CN108961344A - A kind of depth camera and customized plane calibration equipment - Google Patents

Abstract

The invention discloses a kind of depth cameras and customized plane calibration equipment, including plane infrared receiving device；Further include plane fixing, wants customized index plane for plane reception device to be fixed on；Further include hand-held spherical infrared launcher, held before plane infrared receiving device for user, transmitting infrared signal gives plane infrared receiving device；Further include processor, for connecting depth camera, customized index plane, and handles data and obtain bias contribution；Further include display device, connect processor, inform how user adjusts depth camera, eliminates error；A kind of depth camera provided by the invention and customized plane calibration equipment only need to simply install the error of i.e. adjustable depth camera and customized plane, very convenient.

Description

A Depth Camera and Custom Plane Calibration Device

technical field

The invention relates to the fields of human body recognition, robots, and depth sensors, and more particularly, relates to a depth camera and a self-defined plane calibration device.

Background technique

When the depth camera is in some scenes that require high precision, there is an error when the camera is installed relative to the point that needs to be positioned. The error lies in the rotation error and the horizontal error, and the rotation error is the dominant factor. The solution of this application provides a depth camera and a custom plane calibration device, which can help to calibrate these errors.

Contents of the invention

The technical solution adopted by the present invention to solve the above technical problems is to provide a depth camera and a self-defined plane calibration device, wherein the specific technical solution is:

It includes a planar infrared receiving device; it also includes a planar fixing device, which is used to fix the planar receiving device on the standard surface to be customized; it also includes a hand-held spherical infrared emitting device, which is used for users to hold in front of the planar infrared receiving device and emit infrared signals to The planar infrared receiving device also includes a processor, which is used to connect the depth camera, customize the standard surface, and process the data to obtain deviation results; it also includes a display device, connected to the processor, to inform the user how to adjust the depth camera and eliminate errors.

The aforementioned depth camera and custom plane calibration device, wherein:

1) Install the depth camera and the custom standard surface first;

2) Install the planar infrared receiving device on the custom standard surface through the planar fixing device;

3) Connect the planar infrared receiving device to the processor, connect the depth camera to the processor, and turn on the power of the hand-held spherical infrared emitting device;

4) Hand-held infrared device, facing the plane infrared receiving device, at any position in space where the depth camera can be effectively measured, and at the same time within the measurement range of the plane infrared receiving device, press the measurement button of the hand-held spherical infrared emitting device ;

5) After the measurement button is pressed, the handheld spherical infrared emitting device emits an infrared signal, the distance emitted by the signal source is obtained through the receiving device, and the spatial position of the handheld spherical infrared emitting device is obtained through the processor;

6) The depth camera accepts the measurement instruction, and obtains the spatial position of the spherical sensor in the depth camera system by identifying the special shape of the spherical sensor;

7) The processor compares 5 and 6 to obtain the error value of the depth camera and transmits it to the display, displays it to the user, and guides the user to correct it.

The aforementioned depth camera and custom plane calibration device, wherein:

There are 2 kinds of correction methods: manual and mechanical. There are 2 types of machinery. One kind of machinery is equipped with an additional controller, and the user can output the correction degree adjustment, and the other is directly integrated into the processor, which is directly adjusted by the processor. In this way, the display device can be omitted.

The aforementioned depth camera and custom plane calibration device, wherein:

The planar infrared receiving device is a receiving plane with at least 0.6x 0.6m, and contains at least 3 infrared receiving points.

The aforementioned depth camera and custom plane calibration device, wherein:

There are at least 3 fixed feet of the plane fixing device, and the length can be adjusted. The accuracy of the adjustment feet is at least 0.05mm. At the same time, at least 4 measuring feet are attached, and the accuracy is also at least 0.05mm.

Compared with the prior art, the present invention has the following beneficial effects: the error between the depth camera and the self-defined plane can be calibrated only by simple installation, which is very convenient.

Description of drawings

Figure 1 is a schematic structural diagram of a depth camera and a custom plane calibration device.

Fig. 2 is a schematic diagram of the structure of the planar fixing device.

In the picture:

1 Handheld spherical infrared transmitter 2 Processor 3 Depth camera 4 Plane infrared receiver 5 Plane fixing device 6 Custom standard surface 7 Fixed feet 8 Measuring feet

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

The invention provides a depth camera and a self-defined plane calibration device, which can calibrate the error between the depth camera and a reference plane.

Depth Camera 3 with custom plane calibration equipment including:

Planar infrared receiving device 4: it is a receiving plane with at least 0.6x 0.6m, and includes at least 3 infrared receiving points, the more receiving points, the higher the accuracy.

Plane fixing device 5: It is used to fix the plane receiving device on the plane to be calibrated. The plane can be a screen, a structural surface of a fixed-depth camera, an operating surface of a manipulator, etc. according to user requirements. The device will be slightly adjusted according to the structure of the fixed plane. There are at least 3 fixed points, and the accuracy of the adjustment feet is at least 0.05mm. At the same time, at least 4 measuring feet are attached, and the accuracy is at least 0.05mm.

