CN109974745B - Comprehensive calibration detection table for vehicle-mounted camera - Google Patents
Comprehensive calibration detection table for vehicle-mounted camera Download PDFInfo
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- CN109974745B CN109974745B CN201711454898.XA CN201711454898A CN109974745B CN 109974745 B CN109974745 B CN 109974745B CN 201711454898 A CN201711454898 A CN 201711454898A CN 109974745 B CN109974745 B CN 109974745B
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- 238000001514 detection method Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 claims description 9
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- 230000007246 mechanism Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
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- 238000005286 illumination Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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Abstract
The invention relates to a comprehensive calibration detection platform for a vehicle-mounted camera, which comprises a calibration platform, a 2D calibration system, a 3D calibration system and a rearview camera calibration system, wherein a parking station is arranged on the calibration platform, the front end and the rear end of the parking station are respectively provided with a centering device, the two sides of the front end and the rear end of the calibration platform are respectively provided with the 2D calibration system, the 2D calibration system is provided with a movable 2D calibration plate, the middle part of the rear end of the calibration platform is provided with the rearview camera calibration system, the rearview camera calibration system is provided with the movable rearview camera calibration plate, the front side and the rear side of the parking station are respectively provided with a calibration frame on the calibration platform, the left end and the right end of the calibration frame are respectively provided with the 3D calibration system, and the 3D calibration system is provided with a 3D calibration block with X, Y, Z-direction degrees of freedom. The invention can automatically position and center the vehicle body, and the calibration plate can be adjusted, so that the invention can be compatible with various calibration detection modes, and greatly improves the calibration detection efficiency of the vehicle and the applicable vehicle type range.
Description
Technical Field
The invention relates to the field of calibration detection of auxiliary driving systems, in particular to a comprehensive calibration detection table for a vehicle-mounted camera.
Background
The automobile auxiliary driving system is one of the main directions of the current automobile technology development, and the automobile auxiliary driving system represented by an automobile 360-degree panoramic image system, a Lane Departure Warning System (LDWS) and a front anti-collision warning system (FCW) gradually becomes the standard configuration of a household car.
The 360-degree panoramic (panoramic image) system of the automobile simultaneously collects images around the automobile through 4 groups of wide-angle cameras arranged at the front, back, left and right sides of the automobile body, and finally forms a complete surrounding view bird's eye view through an image processing and splicing technology, thereby expanding the perception capability of a driver to the surrounding environment of the automobile and avoiding safety accidents caused by view blind areas. The Lane Departure Warning System (LDWS) adopts an on-vehicle sensor to detect the position of a lane line in the running process of the vehicle, and reminds a driver to perform corresponding safety operation when the vehicle deviates from the lane, so that safety accidents caused by driving fatigue are avoided.
The vehicle-mounted sensors used in the driving assistance technology are calibrated in advance, so that the real position relationship between the sensors and the vehicle and the surrounding environment is established. The calibration of the vehicle-mounted camera is to construct a transformation relation between a vehicle body coordinate system and a ground coordinate system by arranging a marking plate in a field, then to construct a position relation between the vehicle-mounted camera and the ground coordinate system by using a vehicle-mounted camera identification marker, and further to obtain the position relation of the vehicle-mounted camera relative to the vehicle body coordinate system by coordinate transformation, so as to complete the calibration of the system.
At present, the conventional method for determining the position relationship between the vehicle body coordinate system and the ground coordinate system mainly comprises two methods of introducing an external measuring camera and guiding and positioning the vehicle in a calibration field, wherein the method for introducing the external measuring camera has high environmental requirements, and the measuring stability is poor, the measuring precision is low and the application range is limited in practical application because the paint surface of the vehicle body reflects light. The method for guiding and positioning the vehicle is designed aiming at a single vehicle type, and is difficult to adapt to the design requirements of the common line production of different multiple vehicle types at present. Therefore, how to ensure that vehicles of different vehicle types can quickly calibrate the vehicle-mounted camera in the same calibration site is a technical problem to be solved urgently.
Disclosure of Invention
The invention aims to provide a comprehensive calibration detection table for a vehicle-mounted camera, which can enable vehicle bodies of different vehicle types to be positioned and centered on a calibration platform rapidly and accurately, and a calibration plate can be adjusted according to different vehicle types and is compatible with various calibration detection modes, so that the vehicle calibration detection efficiency and the applicable vehicle type range are greatly improved, and the intelligent level of vehicle calibration detection operation is improved.
