging member (52) includes a third swinging frame (521) and a second swinging driver (522), the first swinging member (51) is movably disposed on the third swinging frame (521), and a driving end of the second swinging driver (522) is connected to the first swinging member (51) and drives the first swinging member (51) to swing in the YZ plane and drive the camera in the bearing assembly (2) to swing synchronously.

10. A calibration device, comprising:

the camera calibration drawing mechanism of any one of claims 1-9; and

the calibration mechanism (6) is electrically connected with a camera carried in the carrying component (2), and is used for receiving a picture card image shot by the camera and completing calculation and parameter calibration.