The numpy.zeros shape parameter has type int or tuple of ints so it shoud be

image = np.zeros((480, 640, 3), dtype=np.uint8)

Since you have CUDA installed you could do the same with

gpu_image = cv2.cuda_GpuMat(480, 640, cv2.CV_8UC3, (0, 0, 0))
image = gpu_image.download()