WO2005086497A1 - Dispositif pour realiser une camera - Google Patents

Dispositif pour realiser une camera Download PDF

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Publication number
WO2005086497A1
WO2005086497A1 PCT/EP2005/050165 EP2005050165W WO2005086497A1 WO 2005086497 A1 WO2005086497 A1 WO 2005086497A1 EP 2005050165 W EP2005050165 W EP 2005050165W WO 2005086497 A1 WO2005086497 A1 WO 2005086497A1
Authority
WO
WIPO (PCT)
Prior art keywords
image sensor
camera
calibration field
unit
optical unit
Prior art date
Application number
PCT/EP2005/050165
Other languages
German (de)
English (en)
Inventor
Frank Gottwald
Volker Uffenkamp
Jens Schick
Andreas Schmack
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN2005800068709A priority Critical patent/CN1926887B/zh
Priority to JP2007501256A priority patent/JP2007528161A/ja
Publication of WO2005086497A1 publication Critical patent/WO2005086497A1/fr

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B27/00—Optical systems or apparatus not provided for by any of the groups G02B1/00 - G02B26/00, G02B30/00
    • G02B27/62—Optical apparatus specially adapted for adjusting optical elements during the assembly of optical systems
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B43/00—Testing correct operation of photographic apparatus or parts thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/55—Optical parts specially adapted for electronic image sensors; Mounting thereof