The aim of the invention is realized by the following technical scheme:
the utility model provides a vehicle-mounted camera synthesizes and marks detection platform, includes marks platform, 2D and marks system, 3D and marks system and rearview camera and mark the platform and be equipped with the parking station, just the front and back end of parking station all is equipped with centering device the front and back end both sides of demarcating the platform all are equipped with 2D and mark the system, just 2D marks the system and is equipped with mobilizable 2D and marks the board the middle part of demarcating the platform rear end is equipped with rearview camera and marks the system, just rearview camera marks the system and is equipped with mobilizable rearview camera and marks the board on the platform the parking station front and back side is equipped with a demarcation frame respectively the both ends are equipped with a 3D system respectively about demarcating the frame, just 3D demarcation system is equipped with a 3D demarcation piece that has X, Y, Z three direction degrees of freedom.
The parking station comprises a front wheel positioning roller set and a rear wheel supporting roller set, wherein the two front wheel positioning roller sets are arranged at the front end of the parking station and are respectively arranged on different wheel paths, the two rear wheel supporting roller sets are arranged at the rear end of the parking station and are respectively arranged on different wheel paths, and a centering device is arranged between the two front wheel positioning roller sets and between the two rear wheel supporting roller sets.
The centering device comprises a centering support, a centering supporting rod, a first sliding seat, a second sliding seat, a gear, a first rack, a second rack and a centering motor, wherein the gear is driven to rotate by the centering motor, the first rack and the second rack are respectively arranged on two sides of the gear and are engaged with the gear, the first sliding seat and the second sliding seat are movably arranged on the centering support, the first sliding seat is fixedly connected with the first rack, the second sliding seat is fixedly connected with the second rack, and the outer sides of the first sliding seat and the second sliding seat are respectively provided with the centering supporting rod.
The front wheel positioning roller set comprises a first inclined roller set, a second inclined roller set and a roller set base, wherein the first inclined roller set and the second inclined roller set are installed on the roller set base in a V shape, and roller set slopes are arranged on the front side and the rear side of the roller set base; the rear wheel supporting roller group comprises a plurality of supporting rollers which are positioned on the same horizontal plane.
The 2D calibration system comprises a 2D calibration plate, a 2D adjustment linear unit and a 2D calibration cover plate, wherein the 2D calibration plate is driven to move by the 2D adjustment linear unit, the 2D calibration cover plate is fixedly arranged on a calibration platform, and the 2D calibration plate is arranged below the 2D calibration cover plate when fully retracted.
The 2D adjusting linear unit is fixedly arranged on an installation base, and a leveling seat is arranged on the installation base; the 2D calibration plate is fixedly connected with the 2D adjusting slide block through a connecting supporting plate.
The rearview camera calibration system comprises a rearview camera calibration plate, a rearview calibration adjustment linear unit and a rearview calibration cover plate, wherein the rearview camera calibration plate is driven to move through the rearview calibration adjustment linear unit, the rearview calibration cover plate is fixedly arranged on a calibration platform, and the rearview camera calibration plate is arranged below the rearview calibration cover plate when fully retracted.
The 3D calibration system comprises a 3D calibration block and a linear unit component, wherein a first 3D calibration plate and a second 3D calibration plate which are perpendicular to each other are arranged on the 3D calibration block, the 3D calibration block is driven to move through the linear unit component, and the linear unit component is arranged on a calibration frame.
The linear unit assembly comprises a 3D calibration X-axis unit, an X-axis moving seat, a 3D calibration Y-axis unit, a Y-axis moving seat, a 3D calibration Z-axis unit and a Z-axis moving rod, wherein the X-axis moving seat is driven to move by the 3D calibration X-axis unit, the 3D calibration Y-axis unit is installed on the X-axis moving seat, the Y-axis moving seat is driven to move by the 3D calibration Y-axis unit, the 3D calibration Z-axis unit is installed on the Y-axis moving seat, the Z-axis moving rod is driven to lift by the 3D calibration Z-axis unit, and the 3D calibration block is fixedly installed at the lower end of the Z-axis moving rod.
The outside of the calibration platform is provided with a platform protection cover, and a lighting lamp is arranged on a protection cover ceiling of the platform protection cover.
The invention has the advantages and positive effects that:
1. according to the invention, the calibration platform is used as a centering and positioning platform for comprehensive calibration, the vehicle-mounted camera calibration mode to be adopted is obtained by identifying the vehicle type information, and the corresponding calibration plate is adjusted to move to the corresponding position, so that the calibration and detection of the vehicle-mounted cameras of different vehicle types are completed, the calibration efficiency is high, and the compatibility is strong.
