CN219036096U - Camera calibration device - Google Patents

Abstract

The utility model belongs to the technical field of calibration, and discloses a camera calibration device which comprises a rack, an auxiliary support piece, a first sliding mechanism, a second sliding mechanism and a third sliding mechanism, wherein the rack and the auxiliary support piece can both be used for placing a calibration plate, the first sliding mechanism comprises a first sliding rail, a first sliding part and a first driving piece, the first sliding rail is arranged on the rack, the first driving piece can control the first sliding part to slide on the first sliding rail, the second sliding mechanism comprises a second sliding rail, a second sliding part and a second driving piece, the second sliding rail is arranged on the first sliding part, the second driving piece can control the second sliding part to slide on the second sliding rail, the third sliding mechanism comprises a third sliding rail, a third sliding part and a third driving piece, the third sliding rail is arranged on the second sliding part, the third sliding part can fix a camera, and the third driving piece can control the third sliding part to slide on the third sliding rail. The camera calibration device can automatically adjust the position between the calibration plate and the camera, and improves the calibration precision and the adjustment efficiency.

Description

Camera calibration device

Technical Field

The utility model relates to the technical field of calibration, in particular to a camera calibration device.

Background

In industrial vision applications, camera imaging geometry models are built to determine the three-dimensional geometry of a point on the surface of an object and the positional relationship between corresponding points on the image. The geometric model parameters are parameters of the camera. The parameters of the camera in turn include internal and external parameters of the camera. The process of solving the parameters is called camera calibration. In practical industrial production, camera calibration is a very basic and important link, and the accuracy of a calibration result directly influences operation accuracy. Therefore, good calibration equipment and tools are the preconditions for improving the calibration precision.

Currently, some camera calibration devices exist in the prior art to achieve effective calibration of a camera. The prior art also has some disadvantages. For example, publication CN217331204U discloses a calibration system in which a camera is fixed by a first fixing device, a calibration plate is fixed by a second fixing device, and the relative position between the calibration plate and the camera is adjusted by sliding the second fixing device along a first slide rail. The relative position between the calibration plate and the camera in the system is manually measured and moved for adjustment, a certain calibration error exists, manpower is consumed, the adjustment efficiency is low, and the accuracy is difficult to grasp.

Disclosure of Invention

The utility model aims to provide a camera calibration device which can automatically adjust the relative position between a calibration plate and a camera, improve the calibration precision and improve the adjustment efficiency.

To achieve the purpose, the utility model adopts the following technical scheme:

a camera calibration apparatus comprising:

the rack is capable of horizontally placing the calibration plate;

the auxiliary support piece is arranged on the rack and can support the calibration plate so as to enable the calibration plate to incline on the rack;

the first sliding mechanism comprises a first sliding rail, a first sliding part and a first driving piece, wherein the first sliding rail is arranged on the rack in a extending mode along a first horizontal direction, the first sliding part is connected with the first sliding rail in a sliding mode, and the first driving piece can control the first sliding part to slide on the first sliding rail;

the second sliding mechanism comprises a second sliding rail, a second sliding part and a second driving piece, the second sliding rail is arranged on the first sliding part in a extending manner along a second horizontal direction, the second sliding part is connected with the second sliding rail in a sliding manner, and the second driving piece can control the second sliding part to slide on the second sliding rail;

the third sliding mechanism comprises a third sliding rail, a third sliding part and a third driving piece, wherein the third sliding rail is arranged on the second sliding part in an extending mode along the vertical direction, the third sliding part is connected with the third sliding rail in a sliding mode, the third sliding part is used for fixing a camera, and the third driving piece can control the third sliding part to slide on the third sliding rail.

Optionally, the device further comprises a control mechanism, wherein the first driving piece, the second driving piece and the third driving piece are all in communication connection with the control mechanism;

the control mechanism can control the first driving piece so that the first driving piece drives the first sliding part to slide on the first sliding rail;

the control mechanism can control the second driving piece so that the second driving piece drives the second sliding part to slide on the second sliding rail;

the control mechanism can control the third driving piece so that the third driving piece drives the third sliding part to slide on the third sliding rail.