Definitions

  • the invention relates to a device for producing a camera, in particular a vehicle camera, and a camera arrangement.
  • the device for producing a camera, in particular a vehicle camera, described below with the features of independent claim 1 has the advantage that the device compensates for manufacturing inaccuracies in the camera components, such as the image sensor, the housing or the optical unit.
  • inaccuracies include all inaccurate mechanical parts, a possible misalignment of the optical axis of the optical unit (lens), oblique thread cuts, poor position accuracy of the imager (image sensor) on the circuit board, inaccurate mounting of the image sensor chip in the package, and
  • the advantage of the described device is not only that these inaccuracies are compensated for, but rather these high tolerances can be allowed for the individual mechanical components of the camera and the process steps. This enables the components to be manufactured cost-effectively.
  • the device also enables precise alignment. This makes the camera more tolerant when installed in
  • the motor vehicle and the focus range are guaranteed over the entire temperature range that occurs, for example, in a motor vehicle. Overall, this contributes to the low cost of producing the camera.
  • the tolerances of the camera components must not leave the compensation range of the device.
  • the device has the advantage that the Manufacturing tolerances ----- are minimized and the entire tolerance chain is shortened.
  • the holding device which is preferably stiff against bending and torsion, contributes to the fact that high accuracies can be achieved, since the mutual position of the components of the device is fixed by the holding device in a long-term stable manner.
  • a hexapod is used to move the image sensor and / or the optical unit, since hexapods enable exact movements in the three mutually perpendicular translational directions and the three mutually perpendicular rotational directions.
  • the device precisely aligns the active image sensor surface, the calibration field and a housing edge (reference element) of the camera, which, for example, strikes the glass holder later on when the camera is fastened to the inside of the windshield in a motor vehicle. Assuming a tolerance-free lens holder, the camera looks in the desired direction.
  • the optics unit is fixed in position on the holding device during the alignment and the image sensor of the camera is moved for alignment, since the alignment of the optics unit to the calibration field is thus fixed and the device has a particularly simple structure.
  • the first calibration field has at least one deflection device, in particular at least one mirror, the deflection device ensuring the imaging of at least part of at least one second calibration field onto at least part of the image sensor.
  • a deflection mirror on the first calibration field images the relatively small second calibration field, for example, at five points on the image sensor. Without a mirror, the second calibration field would be much larger and would take up significantly more space. The device is thus compact and space-saving.
  • the mirrors advantageously convert the distance from the camera to the calibration field of approximately 10 to 15 meters, preferably 11 meters, required for alignment into a horizontal arrangement that can be easily set up in a manufacturing company.
  • the device By imaging the second calibration field on the image sensor, a measurement of the modulation transfer function (MTF) can be carried out in an advantageous manner, in particular in the corners or on the edges of the image sensor.
  • MTF modulation transfer function
  • the device has at least one imaging unit, the imaging unit being arranged between the optics unit and the first calibration field, since this contributes to a reduction in the space requirement of the device and the device can also be easily adapted to other camera types by exchanging the bending unit.
  • the distance between the first calibration field and the imaging unit can be changed, since this corresponds to a change in the object distance.
  • the measurement of the course of the modulation transfer function (MTF) can be carried out over the object distance.
  • the imaging unit and / or the first calibration field are attached to the holding device in such a way that the imaging unit and / or the first calibration field can be inserted and removed from an image acquisition area of the camera, in order to thereby at least one further calibration field attached to the holding device to manufacture the
  • a camera arrangement which can be produced by the device described below and / or by a method described below is also particularly advantageous
  • a camera arrangement wherein in the method the image sensor and the optical unit are aligned with one another by a three-dimensional translatory movement and / or a three-dimensional rotary movement, the movement taking place as a function of image signals from the image sensor of at least one calibration field.
  • This camera arrangement is inexpensive and can be manufactured with high accuracy.
  • FIG. 1 shows an overview drawing of the device for producing a camera of the first exemplary embodiment
  • FIG. 2 shows a detail of the overview drawing of the device for producing a camera
  • FIG. 3 shows a top view of the first calibration field of the first exemplary embodiment
  • FIG. 4 shows a side view of the first calibration field of the first exemplary embodiment
  • 5 shows an overview drawing of the device for producing a camera of the second exemplary embodiment
  • FIG. 6 shows an overview drawing of the device for producing a camera of the third exemplary embodiment.
  • a device for producing a camera, in particular a vehicle camera is described below.
  • the device comprises a holding device and a calibration field attached to the holding device, wherein the device enables the alignment of an image sensor of the camera and an option of the camera to one another as a function of image signals of the image sensor that the image sensor generates from the calibration field.