2. The core of the comprehensive calibration platform adopted by the invention is to establish the fixed conversion relation between the vehicle body coordinate systems of different vehicle types and the corresponding ground calibration plate coordinate systems, then establish the relation between the vehicle-mounted camera and the ground calibration plate coordinate systems through the vehicle-mounted camera identification calibration plate, finally establish the relation between the vehicle-mounted camera and the vehicle body coordinate systems, and finish the calibration of the vehicle-mounted camera.
3. The calibration plate adjusting mechanism in the 2D calibration mode is embedded in the calibration platform, can adjust the position of the 2D calibration plate according to the vehicle type information, and can adjust the 2D calibration plate to the position below the hidden cover plate when the 2D calibration plate is not needed.
4. In the 3D calibration mode, the three-axis truss is adopted by the calibration plate adjusting mechanism, so that the positions of the 3D calibration blocks in three directions can be adjusted to adapt to the calibration requirements of different vehicle types, and the 3D calibration blocks are lifted to the highest positions when the calibration requirements are not met.
5. The rearview camera calibration plate can be used for adjusting the position in the traveling direction of the vehicle, and can be adjusted to be below the hidden cover plate when not needed.
6. The calibration platform is provided with the centering device, so that the vehicle to be calibrated can be automatically centered and positioned, and the calibration platform can be compatible with various vehicle types.
7. The invention effectively avoids interference among the calibration modes, thereby enabling the calibration platform to be compatible with various calibration modes.
Drawings
Figure 1 is a schematic diagram of the working state of the invention when 2D calibration is carried out,
figure 2 is a schematic diagram of the working state of the invention when 3D calibration is carried out,
figure 3 is a schematic view showing the working state of the invention when the rearview camera is calibrated,
figure 4 is a top view of the base station of figure 1,
figure 5 is a schematic view of the centering device of figure 4,
figure 6 is a schematic view of the front wheel set of registration rollers of figure 4,
FIG. 7 is a schematic diagram of the 2D calibration system of FIG. 1,
figure 8 is a schematic diagram of the 3D calibration system of figure 1,
fig. 9 is a schematic structural view of the protective cover of the base station in fig. 1.
Wherein 1 is a calibration site, 2 is a wheel guiding mechanism, 3 is a calibration platform, 301 is a centering device, 3011 is a centering support rod, 3012 is a guide push rod, 3013 is a first rack, 3014 is a gear, 3015 is a first slide, 3016 is a first slide rail, 3017 is a vertical plate, 3018 is a second slide rail, 3019 is a second slide block, 3020 is a centering motor, 3021 is a second slide carriage, 3022 is a centering support, 3023 is a second rack, 302 is a front wheel positioning roller set, 30201 is a roller set base, 30202 is a first bevel roller set, 30203 is a second bevel roller set, 3024 is a roller set slope, 303 is a wheel track, 304 is a rear wheel support roller set, 4 is a 2D calibration system, 401 is a 2D calibration plate, 402 is a 2D adjustment straight line unit, 4021 is a 2D adjustment motor, 4022 is a 2D adjustment slide block, 403 is a connection support plate, 404 is a mounting base, 405 is a leveling base, 406 is a 2D calibration cover plate, 5 is a calibration frame, 6 is a 3D calibration system, 601 is a 3D calibration block, 6011 is a first 3D calibration plate, 6012 is a second 3D calibration plate, 602 is a 3D calibration Z-axis unit, 603 is a 3D calibration Y-axis unit, 604 is a 3D calibration X-axis unit, 7 is a ground plane protective cover, 701 is a protective cover frame, 702 is a protective cover baffle, 703 is a protective cover ceiling, 704 is an illuminating lamp, 8 is a rearview camera calibration system, 801 is a rearview camera calibration plate, and 9 is a vehicle body.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 9, the invention comprises a calibration platform 3, a 2D calibration system 4, a 3D calibration system 6 and a rearview camera calibration system 8, wherein the calibration platform 3 is arranged on a calibration site 1, as shown in fig. 4, two parallel wheel ways 303 are arranged on the calibration platform 3, a parking station is arranged on the wheel ways 303, a centering device 301 is arranged at the front end and the rear end of the parking station, the 2D calibration system 4 is arranged at the two sides of the front end and the rear end of the calibration platform 3, the 2D calibration system 4 is provided with a movable 2D calibration plate 401, the middle part of the rear end of the calibration platform 3 is provided with the rearview camera calibration system 8, the rearview camera calibration system 8 is provided with a movable rearview camera calibration plate 801, on the calibration platform 3, a calibration frame 5 is respectively arranged at the front side and the rear side of the parking station, a 3D calibration system 6 is respectively arranged at the left end and the right end of the calibration frame 5, and the 3D calibration system 6 is provided with a 3D calibration block 601 with a degree of freedom X, Y, Z.
