CN111947939A

CN111947939A - Calibration apparatus, calibration method, and calibration apparatus correction method

Info

Publication number: CN111947939A
Application number: CN202010789832.1A
Authority: CN
Inventors: 刘连军
Original assignee: Autel Intelligent Technology Corp Ltd
Current assignee: Autel Intelligent Technology Corp Ltd
Priority date: 2020-08-07
Filing date: 2020-08-07
Publication date: 2020-11-17
Also published as: WO2022028529A1

Abstract

The embodiment of the invention relates to the field of automobile detection, and discloses calibration equipment, a calibration method and a calibration equipment correction method. The calibration device comprises: a support; an image display panel mounted on the bracket; the light projection device is used for projecting set patterns to the image display panel, and the set patterns are used for assisting in calibrating a sensor to be measured on a vehicle to be measured; and the adjusting device comprises an adjusting mechanism and a processing module, wherein the processing module is used for acquiring the to-be-adjusted displacement of the light projection device relative to the image display panel and controlling the adjusting mechanism to adjust the position of the light projection device relative to the image display panel according to the to-be-adjusted displacement so as to adjust the display state of the set pattern on the image display panel. The calibration device is used for calibrating the set pattern, which is not formed by ink printing, but formed by projecting light to an image display panel through a light projection device; therefore, the calibration equipment can effectively avoid the defect that the display effect of the set pattern is influenced because the ink at the edge of the set pattern is easy to diffuse outwards.

Description

Calibration apparatus, calibration method, and calibration apparatus correction method

[ technical field ] A method for producing a semiconductor device

The embodiment of the invention relates to the technical field of automobile detection, in particular to calibration equipment, a calibration method and a calibration equipment correction method.

[ background of the invention ]

Along with the development of science and technology and the improvement of living standard, the quantity of automobile reserves of residents is rapidly increased, and the automobiles become the most favored transportation tools of the residents. After an automobile is driven for a long time and a long mileage, a sensor on an Advanced Driver Assistance System (ADAS) may be displaced or degraded from factory, and at present, calibration detection is generally performed on the sensor in the ADAS by an automobile calibration device to reasonably calibrate the sensor in the ADAS, so as to ensure that an owner can drive safely.

Currently, some calibration devices in the industry include a support and a pattern plate, wherein the pattern plate is fixed on the support and the surface of the pattern plate is printed with a set pattern for recognition by a sensor in the ADAS. During calibration, a worker places the calibration equipment at an appointed position, and each sensor to be tested in the vehicle ADAS to be tested photographs the set pattern so as to perform the calibration process.

The inventor of the invention finds out that: because the set pattern is formed on the pattern plate by printing ink, the ink is easily influenced by the ambient temperature and humidity, and the ink at the edge of the set pattern is easily diffused to the periphery in a high-temperature and humid environment, the display effect of the set pattern is influenced, and the calibration precision is further influenced.

[ summary of the invention ]

The embodiment of the invention aims to provide calibration equipment, a calibration method and a calibration method of the calibration equipment, so as to solve the technical problem that the display effect of a set pattern is influenced because ink at the edge of the set pattern is easy to diffuse outwards in a high-temperature and humid environment of the conventional calibration equipment.

The embodiment of the invention adopts the following technical scheme for solving the technical problems:

a calibration apparatus, comprising:

a support;

an image display panel mounted to the supporter;

the light projection device is arranged on the bracket and used for projecting a set pattern to the image display panel, and the set pattern is used for assisting in calibrating a sensor to be measured on a vehicle to be measured; and

the adjusting device is arranged on the support and comprises an adjusting mechanism and a processing module electrically connected with the adjusting mechanism, wherein the processing module is used for acquiring the to-be-adjusted displacement of the light projection device relative to the image display panel and controlling the adjusting mechanism to adjust the position of the light projection device relative to the image display panel according to the to-be-adjusted displacement so as to adjust the display state of the set pattern on the image display panel.

As a further improvement of the above technical solution, the adjusting device further includes an image capturing sensor, the image capturing sensor is mounted on the light projecting device, and the image capturing sensor is electrically connected to the processing module;

the image display panel is provided with a preset mark, and the image acquisition sensor is used for acquiring a mark image with the preset mark;

the processing module is used for acquiring the mark image and determining the displacement to be adjusted according to the mark image.