  • the device described is an adjustment device with which image sensors (imagers) or generally optical sensors are aligned to form an optical unit.
  • the optical unit is preferably located in the housing of the camera.
  • the optical unit is firmly connected to the device for adjustment.
  • the image sensor which contains the image sensor chip, is optimally aligned and fixed in relation to the optical unit, wherein one aim of the alignment is that the optical axis of the optical unit is aligned orthogonally in the center of the photodiode array of the image sensor chip.
  • the image sensor is in operation during the alignment process.
  • the fixation and connection is preferably carried out by blocking. After the blocking material has been introduced and hardened, the camera arrangement is produced and that
  • Housing can be closed.
  • the hardening time of the blocking material is preferably used for further electrical and / or optical tests on the camera.
  • the device has the property of moving the image sensor and / or the optical unit in all three axes of the Cartesian coordinate system. It can also be rotated around all three axes. This results in 6 degrees of freedom for alignment.
  • a camera consists of a housing and a
  • the housing of the camera is an aluminum die-cast part and has an essentially rectangular base area and side surfaces located on the base area, which form a trough inside the camera. Furthermore, the base of the housing has an outwardly facing protuberance in which the optical unit of the camera is located. Inside the housing there is one in each of the four corners of the base
  • a bollard is located in each container substantially perpendicular to the base of the housing.
  • the four bollards are rivet-like bolts with an undercut.
  • the ifintercut is located on the side facing away from the fastening of the bolt on the housing.
  • the image conversion element consists of a processing circuit board, a circuit board frame, an image sensor circuit board, anchors and an image sensor.
  • the image sensor consists of the image sensor chip and a glass cover.
  • the processing circuit board and the image sensor circuit board are connected essentially parallel to one another via the frame.
  • the image sensor is attached on the outward-facing side of the image sensor printed circuit board in such a way that the image sensor together with the optical unit will form an optical system.
  • each corner of the frame there are four anchors essentially perpendicular to the image sensor circuit board on the side of the image sensor.
  • the anchors are formed by countersunk screws that are screwed into the - ⁇ ite ⁇ lattenrahmen and thus also have an - undercut.
  • the circuit board frame is connected to the housing in such a way that an anchor dips into a container up to a distance of 0.5 mm to 3.5 mm from the bollard in the container, the container being filled with blocking material as soon as the image sensor closes the optical unit is aligned.
  • ultraviolet-crosslinking blocking material is poured into the four containers via a Verbl- ⁇ .- nateri - l-m guide in the liquid state. The blocking material is then cured with ultraviolet radiation (UV radiation) so that the blocking becomes effective.
  • Figure 1 shows an overview drawing of the device for producing a camera of the first embodiment, consisting of a holding device 1, a hexapod 2 and a first calibration field 5.
  • the device for producing a camera comprises a bending and torsionally rigid retaining device 1 (rack), which is made of steel in the exemplary embodiment.
  • the holding device 1 is located on a heavy standing surface 9 with four guimni buffers 10. This prevents disturbing vibrations and oscillations.
  • the image sensor 3 is connected to the holding device via a hexapod 2.
  • the Hexapod 2 is a device with six movable and length-adjustable lifting rods
  • the Hexapod 2 enables a three-dimensional translatory and / or three-dimensional rotary movement of the work surface with respect to the base surface.
  • the light-sensitive area of the image sensor 3 is directed downwards.
  • the optical unit mounted in the camera housing 4 is fixed in position on the holding device 1.
  • the device is arranged such that the optical unit is oriented downward so that the liquid blocking material supplied via the blocking material feed 27 does not flow out of the reservoirs located on top.
  • a first calibration field 5 is arranged below the optical unit in the opening angle 25 of the camera.
  • the calibration field 5 comprises a stamp 7 with adapters, as well as several mirrors 8. For carrying out the focusing of the
  • the camera requires a distance of the second calibration field 6 from the camera of approximately 1 Im.
  • the mirrors 8 are attached and aligned such that each mirror 8 maps at least a part of the second calibration field 6 to at least a part of the image sensor 3.
  • the device u further comprises a control device 29 which is connected to the image sensor 3 and the hexapod 2 via signal lines. The control device 29 receives the
  • Image signals of the image sensor 3 evaluates this and sets the hexapod 2, so that a closed control loop is present.
  • FIG. 2 shows a section of the overview drawing of the device for producing a camera of the first exemplary embodiment according to FIG 1 is attached.
  • the camera housing 4 with the optical unit is connected to the collet 14 via a camera housing receptacle 13, the collet 14 being attached to the holding device 1.
  • the collets 11, 14 are St - n ---- rdau - ⁇ - hmen, which are firmly connected to the Hexapod 2 or the holding device 1.
  • the collet 11 has electrical collets for gripping a modular image sensor mount 12 for lead plate frames.
  • the collet 14 is located on the holding device 1 and accommodates standardized cam-frame housing frame 13, the camera housing receptacle 13 containing a negative impression of the camera housing 4.
  • the opening for the optical unit of the camera housing 13 and the collet 14 are designed so that the full opening angle of the camera can be used.
  • Mechanical collets based on the vice principle are used as collets 11, 14 in the preferred exemplary embodiment.