As shown in fig. 4, the parking station includes a front wheel positioning roller set 302 and a rear wheel supporting roller set 304, wherein the two front wheel positioning roller sets 302 are disposed at the front end of the parking station and are disposed on different wheel tracks 303, the two rear wheel supporting roller sets 304 are disposed at the rear end of the parking station and are disposed on different wheel tracks 303, and a centering device 301 is disposed between the two front wheel positioning roller sets 302 and between the two rear wheel supporting roller sets 304.
As shown in fig. 5, the centering device 301 includes a centering support 3022, a centering stay 3011, a first slide 3015, a second slide 3021, a gear 3014, a first rack 3013, a second rack 3023, and a centering motor 3020, the gear 3014 is driven to rotate by the centering motor 3020, the first rack 3013 and the second rack 3023 are separately disposed on two sides of the gear 3014 and are engaged with the gear 3014, the first slide 3015 and the second slide 3021 are movably disposed on the centering support 3022, the first slide 3015 is fixedly connected with the first rack 3013, the second slide 3021 is fixedly connected with the second rack 3023, the first slide 3015 and the second slide 3021 are driven to synchronously and reversely move by the centering motor 3020, the centering stay 3011 is disposed on outer sides of the first slide 3015 and the second slide 3021, that is, and is, for leaning against the first rack 3019 by the vehicle body.
As shown in fig. 5, the centering support 3022 is provided with a first sliding rail 3016 and a second sliding rail 3018 which are parallel, a first sliding block matched with the first sliding rail 3016 is arranged at the lower side of the first sliding seat 3015, and a second sliding block 3019 matched with the second sliding rail 3018 is arranged at the lower side of the second sliding seat 3021.
As shown in fig. 5, vertical plates 3017 are respectively arranged on two sides of the centering support 3022, the first sliding seat 3015 and the second sliding seat 3021 are respectively connected with different centering support rods 3011 through guide push rods 3012, the guide push rods 3012 penetrate through the vertical plates 3017 and then are fixedly connected with the centering support rods 3011, and the vertical plates 3017 are provided with guide bearings for supporting the guide push rods 3012.
As shown in fig. 4 and 6, the front wheel positioning roller set 302 includes a first inclined roller set 30202, a second inclined roller set 30203, and a roller set base 30201, the first inclined roller set 30202 and the second inclined roller set 30203 are mounted on the roller set base 30201 in a V-shape, roller set slopes 3024 are provided on front and rear sides of the roller set base 30201, and each roller on the first inclined roller set 30202 and the second inclined roller set 30203 is axially parallel to the wheel track 303. The rear wheel supporting roller set 304 includes a plurality of supporting rollers at the same horizontal plane, and each supporting roller is axially parallel to the wheel tunnel 303.
The two sides of the front end and the rear end of the calibration platform 3 are respectively provided with a 2D calibration system 4, and the 2D calibration systems 4 are respectively arranged on the outer sides of the wheel tracks 303. As shown in fig. 7, the 2D calibration system 4 includes a 2D calibration plate 401, a 2D adjustment linear unit 402, a leveling base 405 and a 2D calibration cover plate 406, a movable 2D adjustment slide block 4022 is disposed on the 2D adjustment linear unit 402, the lower side of the 2D calibration plate 401 is fixedly connected with the 2D adjustment slide block 4022, the 2D calibration cover plate 406 is fixedly mounted on the calibration platform 3, and when the 2D calibration plate 401 is completely retracted, is disposed below the 2D calibration cover plate 406, the 2D adjustment linear unit 402 is fixedly mounted on a mounting base 404, the mounting base 404 is fixedly mounted on the calibration site 1, the leveling base 405 is disposed on the mounting base 404, the lower plane of the leveling base 405 is connected with the mounting base 404, the upper plane is connected with the 2D adjustment linear unit 402, and four groups of threaded holes and four groups of bolt holes on the leveling base 405 are used for leveling the 2D adjustment linear unit 402.
As shown in fig. 7, the 2D adjustment linear unit 402 includes a 2D adjustment motor 4021, a 2D adjustment slider 4022, a 2D adjustment base, and a 2D adjustment screw, where the 2D adjustment screw is installed on the 2D adjustment base and is driven to rotate by the 2D adjustment motor 4021, and a nut matched with the 2D adjustment screw is disposed on the 2D adjustment slider 4022.
As shown in fig. 7, the 2D calibration board 401 is fixedly connected with the 2D adjustment slider 4022 through a connection supporting board 403, the connection supporting board 403 is in an i shape, the 2D adjustment slider 4022 is disposed in a recess on one side of the connection supporting board 403, and the upper side of the connection supporting board 403 is fixedly connected with the 2D calibration board 401.