As a further improvement of the above technical solution, the determining the displacement to be adjusted according to the marker image includes:

the processing module acquires real coordinates of the preset mark in the mark image and preset coordinates of the preset mark;

and the processing module determines the displacement to be adjusted according to the real coordinate and the preset coordinate.

As a further improvement of the above technical solution, the preset mark is provided at a corner of the surface of the image display panel.

As a further improvement of the above technical solution, the preset marks include a first mark group and a second mark group, the first mark group and the second mark group are both disposed at the corner, and the first mark group and the second mark group are centrosymmetric with respect to a central axis of the image display panel.

the image acquisition sensor is used for acquiring a mark image with the set pattern;

the processing module acquires real coordinates of the set pattern in the mark image and preset coordinates of the set pattern;

As a further improvement of the above technical solution, the adjusting device further includes an attitude sensor, the attitude sensor is mounted on the light projection device, and the attitude sensor is electrically connected to the processing module;

the attitude sensor is used for measuring the real attitude of the light projection device relative to the image display panel, and the processing module determines the displacement to be adjusted according to the real attitude and the preset attitude of the light projection device relative to the image display panel;

and/or, the adjusting device further comprises at least three distance sensors, the distance sensors are mounted on the light projection device and electrically connected with the processing module, the distance sensors are used for measuring the real distance of the distance sensors relative to the image display panel, and the processing module determines the displacement to be adjusted according to the real distance and the preset distance of the distance sensors relative to the image display panel.

As a further improvement of the above technical solution, the support comprises a base and a stand assembly;

the bottom of the base comprises a driving wheel;

the stand assembly is mounted to the base and extends in a vertical direction, and the image display panel and the light projection device are mounted to the stand assembly.

As a further improvement of the above technical solution, the image display panel is vertically mounted on the stand assembly, and the light projection device is disposed above the image display panel.

As a further improvement of the above technical solution, the image display panel is made of a plastic material.

As a further improvement of the above technical solution, the bracket includes a receiving case, the light projection device is received in the receiving case, a through hole is formed at the bottom of the receiving case, and the image capture sensor is disposed at the through hole and fixed to the light projection device.

As a further improvement of the above technical solution, the adjusting mechanism includes:

the at least three lifting rods are arranged below the light projection device, and the tops of the at least three lifting rods are enclosed to form a polygon; and

and the driving module is connected with each lifting rod and electrically connected with the processing module, and is used for driving each lifting rod to lift so as to enable the top of each lifting rod to be abutted against or separated from the bottom of the light projection device.

As a further improvement of the above technical solution, the adjusting mechanism includes three lifting rods, and the tops of the three lifting rods enclose a triangle.

As a further improvement of the above technical solution, the driving module includes at least three driving assemblies, one driving assembly corresponds to one lifting rod, the driving assembly is connected with the lifting rod, and the driving assembly is used for driving the lifting rod to lift.

As a further improvement of the above technical solution, the lifting rod is a screw rod;

the driving assembly comprises a motor, a first belt wheel, a second belt wheel and a belt, the first belt wheel can only rotate relative to the support, the screw rod coaxially penetrates through the first belt wheel and is in threaded connection with the first belt wheel, the screw rod is opposite to the support and is circumferentially fixed, the second belt wheel is installed at the output end of the motor, and the belt is wound on the first belt wheel and the second belt wheel.

As a further improvement of the above technical solution, the support includes an accommodating box, the light projection device is accommodated in the accommodating box, a via hole is formed at the bottom of the accommodating box, and the top of the lifting rod can extend into or pass through the via hole and abut against the light projection device.

As a further improvement of the above technical solution, a positioning column is disposed at the bottom of the light projection device, a positioning hole is disposed at the bottom of the accommodating box, and the positioning column is inserted into the positioning hole and is in clearance fit with the positioning hole.

As a further improvement of the above technical solution, the adjusting mechanism further comprises an adjusting box fixed at the bottom of the accommodating box;

the lifting rod is at least partially accommodated in the adjusting box, and the driving module is accommodated in the adjusting box.

As a further improvement of the above technical solution, the processing module is accommodated in the conditioning box.