Optionally, a fixed table is fixedly arranged on the third sliding part, and the camera can be fixed on the fixed table.

Optionally, the first driving piece is set to first motor, the fixed end of first motor is fixed in one side of first slide rail, the output shaft of first motor has first screw rod, first screw rod is followed the length direction extension setting of first slide rail, first screw has been seted up to first sliding part correspondence, first sliding part passes through first screw cover is located on the first screw rod and with first screw rod threaded connection.

Optionally, the second driving piece is set to the second motor, the fixed end of second motor is fixed in one side of second slide rail, the output shaft of second motor has the second screw rod, the second screw rod is followed the length direction extension setting of second slide rail, the second screw has been seted up to the second sliding part correspondence, the second sliding part passes through the second screw cover is located on the first screw rod and with second screw rod threaded connection.

Optionally, the third driving piece is set to the third motor, the fixed end of third motor is fixed in one side of third slide rail, the output shaft of third motor has the third screw rod, the third screw rod is followed the length direction extension setting of third slide rail, the third screw has been seted up corresponding to the third sliding part, the third sliding part passes through the third screw cover is located on the third screw rod and with third screw rod threaded connection.

Optionally, the auxiliary support piece includes fixed block and regulating plate, be equipped with auxiliary support face on the regulating plate, the fixed block is located on the rack, the regulating plate articulates and locates the fixed block, just the regulating plate can be relative the fixed block swing is in order to adjust auxiliary support face's angle.

Optionally, the fixing device further comprises a screw connection piece, a first connection hole is formed in the fixing table, a second connection hole is formed in the third sliding portion, and the screw connection piece penetrates through the first connection hole and is in screw connection with the second connection hole.

Optionally, the first sliding mechanism, the second sliding mechanism and the third sliding mechanism are all linear servo modules.

Optionally, the control mechanism is set to be an FMC4030 controller and three ASDA-B2 tables for servo, the FMC4030 controller is in communication connection with the ASDA-B2 tables for servo, and the three ASDA-B2 tables for servo are respectively in communication connection with the first driving member, the second driving member and the third driving member.

The beneficial effects are that:

the utility model provides a camera calibration device, wherein a rack is used for horizontally placing a calibration plate, an auxiliary support piece is used for inclining the calibration plate, a first sliding mechanism, a second sliding mechanism and a third sliding mechanism are arranged on the rack, specifically, a first sliding rail is arranged on the rack in an extending mode along a first horizontal direction, a first sliding part is connected with the first sliding rail in a sliding mode, a second sliding rail is arranged on the first sliding part in an extending mode along a second horizontal direction, the second sliding part is connected with the second sliding rail in a sliding mode, a third sliding rail is arranged on the second sliding part in an extending mode along a vertical direction, and the third sliding part is connected with the third sliding rail in a sliding mode and can fix a camera. Can drive first sliding part along first slide rail automatic sliding through first driving piece, can drive second sliding part along second slide rail automatic sliding through the second driving piece, can drive third sliding part along third slide rail automatic sliding through the third driving piece to can make the relative position between the calibration board on the relative rack of camera along first horizontal direction, second horizontal direction and the vertical direction automatic adjustment and the calibration board, save the process of manpower adjustment position, promote adjustment efficiency, also improved the calibration precision.

Drawings

FIG. 1 is a schematic diagram of a camera calibration apparatus of the present utility model;

FIG. 2 is an exploded view of the first, second and third slide mechanisms of the present utility model;

FIG. 3 is a schematic view of an auxiliary support according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of an auxiliary support member according to another embodiment of the present utility model.

In the figure:

100. a stand; 110. a fixed table; 120. a screw connection;

200. an auxiliary support; 201. an auxiliary support surface; 210. a fixed block; 220. an adjustment plate;

300. a first sliding mechanism; 310. a first slide rail; 320. a first sliding portion; 330. a first motor; 340. a first screw; 350. an auxiliary slide rail; 360. an auxiliary sliding part;

400. a second sliding mechanism; 410. a second slide rail; 420. a second sliding part; 430. a second motor; 440. a second screw;

500. a third sliding mechanism; 510. a third slide rail; 520. a third sliding portion; 530. a third motor; 540. a third screw;

600. a control mechanism; 610. FMC4030 controller; 620. ASDA-B2 station reaches the servo; 630. a control cabinet;

700. a calibration plate;

800. and a camera.