As shown in fig. 1 to 3, a rear-view camera calibration system 8 is disposed in the middle of the rear end of the calibration platform 3, the rear-view camera calibration system 8 includes a rear-view camera calibration plate 801, a rear-view calibration adjustment linear unit, and a rear-view calibration cover plate, the rear-view camera calibration plate 801 is driven to move by the rear-view calibration adjustment linear unit, the rear-view calibration cover plate is fixedly mounted on the calibration platform 3, and the rear-view camera calibration plate 801 is disposed below the rear-view calibration cover plate when fully retracted. In this embodiment, the rearview calibration adjustment straight line unit and the 2D adjustment straight line unit 402 have the same structure.
As shown in fig. 1 to 3 and fig. 8, a 3D calibration system 6 is respectively disposed at the left and right ends of the calibration frame 5, the 3D calibration system 6 includes a 3D calibration block 601 and a linear unit assembly, the 3D calibration block 601 is square, a first 3D calibration plate 6011 and a second 3D calibration plate 6012 are disposed on the 3D calibration block 601, and the first 3D calibration plate 6011 and the second 3D calibration plate 6012 are disposed on two surfaces of the 3D calibration block 601 that are perpendicular to each other. The linear unit assembly comprises a 3D calibration X-axis unit 604, an X-direction moving seat, a 3D calibration Y-axis unit 603, a Y-direction moving seat, a 3D calibration Z-axis unit 602 and a Z-direction moving rod, wherein the X-direction moving seat is driven to move by the 3D calibration X-axis unit 604, the 3D calibration Y-axis unit 603 is installed on the X-direction moving seat, the Y-direction moving seat is driven to move by the 3D calibration Y-axis unit 603, the 3D calibration Z-axis unit 602 is installed on the Y-direction moving seat, the Z-direction moving rod is driven to lift by the 3D calibration Z-axis unit 602, and the 3D calibration block 601 is fixedly installed at the lower end of the Z-direction moving rod. In this embodiment, the 3D calibration X-axis unit 604 and the 3D calibration Y-axis unit 603 have the same structure as the 2D adjustment straight line unit 402, and the 3D calibration Z-axis unit 602 includes a Z-axis motor, a Z-axis screw, and a Z-axis screw, where the Z-axis motor and the Z-axis screw are mounted on the Y-axis moving seat, and the Z-axis screw is driven to rotate by the Z-axis motor, and the Z-axis screw matched with the Z-axis screw is the Z-axis moving rod.
As shown in fig. 1 to 3, a base station protective cover 7 is disposed outside the calibration base station 3, and as shown in fig. 9, the base station protective cover 7 includes a protective cover frame 701, a protective cover baffle 702 and a protective cover ceiling 703, wherein the protective cover baffle 702 is mounted around the protective cover frame 701, the protective cover ceiling 703 is mounted on the upper side of the protective cover frame 701, and an illumination lamp 704 is disposed on the protective cover ceiling 703.
As shown in fig. 1 to 3, the rear end of the calibration platform 3 is the input end of the vehicle body 9, and two wheel guiding mechanisms 2 corresponding to the two wheel tracks 303 are respectively arranged at the rear end of the calibration platform 3.
The working principle of the invention is as follows:
the operator drives the car body 9 to be calibrated to enter the calibration site 1 and drive into the calibration platform 3 under the guidance of the wheel guiding mechanism 2, the car stops at the parking station after the front wheels of the car body 9 enter the front wheel positioning roller set 302, at this time, the rear wheels of the car body 9 are supported by the rear wheel supporting roller set 304, the operator gets off the car, an OBD (vehicle diagnosis system) interface is connected with the car body 9, the control system recognizes car type information of the car body 9 through the OBD interface, and then the two centering devices 302 at the front end and the rear end of the parking station are controlled to synchronously act to calibrate the car body 9, so that the center line of the car body 9 coincides with the center line of the calibration platform 3, and calibration is carried out after the car body 9 is centered.