The embodiment of the invention also adopts the following technical scheme for solving the technical problems:

a calibration method is applied to the calibration equipment, and comprises the following steps:

and controlling the light projection device to project a set pattern to the image display panel so that a sensor to be tested in the vehicle to be tested acquires a calibration image with the set pattern, and comparing the calibration image with a preset image in the vehicle to be tested.

a calibration method of a calibration device is applied to the calibration device, and comprises the following steps:

acquiring a mark image acquired by the image acquisition sensor;

determining the displacement to be adjusted according to the marked image;

and controlling the adjusting mechanism to adjust the position of the light projection device relative to the image display panel according to the displacement to be adjusted.

As a further improvement of the above technical solution, the determining a displacement to be adjusted according to the marker image includes:

acquiring the real coordinates of the preset mark in the mark image and the preset coordinates of the preset mark;

and determining the displacement to be adjusted according to the real coordinate and the preset coordinate.

acquiring a mark image acquired by the image acquisition sensor;

determining the displacement to be adjusted according to the marked image;

acquiring real coordinates of the set pattern in the mark image and preset coordinates of the set pattern;

The invention has the beneficial effects that:

the calibration equipment provided by the embodiment of the invention comprises a support, an image display panel, a light projection device and an adjusting device. Wherein, the support is used for bearing and installing each structure. The light projection device is used for projecting set patterns to the image display panel so as to assist in calibrating a sensor to be measured on the vehicle to be measured.

Compared with the calibration equipment on the market at present, the calibration equipment provided by the embodiment of the invention is used for calibrating the set pattern of the vehicle to be measured, and the set pattern is formed by projecting light to the image display panel through the light projection device instead of being formed by ink printing. Therefore, the calibration equipment provided by the embodiment of the invention can effectively avoid the defect that the display effect of the set pattern is influenced because the ink at the edge of the set pattern is easy to diffuse outwards.

[ description of the drawings ]

One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.

Fig. 1 is a schematic perspective view of a calibration apparatus according to an embodiment of the present invention;

FIG. 2 is an exploded view of the hidden frame structure of the apparatus of FIG. 1 and an image display panel in one orientation;

FIG. 3 is a sectional view of the apparatus of FIG. 1 showing a hidden frame structure and an image display panel in one direction;

FIG. 4 is a schematic view of the apparatus of FIG. 1 in another orientation after the hidden frame structure and the image display panel have been identified;

FIG. 5 is an enlarged view of a portion of FIG. 3 at A;

FIG. 6 is a schematic diagram illustrating the electrical connection between the image sensor, the driving module, and the processing module;

FIG. 7 is a schematic flow chart illustrating a calibration method according to an embodiment of the present invention;

fig. 8 is a schematic flowchart of a calibration method of a calibration apparatus according to an embodiment of the present invention;

fig. 9 is a schematic flowchart of a calibration method of a calibration apparatus according to another embodiment of the present invention.

[ detailed description ] embodiments

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It should be noted that when an element is referred to as being "fixed to"/"mounted to" another element, it can be directly on the other element or one or more intervening elements may be present therebetween. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "vertical," "horizontal," "left," "right," "inner," "outer," and the like as used herein are for descriptive purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

In this specification, the term "mounting" includes fixing or limiting a certain element or device to a specific position or place by welding, screwing, clipping, adhering, etc., the element or device may be fixed or movable in a limited range in the specific position or place, and the element or device may be removed or not after being fixed or limited to the specific position or place, and is not limited in the embodiment of the present invention.

Referring to fig. 1, a schematic perspective view of a calibration apparatus according to an embodiment of the present invention is shown, the calibration apparatus includes a support 100, an image display panel 200, a light projecting device 300, and an adjusting device 400. The bracket 100 is used for carrying and mounting the image display panel 200, the light projecting device 300 and the adjusting device 400. The light projection device 300 is used for projecting light to the image display panel 200 to form a set pattern, and the set pattern is used for assisting in calibrating a sensor to be measured on a vehicle to be measured; the image display panel 200 is used to present the above-described setting pattern. The adjusting device 400 includes an adjusting mechanism 410 and a processing module 420 electrically connected to the adjusting mechanism 410, wherein the processing module 420 is configured to obtain a to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200, and control the adjusting mechanism 410 to adjust a position of the light projection device 300 relative to the image display panel 200 according to the to-be-adjusted displacement, so as to adjust a display state of the setting pattern displayed on the image display panel 200.