Detailed Description

The utility model is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the utility model and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present utility model are shown in the drawings.

In the description of the present utility model, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the utility model. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.

The embodiment provides a camera calibration device. Referring to fig. 1 to 2, the camera calibration device includes a stand 100, an auxiliary support 200, a first sliding mechanism 300, a second sliding mechanism 400 and a third sliding mechanism 500, wherein the stand 100 can horizontally place a calibration plate 700 thereon, the auxiliary support 200 is disposed on the stand 100, the auxiliary support 200 can support the calibration plate 700 to enable the calibration plate 700 to incline on the stand 100, the first sliding mechanism 300 includes a first sliding rail 310, a first sliding portion 320 and a first driving member, the first sliding rail 310 is disposed on the stand 100 along a first horizontal direction, the first sliding portion 320 is slidably connected to the first sliding rail 310, the first driving member can control the first sliding portion 320 to slide on the first sliding rail 310, the second sliding mechanism 400 includes a second sliding rail 410, a second sliding portion 420 and a second driving member, the second sliding portion 420 is slidably connected to the second sliding rail 410 along a second horizontal direction, the second driving member can control the second sliding portion 420 to slide on the second sliding rail 410, and the third sliding mechanism 500 includes a third sliding rail 510, a third sliding portion 520 and a third driving member 520 is disposed on the third sliding rail 510 along a third vertical direction, and the third sliding portion 510 can control the third sliding portion 520 to slide.

In this embodiment, the calibration plate 700 can be selectively placed on the horizontal top surface of the stand 100 or be obliquely supported on the auxiliary support 200 according to the requirement of the calibration process, so that the camera 800 is fixed on the third sliding portion 520, at this time, the camera 800 is located above the calibration plate 700, the first sliding portion 320 can be driven to automatically slide along the first sliding rail 310 by the first driving member, the second sliding portion 420 can be driven to automatically slide along the second sliding rail 410 by the second driving member, and the third sliding portion 520 can be driven to automatically slide along the third sliding rail 510 by the third driving member, thereby enabling the camera 800 to automatically adjust the relative position with the calibration plate 700 along the first horizontal direction, the second horizontal direction and the vertical direction relative to the calibration plate 700 on the stand 100, omitting the process of manually adjusting the position, improving the adjustment efficiency and improving the calibration accuracy.

In the present embodiment, the first horizontal direction, the second horizontal direction, and the vertical direction are shown with reference to the arrow directions in fig. 1. The first horizontal direction is preferably set as an adjustment direction in the front-rear position interval of the camera 800 and the calibration plate 700; the second horizontal direction is preferably set as the adjustment direction of the camera 800 and the calibration plate 700 in the left-right position interval.

Further, referring to fig. 2, the first driving member is a first motor 330, a fixed end of the first motor 330 is fixed on one side of the first sliding rail 310, an output shaft of the first motor 330 is connected with a first screw 340, the first screw 340 extends along a length direction of the first sliding rail 310, a first screw hole is correspondingly formed in the first sliding portion 320, and the first sliding portion 320 is sleeved on the first screw 340 through the first screw hole and is in threaded connection with the first screw 340. Specifically, the first sliding portion 320 and the first screw 340 can form a screw nut structure together, and the output shaft of the first motor 330 rotates to drive the first screw 340 to rotate, so as to drive the first sliding portion 320 to slide along the first sliding rail 310.

Further, the second driving member is set as a second motor 430, a fixed end of the second motor 430 is fixed on one side of the second sliding rail 410, an output shaft of the second motor 430 is connected with a second screw 440, the second screw 440 extends along a length direction of the second sliding rail 410, a second screw hole is correspondingly formed in the second sliding portion 420, and the second sliding portion 420 is sleeved on the second screw 440 through the second screw hole and is in threaded connection with the second screw 440. Specifically, the second sliding portion 420 and the second screw 440 can form a screw nut structure together, and the output shaft of the second motor 430 rotates to drive the second screw 440 to rotate, so as to drive the second sliding portion 420 to slide along the second sliding rail 410.