When 2D calibration is performed, as shown in FIG. 1, the vehicle body 9 is placed at a parking station, the 2D calibration systems 4 on two sides of the front end of the vehicle body 9 adjust the 2D calibration plates 401 to move towards the vehicle body 9, so that the distance between the 2D calibration plates 401 and the front end of the vehicle body 9 is a set distance, and meanwhile, the 2D calibration systems 4 on two sides of the rear end of the vehicle body 9 adjust the 2D calibration plates 401 to move towards the vehicle body 9, so that the distance between the 2D calibration plates 401 and the rear end of the vehicle body 9 is a set distance, in order to avoid the influence of the 3D calibration blocks 601 and the rear-view camera calibration plates 801 on 2D calibration, four groups of 3D calibration blocks 601 need to be lifted to the highest position, and meanwhile, the rear-view camera calibration plates 801 retract and are hidden below a rear-view system cover plate. After the control system confirms that all the settings are completed in place, the vehicle-mounted camera is calibrated, the distance between the front and rear 2D calibration plates 401 and the vehicle body is fixed after the vehicle body 9 is positioned and centered, so that the conversion relation between the ground coordinate system and the vehicle body coordinate system is determined, the 2D calibration plates 401 are identified by the vehicle-mounted camera to obtain the position relation between the camera and the ground coordinate system, the parameter information of the vehicle-mounted camera relative to the vehicle body coordinate system is finally obtained through coordinate transformation, the panoramic view calibration of the vehicle-mounted camera is completed through technologies such as image stitching, the vehicle which cannot be calibrated is marked as an unqualified vehicle, and the vehicle detection is completed while the vehicle is calibrated.
In order to smoothly complete the 2D panoramic looking around calibration work of the vehicle, the following auxiliary conditions are also required: the four groups of 2D calibration plates 401 and the tangent line at the bottom of the wheel are positioned on the same horizontal plane; the upper surface of the calibration platform 3 is coated with white matte paint so as to avoid influencing the outline of the 2D calibration plate 401 identified by the vehicle-mounted camera; the platform protection cover 7 provides uniform and stable illumination in unit area and provides a proper light source environment for calibrating the vehicle-mounted camera; the 2D calibration plates 401 on the front side and the rear side of the vehicle body 9 can be adjusted in the vehicle travelling direction, so that the vehicle type calibration device is suitable for vehicle type calibration with different wheelbases.
The panoramic view around-looking calibration of part of vehicle models adopts a 3D calibration mode. When the invention performs 3D calibration, as shown in FIG. 2, four square 3D calibration blocks 601 perpendicular to the calibration platform 3 are arranged on the front side and the rear side of the vehicle body 9 in total to calibrate the vehicle-mounted panoramic camera, and each 3D calibration block 601 is provided with a group of 3D calibration plates perpendicular to each other. The calibration process is similar to the 2D calibration process: the vehicle body 9 enters the calibration platform 3 and stops to finish positioning and centering, then the two 3D calibration blocks 601 positioned at the rear side of the vehicle body 9 adjust the positions of the 3D calibration plates according to the vehicle type information, the distance between the first 3D calibration plate 6011 and the center line of the vehicle body and the distance between the second 3D calibration plate 6012 and the rear end of the vehicle body reach set values, the two 3D calibration blocks 601 positioned at the front side of the vehicle body 9 synchronously adjust the positions of the 3D calibration plates, the distance between the first 3D calibration plate 6011 and the center line of the vehicle body and the distance between the second 3D calibration plate 6012 and the front end of the vehicle body reach set values, and the bottom edges of the four 3D calibration blocks 601 need to be tightly attached to the calibration platform 3. In this process, in order to avoid the influence of the 2D calibration plate 401 and the rearview camera calibration plate 801 on the 3D calibration, the 2D calibration plate 401 and the rearview camera calibration plate 801 are completely retracted below the various cover plates. And then the control system starts to perform 3D calibration on the vehicle-mounted camera after confirming that each item is set in place, and the vehicle which cannot be calibrated is marked as a disqualified vehicle. In this embodiment, for 3D panorama looking around calibration compatible with multiple vehicle types, the 3D calibration block 601 has an adjustment degree of freedom in X, Y, Z three directions.
As shown in fig. 3, the calibration of the rearview camera of the vehicle body 9 is achieved by a rearview camera calibration plate 801 arranged right behind the vehicle body 9, and the calibration process is similar to that of the panoramic looking around camera of the vehicle: firstly, the vehicle body 9 enters the calibration platform 3, positioning and centering work is completed on the calibration platform 3, and then the rear-view camera calibration system 8 positioned right behind the vehicle adjusts the position of the rear-view camera calibration plate 801 according to the vehicle type information so that the distance between the rear-view camera calibration plate and the tail of the vehicle body is a set distance value. Also, in order to avoid the influence of the 2D calibration plate 401 and the 3D calibration block 601 on the calibration of the rearview camera, the 2D calibration plate 401 is completely retracted below the cover plate, and the 3D calibration block 601 is lifted to the highest position. And then the control system starts to calibrate the vehicle-mounted rearview camera after confirming that each item is set in place, and marks the vehicle which cannot be calibrated as a disqualified vehicle.