Referring to the stand 100, referring to fig. 1, the stand includes a base 110 and a stand assembly 120. The base 110 includes a main body 111 in an i shape and a plurality of driving wheels 112 mounted at the bottom of the main body 111. The stand assembly 120 is mounted to the top of the main body of the base 110 and extends in a vertical direction as shown.

With reference to the image display panel 200, as shown in fig. 1, the image display panel 200 has a flat plate-like structure, and in the present embodiment, the whole of the image display panel 200 has a flat rectangular parallelepiped shape and is vertically mounted on the stand assembly 120 as shown in the figure; it is understood that the image display panel 200 may have other shapes in other embodiments of the present invention. Alternatively, the image display panel 200 is made of a plastic material, which has a certain rigidity and is not easily deformed, so as to ensure that the set pattern projected by the light projection device 300 can maintain a better display effect; of course, the image display panel 200 may be made of other rigid materials such as metal.

With reference to the light projection device 300, please refer to fig. 1, the light projection device 300 is mounted on the stand assembly 120 of the bracket 100 and is located above the image display panel 200, and the light projection device 300 is used for projecting light to the image display panel 200 and forming a set pattern to assist in calibrating a sensor under test (not shown) on a vehicle under test (not shown). Wherein the set pattern is a pattern matched with the vehicle type of the vehicle to be tested; the light projection device 300 may obtain the setting pattern in a conventional manner, and the setting pattern may be stored in the light projection device 300 itself or obtained from an external device (e.g., a computer, a tablet, a mobile phone, etc.) through data communication. Optionally, the light projection device 300 is a projector. The light projection device 300 can switch setting patterns to adapt to different types of vehicles to be tested or different types of sensors to be tested. In this embodiment, the bracket 100 further includes a receiving box disposed above the image display panel 200 and fixed to the stand assembly 120, and configured to mount the light projection device 300. Specifically, referring to fig. 2, which shows an exploded view of the calibration apparatus hiding bracket 100 and the image display panel 200 in one direction, and referring to fig. 1, the accommodating box 130 is a box-shaped body without a cover, and has a first accommodating cavity (not shown) penetrating through the top of the accommodating box 130, and the light projection device 300 is accommodated in the first accommodating cavity with a small gap from the inner wall of the accommodating box 130, that is: the light projection device 300 is movably mounted on the bracket 100, and the small gap is convenient for a worker to take the light projection device 300, and can prevent the light projection device 300 from having too large movement allowance to influence the stability of the light projection device 300.

Further, please refer to fig. 2, and also refer to fig. 1, in order to make the process of installing the light projection device 300 in the storage box 130 faster and more accurate, the bottom of the light projection device 300 is provided with at least two positioning pillars 310, the bottom of the storage box 130 is provided with at least two positioning holes 131 at corresponding positions, one positioning pillar 310 corresponds to one positioning hole 131, and the positioning pillar 310 is inserted into the corresponding positioning hole 131 and is in clearance fit with the positioning hole 131. It should be noted that the gap between the positioning post 310 and the positioning hole 131 is small, so that the positioning and installation of the light projection device 300 can be facilitated, the light projection device 300 can be prevented from having an excessive movement margin to reduce its stability, and the light projection device 300 has a large weight and can be maintained in a stable state without being interfered by an external force.

Referring to fig. 3 to 5, the adjusting device 400 is shown in a cut-away schematic view of the calibrating apparatus in two directions after hiding the part of the bracket 100 and the image display panel 200, and a partially enlarged schematic view of a portion a, and referring to fig. 1 and fig. 2, the adjusting device 400 is installed in the accommodating box 130 of the bracket 100, and includes an adjusting mechanism 410 and a processing module 420. The processing module 420 is electrically connected to the adjusting mechanism 410, and is configured to obtain a to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200, and control the adjusting mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 according to the to-be-adjusted displacement until a display state of the set pattern on the image display panel is a desired state, where the desired state is a state where the shape and the aspect ratio of the set pattern both reach the desired state. It should be noted that the term "electrically connected" in this embodiment means: the two structures can realize the communication of electric signals, and the communication can be wired electric connection realized by a cable or wireless electric connection realized by Bluetooth, WiFi module and the like.