Hand-held spherical infrared emitting device 1: used for the user to hold in front of the planar infrared receiving device to transmit infrared signals to the planar infrared receiving device. At the same time, a calibrated depth camera is required to identify the device, and further the unique shape of the emission point of the device provides obvious depth information.

Processor 2: A machine used to connect the depth camera 3, calibrate the plane, and process the data to obtain deviation results.

Display device: connected to the processor to inform the user how to adjust the depth camera 3 to eliminate errors.

Invention Features and Advantages: Features A depth camera 3 and self-defined plane calibration device, which can calibrate the error between the depth camera and the self-defined plane with simple installation, which is very convenient.

The specific implementation of depth camera 3 and custom plane calibration equipment package is as follows:

1) The one-of-a-kind depth camera 3 and the custom plane calibration device need to be installed first.

2) Install the planar infrared receiving device on the self-defined reference surface through the planar fixing device. Take a smooth wall as an example: fix it with an air pressure fixing device, and adjust it to be level with the wall with the built-in leveler on the fixing device, and at the same time ensure that the readings of the four measuring feet 8 touching the plane are consistent.

3) Connect the planar infrared receiving device to the processor, connect the depth camera to the processor, and turn on the power of the hand-held spherical infrared emitting device 1 .

4) Hold the hand-held spherical infrared emitting device 1 and face the plane infrared receiving device in front. At any position in space where the depth camera 3 can be effectively measured and at the same time within the measurement range of the plane infrared receiving device 4, press the hand-held spherical Measuring button of infrared transmitter 1.

5) After the measurement button is pressed, the handheld spherical infrared emitting device 1 emits an infrared signal, the distance emitted by the signal source is obtained through the receiving device, and the spatial position of the handheld spherical infrared emitting device 1 is obtained through the processor.

6) The depth camera 3 accepts the measurement instruction, and obtains the spatial position of the spherical sensor in the depth camera system by identifying the special shape of the spherical sensor

7) The processor compares 5) and )6 to obtain the error value of the depth camera and transmits it to the display, displays it to the user, and guides the user to correct it.

8) There are two kinds of correction methods: manual and mechanical. There are two kinds of machines, one is equipped with additional controllers, and the user can output the correction degree adjustment, and the other is directly integrated into the processor, which is directly adjusted by the processor. In this way, the display device can be omitted.

Although the present invention has been disclosed above with preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some modifications and improvements without departing from the spirit and scope of the present invention. Therefore, the present invention The scope of protection should be defined by the claims.

Claims (5)

1. A depth camera and self-defining plane calibration equipment, characterized in that: it includes a plane infrared receiving device; it also includes a plane fixing device, which is used to fix the plane receiving device on a standard surface to be customized; it also includes a handheld spherical infrared transmitter The device is used for the user to hold in front of the planar infrared receiving device and transmit infrared signals to the planar infrared receiving device; it also includes a processor for connecting the depth camera, customizing the standard surface, and processing the data to obtain deviation results; it also includes a display device, Connect the processor to inform the user how to adjust the depth camera to eliminate errors. 2. A depth camera and a self-defined plane calibration device as claimed in claim 1, characterized in that: 1) Install the depth camera and the custom standard surface first; 2) Install the planar infrared receiving device on the custom standard surface through the planar fixing device; 3) Connect the planar infrared receiving device to the processor, connect the depth camera to the processor, and turn on the power of the hand-held spherical infrared emitting device; 4) Hand-held infrared device, facing the plane infrared receiving device, at any position in space where the depth camera can be effectively measured, and at the same time within the measurement range of the plane infrared receiving device, press the measurement button of the hand-held spherical infrared emitting device ; 5) After the measurement button is pressed, the handheld spherical infrared emitting device emits an infrared signal, the distance emitted by the signal source is obtained through the receiving device, and the spatial position of the handheld spherical infrared emitting device is obtained through the processor; 6) The depth camera accepts the measurement instruction, and obtains the spatial position of the spherical sensor in the depth camera system by identifying the special shape of the spherical sensor; 7) The processor compares 5 and 6 to obtain the error value of the depth camera and transmits it to the display, displays it to the user, and guides the user to correct it. 3. A depth camera and self-defined plane calibration device as claimed in claim 2, characterized in that: there are two types of correction methods: manual and mechanical, and there are two types of mechanical, one is mechanical additionally equipped with a controller, and the user outputs correction Degree adjustment, the other is directly integrated into the processor, and directly adjusted by the processor. 4. A depth camera and self-defined plane calibration device as claimed in claim 3, characterized in that: the plane infrared receiving device is a receiving plane with at least 0.6x 0.6m, and includes at least 3 infrared receiving points. 5. A depth camera and self-defined plane calibration device as claimed in claim 4, characterized in that: the plane fixing device has at least 3 fixing feet, and the length can be adjusted, and the accuracy of the adjustment feet is at least 0.05mm, and the attached There are at least 4 measuring feet, and the accuracy is at least 0.05mm.