Claims (6)
1. The utility model provides a vehicle-mounted camera comprehensive calibration detects platform which characterized in that: the automatic parking device comprises a calibration platform (3), a 2D calibration system (4), a 3D calibration system (6) and a rearview camera calibration system (8), wherein a parking station is arranged on the calibration platform (3), the front end and the rear end of the parking station are respectively provided with a centering device (301), the two sides of the front end and the rear end of the calibration platform (3) are respectively provided with the 2D calibration system (4), the 2D calibration system (4) is provided with a movable 2D calibration plate (401), the middle part of the rear end of the calibration platform (3) is provided with the rearview camera calibration system (8), the rearview camera calibration system (8) is provided with the movable rearview camera calibration plate (801), a calibration frame (5) is respectively arranged on the front side and the rear side of the parking station, the left end and the right end of the calibration frame (5) are respectively provided with a 3D calibration block (601) with X, Y, Z degrees of freedom;
the 2D calibration system (4) comprises a 2D calibration plate (401), a 2D adjustment linear unit (402) and a 2D calibration cover plate (406), wherein the 2D calibration plate (401) is driven to move through the 2D adjustment linear unit (402), the 2D calibration cover plate (406) is fixedly arranged on a calibration platform (3), and the 2D calibration plate (401) is arranged below the 2D calibration cover plate (406) when being completely retracted;
the 3D calibration system (6) comprises a 3D calibration block (601) and a linear unit component, wherein a first 3D calibration plate (6011) and a second 3D calibration plate (6012) which are perpendicular to each other are arranged on the 3D calibration block (601), the 3D calibration block (601) is driven to move through the linear unit component, and the linear unit component is arranged on a calibration frame (5);
the rearview camera calibration system (8) comprises a rearview camera calibration plate (801), a rearview calibration adjustment linear unit and a rearview calibration cover plate, wherein the rearview camera calibration plate (801) is driven to move through the rearview calibration adjustment linear unit, the rearview calibration cover plate is fixedly arranged on a calibration platform (3), and the rearview camera calibration plate (801) is arranged below the rearview calibration cover plate when fully retracted;
the outside of the calibration platform (3) is provided with a platform protection cover (7), and a protection cover ceiling (703) of the platform protection cover (7) is provided with an illuminating lamp (704);
when 2D calibration is carried out, the vehicle body (9) is driven into a calibration platform (3) and is parked, positioning and centering are carried out, 2D calibration systems (4) at two sides of the front end of the vehicle body (9) adjust 2D calibration plates (401) to move towards the vehicle body (9) and enable the distance between the front end 2D calibration plates (401) and the front end of the vehicle body (9) to be set, meanwhile, 2D calibration systems (4) at two sides of the rear end of the vehicle body (9) adjust the 2D calibration plates (401) to move towards the vehicle body (9) and enable the distance between the rear end 2D calibration plates (401) and the rear end of the vehicle body (9) to be set, four groups of 3D calibration blocks (601) are lifted to the highest position in the process, meanwhile, a rearview camera plate (801) is retracted below a rearview system cover plate, then a control system starts to calibrate a vehicle-mounted camera, the conversion relation between a ground coordinate system and a vehicle-mounted coordinate system is determined because the distance between the front end 2D calibration plates (401) and the vehicle body coordinate system is fixed, the position relation between the 2D calibration plates (401) and the ground coordinate system is obtained through the vehicle-mounted camera, the vehicle-mounted camera is converted into a coordinate system, and the vehicle-mounted coordinate system is not qualified through the vehicle-mounted vehicle coordinate system, and the vehicle-mounted vehicle coordinate system is not completed by the vehicle-mounted vehicle coordinate system, and the vehicle-mounted vehicle coordinate system is converted, the vehicle-mounted vehicle coordinate system is not in the quality image is completely by the vehicle-mounted image, and the vehicle coordinate system is not in the quality, and the vehicle system is correspondingly;
when 3D calibration is carried out, a vehicle body (9) enters a calibration platform (3) and is stopped, positioning and centering are carried out, then the positions of the 3D calibration plates are adjusted by two 3D calibration blocks (601) at the rear side of the vehicle body (9) according to vehicle type information, the distances between a first 3D calibration plate (6011) and a vehicle body central line and between a second 3D calibration plate (6012) and the vehicle body rear end of the rear side 3D calibration block (601) reach a set value, the positions of the 3D calibration plates are synchronously adjusted by the two 3D calibration blocks (601) at the front side of the vehicle body (9), the distances between the first 3D calibration plate (6011) and the vehicle body central line of the front side 3D calibration block (601) and the distances between the second 3D calibration plate (6012) and the vehicle body front end reach the set value, the bottom edges of the four 3D calibration blocks (601) are tightly attached to the calibration platform (3), the 2D calibration plate (401) is retracted below a 2D calibration cover plate (406), the rear view camera plate (801) is retracted below a rear view system cover plate, and the three-dimensional (X, Y, Z) is compatible with the three-dimensional vehicle type of the vehicle type, and the three-dimensional operation directions are adjusted freely;
when the rearview camera of the vehicle body (9) is calibrated, the vehicle body (9) drives into the calibration platform (3) and is stopped, positioned and centered, a rearview camera calibration system (8) positioned right behind the vehicle adjusts the position of a rearview camera calibration plate (801) according to vehicle type information, so that the distance between the rearview camera calibration plate (801) and the tail of the vehicle body is a set distance value, and at the moment, the 2D calibration plate (401) is retracted to the lower part of the 2D calibration cover plate (406), and meanwhile, the 3D calibration block (601) is lifted to the highest position.