To facilitate the installation of the adjustment mechanism 410 and the processing module 420, in this embodiment, the adjustment device 400 further includes an adjustment box 430. Specifically, the adjusting box 430 is fixed to the bottom of the accommodating box 130, and has a second accommodating cavity 431 penetrating the top thereof, the adjusting mechanism 410 is at least partially accommodated in the second accommodating cavity 431, and the process module 420 is accommodated in the second accommodating cavity 431.

In this embodiment, the adjusting mechanism 410 includes three lifting rods 411 and a driving module 412. Specifically, each lifting rod 411 is disposed below the light projection device 300 and at least partially accommodated in the adjustment box 430, the top of the lifting rod 411 is disposed near the light projection device 300, the accommodating box 130 is provided with a through hole 132 corresponding to the position of the lifting rod 411, and the top of the lifting rod 411 can extend into or pass through the through hole 132 and abut against the bottom of the light projection device 300; the bottom of the lift lever 411 extends in the illustrated vertical direction toward the side away from the light projection device 300. The three lifting rods 411 are enclosed to form a triangle, and the embodiment of the present invention can adjust the left and right directions (with respect to fig. 1) and the up and down directions (with respect to fig. 1) of the set pattern displayed on the image display panel 200 by using the three lifting rods 411, thereby ensuring that the display state of the set pattern can be adjusted to a desired state. The driving module 412 is connected to each of the lifting rods 411, and is also connected to the processing module 420, and the processing module 420 is configured to control the driving module 412 to drive each of the lifting rods 411 to lift correspondingly, so that the top of the lifting rod 411 is abutted against or separated from the bottom of the light projection device 300, and further the portion of the light projection device 300 corresponding to the lifting rod 411 is raised or lowered adaptively, thereby adjusting the display state of the set pattern displayed on the image display panel 200 to a desired state. In this embodiment, the driving module 412 includes three driving elements 4121, and one driving element 4121 is correspondingly connected to one of the lifting rods 411.

Alternatively, the lifting rod 411 is a lead screw, and the driving unit 4121 includes a motor 4122, a first pulley 4123, a second pulley 4124 and a belt 4125 accommodated in the adjustment box 430. The first pulley 4123 is coaxially disposed with the screw, and is rotatably mounted to the adjusting box 430 and only rotatable with respect to the bracket 100. The screw rod coaxially passes through the first belt pulley 4123 and is in threaded connection with the first belt pulley 4123, and the screw rod is circumferentially fixed relative to the bracket 100, i.e., the screw rod cannot be rotated relative to the bracket 100. The motor 4122 is fixed to the adjustment case 430, the second pulley 4124 is attached to an output end of the motor 4122, and the belt 4125 is wound around the first pulley 4123 and the second pulley 4124. Thus, the motor 4122 may drive the first pulley 4123 to rotate via the second pulley 4124, and further drive the lead screw to ascend and descend to elevate (raise) or depress (depress by gravity) the light projection device 300; the controller can then control each motor 4122 to operate in a timely manner through the processing module 420 so as to enable the display state of the set pattern presented on the image display panel 200 to reach the desired state.

It should be understood that the number of the lifting rods 411 is three in the present embodiment, but the present invention is not limited thereto, as long as the adjusting mechanism 410 includes at least three lifting rods 411, and the tops of the at least three lifting rods enclose a polygon; as in other embodiments of the present invention, the adjusting mechanism 410 includes four lifting rods 411, and the tops of the four lifting rods 411 enclose a rectangle. Wherein, the "polygon" means: the plane figure is formed by sequentially connecting three or more line segments end to end, and can be a triangle, a square or other plane figures. In addition, the specific structure of the lifting rod 411 and the driving module 412 can also be modified similarly based on the embodiment, as long as it is ensured that the driving module 412 can drive the lifting rod 411 to lift or press the light projection device 300; for example, in some other embodiments of the present invention, the lifting rod 411 is an optical axis, and the driving module 412 includes a plurality of linear motors corresponding to the lifting rods 411 one by one.