  • a magnetic fixation by electromagnets is used in one variant.
  • the method for producing a camera provides that after inserting the image sensor into the image sensor receptacle, the image sensor is brought into a rough starting position by the hexapod with respect to the camera housing with the optical unit located in the I-am-srage u-ffiaufi-name.
  • the image sensor which is in operation and connected to a control device, is brought into a capture area in which it receives image signals from the second calibration field, which are used to regulate the alignment.
  • the optically recognized images can be evaluated and the control algorithm or the feedback function. Due to the rough alignment at the starting position, the center of the sensor field and the optics unit are brought on one axis.
  • the image sharpness is adjusted in the first step by measuring the contrast by approaching the image sensor to the optical unit, while in a second step the image sensor in by means of the first calibration field, which is designed as a spot point field by the adapter and the stamp x and y direction and with respect to the wobble is aligned.
  • the first step and the second step are carried out several times in succession until the image sensor is optimally aligned with the opt unit.
  • the image sensor is connected to the optical unit in the aligned position, the connection being made in the preferred exemplary embodiment by blocking.
  • FIG. 3 shows a top view of the first calibration field 5 of the first exemplary embodiment, consisting of a stamp 7 and adapters 19 drawn in by way of example.
  • the calibration field 5 is equipped with any features that are applied to the calibration field 5 with a sufficient contrast to the feature environment.
  • the system knows the positions and the contrast determination via BMprocessing ---- can be determined.
  • a high contrast is achieved, for example, by black features on a white background or vice versa.
  • the features are circular and / or ste-rr-shaped and / or rectangular.
  • the advantage of the adapters 19 and fitting bores is that on the one hand adapters 19 or mirrors can be used, the positions being known to the system. On the one hand, this enables the characteristics to be replaced and the characteristics to be easily displaceable.
  • the adapters 19 are attached to the surface of the calibration field 5 and the stamp 7.
  • the basic level of the calibration field 5 is braced from behind to ensure stability. Furthermore, the surface of the calibration field 5 is matt black anodized to avoid disturbing reflections.
  • the adapters 19 are matt white to avoid disturbing reflections.
  • FIG. 4 shows a side view of the first calibration field 5 according to FIG. 3 of the first exemplary embodiment.
  • the calibration field 5 evenly distributed fitting bores 21 are provided, which serve to receive the stamp 7 and / or adapters 19 and / or mirrors 20.
  • the arrangement of adapters 19 and mirrors 20 is symbolized in FIG. 4 by arrows.
  • the stamp consists of a stamping foot 17 and a stamping plane 18. On the stamping plane 18 there are also fitting bores which serve to receive adapters 19 or mirrors 20.
  • the mirrors 20 have a ball joint that is used to adjust the alignment of the mirror surfaces.
  • FIG. 5 shows an overview drawing of the device for producing a camera of the second exemplary embodiment. Elements of the second exemplary embodiment are designated like the corresponding elements of the first exemplary embodiment and are not explained below. Furthermore, only changes to the device compared to the first exemplary embodiment are listed. In the second embodiment, the measurement and
  • Adjustment steps are carried out without the distant and distant second calibration field (contrast calibration field) and without a deflection mirror on the first calibration field 5.
  • scaled-down calibration objects 22 in the form of high-contrast patterns are attached at the locations on the first calibration field 5 at which the mirrors are mounted in the first exemplary embodiment. Between the optics unit 4 of the camera and the first calibration field 5 is used as
  • Imaging unit 23 positions an intermediate lens with a displacement device 24, the displacement device 24 being designed in such a way that the imaging unit 23 can be swung out of the image acquisition area, which is defined by the opening angle 25 of the camera.
  • the imaging unit 23 becomes central for determining the sharpness level brought in front of the camera.
  • the imaging unit 23 comprises a system of lenses.
  • the imaging unit 23 is removed from the field of view of the camera.
  • the translational and rotary takes place
  • FIG. 6 shows an overview drawing of the device for producing a camera of the third exemplary embodiment.
  • Elements of the third exemplary embodiment are designated like the corresponding elements of the second exemplary embodiment and are not explained below. Furthermore, only changes in the device compared to the second embodiment are listed.
  • the first calibration field 5 is attached to a displacement device 26, which is designed such that, on the one hand, the distance of the first calibration field 5 from the imaging unit 23 can be changed approximately in the direction of the optical axis of the camera and, on the other hand, the imaging unit 23 from the Image capture area, which is defined by the opening angle 25 of the camera, can be swung out.
  • Optical unit 4, imaging unit 23 and calibration field 5 are arranged one behind the other. There is also a third one in the holding device 1
  • the device makes it possible to detect the modulation transfer function (MIT) or the contrast curve at at least one image point - at least over part of the camera work area and to use the data to align the image sensor 3 to the optical unit 4 via the hexapod 2 , After swiveling out the first
  • calibration field 5 is determined by means of a third calibration field 28, which is formed as a control point field by stamp 7 and adapter 19, as described in FIGS. 3 and 4, intrinsic camera parameters.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Studio Devices (AREA)
  • Camera Bodies And Camera Details Or Accessories (AREA)