Further, the third driving member is set as a third motor 530, a fixed end of the third motor 530 is fixed on one side of the third sliding rail 510, an output shaft of the third motor 530 is connected with a third screw 540, the third screw 540 extends along the length direction of the third sliding rail 510, a third screw hole is correspondingly formed in the third sliding portion 520, and the third sliding portion 520 is sleeved on the third screw 540 through the third screw hole and is in threaded connection with the third screw 540. Specifically, the third sliding portion 520 and the third screw 540 can form a screw nut structure together, and the output shaft of the third motor 530 rotates to drive the third screw 540 to rotate, so as to drive the third sliding portion 520 to slide along the third sliding rail 510.

As a preferred embodiment, the first sliding mechanism 300, the second sliding mechanism 400 and the third sliding mechanism 500 are all provided as linear servo modules.

Optionally, the first sliding mechanism 300 further includes an auxiliary sliding rail 350 and an auxiliary sliding portion 360, the auxiliary sliding rail 350 is disposed on the rack 100 along the extending direction of the first sliding rail 310, the auxiliary sliding portion 360 is slidably disposed on the auxiliary sliding rail 350, and the auxiliary sliding portion 360 and the first sliding portion 320 together support the second sliding rail 410. Specifically, the opposite ends of the second sliding rail 410 are fixedly connected to the first sliding portion 320 and the auxiliary sliding portion 360, and the arrangement of the auxiliary sliding rail 350 and the auxiliary sliding portion 360 can further ensure reliable support of the second sliding mechanism 400, the third sliding mechanism 500 and the camera 800, and further ensure reliability and stability of position adjustment.

Further, with continued reference to fig. 1, the camera calibration device further includes a control mechanism 600, where the first driving member, the second driving member and the third driving member are all communicatively connected to the control mechanism 600, the control mechanism 600 can control the first driving member to enable the first driving member to drive the first sliding portion 320 to slide on the first sliding rail 310, the control mechanism 600 can control the second driving member to enable the second driving member to drive the second sliding portion 420 to slide on the second sliding rail 410, and the control mechanism 600 can control the third driving member to enable the third driving member to drive the third sliding portion 520 to slide on the third sliding rail 510. Specifically, in this embodiment, the control mechanism is set as an FMC4030 controller 610 and three ASDA-B2 servers 620, the FMC4030 controller 610 is communicatively connected to the ASDA-B2 servers 620, and the three ASDA-B2 servers 620 are communicatively connected to the first driving member, the second driving member, and the third driving member, respectively. Specifically, a control cabinet 630 is fixed on the underside of the rack 100, and the fmc4030 controller 610 and the three ASDA-B2 stage servo 620 are all disposed in the control cabinet 630. Specifically, taking the sliding control of the first sliding portion 320 as an example, when the sliding of the first sliding portion 320 relative to the first sliding rail 310 needs to be controlled, the FMC4030 controller 610 sends a signal to the corresponding ASDA-B2 stage servo 620 to make the ASDA-B2 stage servo 620 drive the first motor 330, so that the output shaft of the first motor 330 rotates at the target rotation speed and in a steering direction to drive the first screw 340 to rotate, and further drive the first sliding portion 320 to slide relative to the first sliding rail 310. The sliding driving principle of the second sliding portion 420 and the third sliding portion 520 is the same as that of the first sliding portion 320, and will not be described in detail herein.

It should be noted that the FMC4030 controller 610 and the ASDA-B2 station servo 620 are both prior art and are not described herein in detail.

In the present embodiment, as shown in fig. 1, the fixed stand 110 is fixed to the third sliding portion 520, and the camera 800 can be fixed to the fixed stand 110. Further, the fixing table 110 is provided with a first connecting hole, the third sliding portion 520 is provided with a second connecting hole, and the screw 120 is screwed through the first connecting hole and the second connecting hole. In the present embodiment, the screw 120 is preferably provided as a screw or a bolt. The number of the screw connection pieces 120, the number of the first connection holes and the number of the second connection holes are correspondingly arranged in a one-to-one correspondence manner.