2. The vehicle camera integrated calibration and detection station of claim 1, wherein: the parking station comprises a front wheel positioning roller set (302) and a rear wheel supporting roller set (304), wherein the two front wheel positioning roller sets (302) are arranged at the front end of the parking station and are respectively arranged on different wheel paths (303), the two rear wheel supporting roller sets (304) are arranged at the rear end of the parking station and are respectively arranged on different wheel paths (303), and a centering device (301) is respectively arranged between the two front wheel positioning roller sets (302) and between the two rear wheel supporting roller sets (304).
3. The vehicle-mounted camera integrated calibration and detection table according to claim 1 or 2, wherein: centering device (301) is including centering support (3022), centering vaulting pole (3011), first slide (3015), second slide (3021), gear (3014), first rack (3013), second rack (3023) and centering motor (3020), gear (3014) pass through centering motor (3020) drive rotation, first rack (3013) and second rack (3023) divide to locate gear (3014) both sides and all with gear (3014) meshing, first slide (3015) and second slide (3021) all movably set up on centering support (3022), and first slide (3015) link firmly with first rack (3013), second slide (3021) link firmly with second rack (3023) the outside of first slide (3015) and second slide (3021) all is equipped with centering vaulting pole (3011).
4. The vehicle camera integrated calibration and detection station of claim 2, wherein: the front wheel positioning roller set (302) comprises a first inclined roller set (30202), a second inclined roller set (30203) and a roller set base (30201), wherein the first inclined roller set (30202) and the second inclined roller set (30203) are installed on the roller set base (30201) in a V shape, and roller set slopes (3024) are arranged on the front side and the rear side of the roller set base (30201); the rear wheel support roller set (304) includes a plurality of support rollers at the same horizontal plane.
5. The vehicle camera integrated calibration and detection station of claim 1, wherein: the 2D adjusting linear unit (402) is fixedly arranged on a mounting base (404), and a leveling seat (405) is arranged on the mounting base (404); the 2D adjusting linear unit (402) is provided with a movable 2D adjusting sliding block (4022), and the 2D calibrating plate (401) is fixedly connected with the 2D adjusting sliding block (4022) through a connecting supporting plate (403).
6. The vehicle camera integrated calibration and detection station of claim 1, wherein: the linear unit assembly comprises a 3D calibration X-axis unit (604), an X-direction moving seat, a 3D calibration Y-axis unit (603), a Y-direction moving seat, a 3D calibration Z-axis unit (602) and a Z-direction moving rod, wherein the X-direction moving seat is driven to move by the 3D calibration X-axis unit (604), the 3D calibration Y-axis unit (603) is mounted on the X-direction moving seat, the Y-direction moving seat is driven to move by the 3D calibration Y-axis unit (603), the 3D calibration Z-axis unit (602) is mounted on the Y-direction moving seat, the Z-direction moving rod is driven to lift by the 3D calibration Z-axis unit (602), and a 3D calibration block (601) is fixedly mounted at the lower end of the Z-direction moving rod.
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| CN111645642A (en) * | 2020-01-08 | 2020-09-11 | 摩登汽车有限公司 | Complete automobile calibration system of automobile |
| CN112414311A (en) * | 2020-09-29 | 2021-02-26 | 浙江友顺机械有限公司 | Vehicle outgoing detection system |
| CN112396665B (en) * | 2020-12-03 | 2022-10-25 | 江苏泽景汽车电子股份有限公司 | Calibration system of AR HUD imaging calibration plate and use method thereof |
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