Abstract

La présente invention concerne un dispositif pour réaliser une caméra, en particulier une caméra de véhicule. Le dispositif comprend un dispositif de maintien et un panneau de calibrage mis en place contre le dispositif de maintien, le dispositif permettant l'orientation mutuelle d'un capteur d'image de la caméra et d'une unité optique de la caméra en fonction de signaux d'image du capteur d'image, que le capteur d'image produit à partir du panneau de calibrage.
PCT/EP2005/050165 2004-03-03 2005-01-17 Dispositif pour realiser une camera WO2005086497A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN2005800068709A CN1926887B (zh) 2004-03-03 2005-01-17 用于制造摄像机的装置
JP2007501256A JP2007528161A (ja) 2004-03-03 2005-01-17 カメラの製造装置及びカメラ装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102004010958.3 2004-03-03
DE102004010958A DE102004010958A1 (de) 2004-03-03 2004-03-03 Vorrichtung zur Herstellung einer Kamera

Publications (1)

Publication Number Publication Date
WO2005086497A1 true WO2005086497A1 (fr) 2005-09-15

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ID=34877466

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2005/050165 WO2005086497A1 (fr) 2004-03-03 2005-01-17 Dispositif pour realiser une camera

Country Status (5)

Country Link
JP (1) JP2007528161A (fr)
KR (1) KR101033066B1 (fr)
CN (1) CN1926887B (fr)
DE (1) DE102004010958A1 (fr)
WO (1) WO2005086497A1 (fr)

Cited By (1)

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CN106534791A (zh) * 2016-11-29 2017-03-22 杭州电子科技大学 一种大型蜘蛛三维运动观测及智能跟踪装置

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JPWO2006112466A1 (ja) 2005-04-19 2008-12-11 松下電器産業株式会社 鏡面基板の異物検査方法
DE102007040232B4 (de) * 2007-08-25 2015-12-31 Adc Automotive Distance Control Systems Gmbh Verfahren zur Feststellung von Mängeln in einer Windschutzscheibe
CN101755229B (zh) * 2007-10-17 2011-11-09 Ads技术株式会社 在光学装置组装期间使用传感器调节自由度的设备
US8259174B2 (en) * 2009-02-06 2012-09-04 GM Global Technology Operations LLC Camera auto-calibration by horizon estimation
DE102011078631A1 (de) 2011-07-05 2013-01-10 Robert Bosch Gmbh Anordnung und Verfahren zum Bestimmen einer Abbildungsabweichung einer Kamera
DE102012200152A1 (de) 2012-01-05 2013-07-11 Robert Bosch Gmbh Vorrichtung und Verfahren zum Vermessen einer Kamera
DE102014202541A1 (de) * 2014-02-12 2015-08-13 Oliver Jenner Bilderfassungsvorrichtung mit parallelkinematischer Bewegungseinrichtung
WO2018054426A1 (fr) * 2016-09-21 2018-03-29 First Sensor Mobility Gmbh Système de caméra monté dans un boîtier, procédé et dispositif pour produire ledit système de caméra
DE102019133738A1 (de) * 2019-12-10 2021-06-10 AIXEMTEC GmbH Vorrichtung, Verfahren und Verwendung der Vorrichtung zur Justage, Montage und/oder Prüfung eines elektrooptischen Systems

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WO2003023846A1 (fr) * 2001-09-13 2003-03-20 Optillion Ab Procede et appareil permettant un placement haute precision d'un composant optique sur un support
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WO2001044850A2 (fr) * 1999-12-16 2001-06-21 Iridian Technologies, Inc. Systeme de centrage d'optique pour imageur a semi-conducteur
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Publication number Priority date Publication date Assignee Title
CN106534791A (zh) * 2016-11-29 2017-03-22 杭州电子科技大学 一种大型蜘蛛三维运动观测及智能跟踪装置
CN106534791B (zh) * 2016-11-29 2019-02-19 杭州电子科技大学 一种大型蜘蛛三维运动观测及智能跟踪装置

Also Published As

Publication number Publication date
CN1926887A (zh) 2007-03-07
CN1926887B (zh) 2012-04-18
KR101033066B1 (ko) 2011-05-06
JP2007528161A (ja) 2007-10-04
DE102004010958A1 (de) 2005-09-22
KR20070007301A (ko) 2007-01-15

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