Alternatively, the fixing stand 110 may clamp and fix the camera 800 by providing a clamping portion, or may fix the camera 800 by an external connection member such as a screw, which is not limited herein.

As an alternative embodiment, referring to fig. 3, the auxiliary support 200 is provided with an auxiliary support surface 201 capable of placing the calibration plate 700 in an inclined manner, and the auxiliary support surface 201 is provided to increase the support area with the calibration plate 700, thereby further ensuring the reliability of the inclined support of the calibration plate 700.

As an alternative embodiment, referring to fig. 4, the auxiliary supporting member 200 includes a fixing block 210 and an adjusting plate 220, the auxiliary supporting surface 201 is disposed on the adjusting plate 220, the fixing block 210 is disposed on the stand 100, the adjusting plate 220 is hinged to the fixing block 210, and the adjusting plate 220 can swing relative to the fixing block 210 to adjust an angle of the auxiliary supporting surface 201. In this embodiment, the calibration plate may be completely placed on the auxiliary supporting surface 201, and the two opposite ends of the auxiliary supporting surface 201 from the beginning to the end are both protruding to be provided with limiting portions, so that the calibration plate 700 can be ensured to be placed reliably, and the calibration plate 700 is prevented from sliding off on the auxiliary supporting surface 201.

The following describes a specific calibration procedure of the camera 800 by applying the camera calibration device provided in the present embodiment, for example:

and taking the center of the calibration plate 700 as a reference center, and selecting four positions of the reference center, namely the center of the calibration plate 700 and five calibration positions at four corners, wherein each position needs to take five pictures with different angles.

When the calibration plate 700 in the horizontal state is shot, the calibration plate 700 can be directly and horizontally placed on the rack 100, and an instruction is sent to the three ASDA-B2 stage reaching servos 620 through the FMC4030 controller 610, so that the three ASDA-B2 stage reaching servos 620 respectively drive the first motor 330, the second motor 430 and the third motor 530 to work, and the first sliding part 320, the second sliding part 420 and the third sliding part 520 respectively correspondingly slide on the first sliding rail 310, the second sliding rail 410 and the third sliding rail 510, so that the position of the camera 800 is adjusted, and the camera of the camera 800 can be aligned with the calibration position on the calibration plate 700, and then shooting is performed; when the angle of the calibration plate 700 needs to be changed, the calibration plate 700 can be supported on the auxiliary support 200 in an inclined manner, so that the calibration plate 700 is at a certain angle relative to the horizontal top end of the stand 100, and then the above-mentioned position adjustment process is repeated, so that the camera of the camera 800 is aligned to the calibration position on the calibration plate 700 and takes a picture, and after all the pictures are taken, the internal parameters and the external parameters of the camera 800 can be obtained through the related algorithm. Through testing, when the camera 800 is 80cm away from the calibration plate, the calibration precision can reach 0.025mm, and the calibration precision is good.

It is to be understood that the above examples of the present utility model are provided for clarity of illustration only and are not limiting of the embodiments of the present utility model. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the utility model. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the utility model are desired to be protected by the following claims.

Claims (10)

1. A camera calibration apparatus, comprising:

a rack (100), wherein the rack (100) can horizontally place a calibration plate (700);

an auxiliary support (200) provided on the stage (100), the auxiliary support (200) being capable of supporting the calibration plate (700) so that the calibration plate (700) is inclined to the stage (100);

the first sliding mechanism (300) comprises a first sliding rail (310), a first sliding part (320) and a first driving piece, wherein the first sliding rail (310) is arranged on the rack (100) in a extending mode along a first horizontal direction, the first sliding part (320) is connected with the first sliding rail (310) in a sliding mode, and the first driving piece can control the first sliding part (320) to slide on the first sliding rail (310);

the second sliding mechanism (400) comprises a second sliding rail (410), a second sliding part (420) and a second driving piece, wherein the second sliding rail (410) is arranged on the first sliding part (320) in a extending manner along a second horizontal direction, the second sliding part (420) is connected with the second sliding rail (410) in a sliding manner, and the second driving piece can control the second sliding part (420) to slide on the second sliding rail (410);

the third sliding mechanism (500) comprises a third sliding rail (510), a third sliding part (520) and a third driving piece, wherein the third sliding rail (510) is arranged on the second sliding part (420) in an extending mode along the vertical direction, the third sliding part (520) is connected with the third sliding rail (510) in a sliding mode, the third sliding part (520) is used for fixing a camera (800), and the third driving piece can control the third sliding part (520) to slide on the third sliding rail (510).

2. The camera calibration apparatus of claim 1, further comprising a control mechanism (600), wherein the first drive member, the second drive member, and the third drive member are all communicatively coupled to the control mechanism (600);

the control mechanism (600) can control the first driving piece so that the first driving piece drives the first sliding part (320) to slide on the first sliding rail (310);

the control mechanism (600) can control the second driving piece to enable the second driving piece to drive the second sliding part (420) to slide on the second sliding rail (410);

the control mechanism (600) can control the third driving piece so that the third driving piece drives the third sliding part (520) to slide on the third sliding rail (510).

3. The camera calibration apparatus according to claim 1, wherein a fixed stage (110) is fixedly provided on the third sliding portion (520), and the camera (800) is fixable on the fixed stage (110).

4. The camera calibration device according to claim 1, wherein the first driving member is configured as a first motor (330), a fixed end of the first motor (330) is fixed on one side of the first sliding rail (310), an output shaft of the first motor (330) is connected with a first screw (340), the first screw (340) extends along a length direction of the first sliding rail (310), a first screw hole is correspondingly formed in the first sliding portion (320), and the first sliding portion (320) is sleeved on the first screw (340) through the first screw hole and is in threaded connection with the first screw (340).

5. The camera calibration device according to claim 1, wherein the second driving member is configured as a second motor (430), a fixed end of the second motor (430) is fixed on one side of the second sliding rail (410), an output shaft of the second motor (430) is connected with a second screw (440), the second screw (440) extends along a length direction of the second sliding rail (410), a second screw hole is correspondingly formed in the second sliding portion (420), and the second sliding portion (420) is sleeved on the second screw (440) through the second screw hole and is in threaded connection with the second screw (440).

6. The camera calibration device according to claim 1, wherein the third driving member is configured as a third motor (530), a fixed end of the third motor (530) is fixed on one side of the third sliding rail (510), an output shaft of the third motor (530) is connected with a third screw (540), the third screw (540) extends along a length direction of the third sliding rail (510), a third screw hole is correspondingly formed in the third sliding portion (520), and the third sliding portion (520) is sleeved on the third screw (540) through the third screw hole and is in threaded connection with the third screw (540).

7. The camera calibration apparatus according to claim 1, wherein the auxiliary support (200) includes a fixed block (210) and an adjustment plate (220), the adjustment plate (220) is provided with an auxiliary support surface (201), the fixed block (210) is disposed on the stand (100), the adjustment plate (220) is hinged to the fixed block (210), and the adjustment plate (220) can swing relative to the fixed block (210) to adjust an angle of the auxiliary support surface (201).

8. The camera calibration device according to claim 3, further comprising a screw member (120), wherein a first connection hole is formed in the fixing table (110), a second connection hole is formed in the third sliding portion (520), and the screw member (120) is screwed through the first connection hole and the second connection hole.

9. The camera calibration apparatus according to claim 1, wherein the first slide mechanism (300), the second slide mechanism (400) and the third slide mechanism (500) are each provided as a linear servo module.

10. The camera calibration apparatus of claim 2, wherein the control mechanism (600) is configured as an FMC4030 controller (610) and three ASDA-B2 servo (620), the FMC4030 controller (610) is communicatively connected to the ASDA-B2 servo (620), and the three ASDA-B2 servo (620) are communicatively connected to the first driving member, the second driving member, and the third driving member, respectively.

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