The processing module 420 is electrically connected to the driving module 412, and is used for acquiring the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200, and controlling each driving component 4121 in the driving module 412 to drive the corresponding lifting rod 411 to lift according to the to-be-adjusted displacement. The processing module 420 may acquire the displacement to be adjusted in a variety of ways, and the specific manner of acquiring the displacement to be adjusted may be determined by the processing module based on information input by external hardware and further processing (e.g., calculating and analyzing), or may be directly acquired from the external hardware. Five acquisition modes are explained in detail below; it should be understood that the present invention is not limited to the specific manner in which the processing module 420 obtains the to-be-adjusted displacement, and in other embodiments of the present invention, the processing module 420 may obtain the to-be-adjusted displacement in other manners.

Optionally, the processing module 420 may also be electrically connected to the light projection device and configured to control the light projection device to switch the setting pattern, for example, the processing module receives a user instruction and then controls the light projection device to switch the setting pattern, or the processing module controls the light projection device to switch the setting pattern based on a determination algorithm, which is not limited herein.

The processing module 420 may include a processor for acquiring the displacement to be adjusted and a controller for controlling the driving components of the driving module 412. The processor is in communication connection with the controller. The number and the arrangement position of the processors and the controllers are not limited, and the number of the processors and the controllers can be respectively multiple.

In some embodiments, the adjustment device 400 further comprises an image acquisition sensor 440; specifically, referring to fig. 1 and fig. 2, in conjunction with other figures, the surface of the image display panel 200 is provided with a predetermined mark 210. Alternatively, the preset mark 210 is provided at a corner of the surface of the image display panel 200. Further alternatively, the preset marks 210 include a first mark group and a second mark group, both of which are disposed at the corners, and the first mark group and the second mark group are centrosymmetric with respect to the central axis of the image display panel 200. The image capturing sensor 440 is mounted on the light projection device 300, and is electrically connected to the processing module 420, and the image capturing sensor 440 is used for acquiring a mark image having the preset mark 210. In this embodiment, the image capturing sensor 440 is fixed to the bottom of the light projection device 300, the receiving box 130 is provided with a through hole 133 corresponding to the position of the image capturing sensor 440, and the image capturing sensor 440 at least partially passes through the through hole 133. The processing module 420 is electrically connected to the image capturing sensor 440 and the driving module 412, respectively, and the processing module 420 is configured to obtain a mark image obtained by the image capturing sensor 440 and determine the displacement to be adjusted according to the mark image. More specifically, the processing module 420 obtains real coordinates of the preset mark 210 in the mark image and preset coordinates of the preset mark 210; and then comparing the real coordinate with the preset coordinate to determine the displacement to be adjusted. The preset coordinates are coordinates of the preset mark 210 preset inside the processing module, and the "coordinates of the preset mark 210 preset inside the processing module" may be coordinates of the whole outline of the preset mark, or coordinates of a part of the whole outline of the preset mark. When the real coordinate of the preset mark in the mark image is consistent with the preset coordinate, the display state of the set pattern is an expected state; that is, when there is a deviation between the real coordinates and the preset coordinates, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is not zero, and at this time, the processing module 420 controls the adjusting mechanism 410 to adjust the position of the light projection device 300 with respect to the image display panel 200, and conversely, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is zero.

In other embodiments, the adjustment device 400 still includes an image capture sensor 440, and the image capture sensor 440 is mounted to the light projection device 300 and electrically connected to the processing module 420. This embodiment differs from the previous embodiment mainly in that: the image capturing sensor 440 in this embodiment is for acquiring a mark image having a set pattern projected by the light projecting device 300 and presented on the image display panel 200, and the processing module 420 is for acquiring the mark image acquired by the image capturing sensor 440 and determining the displacement to be adjusted according to the mark image. Specifically, in this embodiment, the processing module 420 obtains real coordinates of the set pattern in the mark image, and preset coordinates of the set pattern; and then comparing the real coordinate with the preset coordinate to determine the displacement to be adjusted. The preset coordinates are coordinates of the preset pattern inside the processing module 420, and the "coordinates of the preset pattern inside the processing module" may be coordinates of the entire contour of the preset pattern, or coordinates of a partial point in the entire contour of the preset pattern. When the real coordinates of the set pattern in the marked image are consistent with the preset coordinates, the display state of the set pattern is an expected state; that is, when there is a deviation between the real coordinates and the preset coordinates, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is not zero, and at this time, the processing module 420 controls the adjusting mechanism 410 to adjust the position of the light projection device 300 with respect to the image display panel 200, and conversely, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is zero.

In still other embodiments, the adjusting device 400 includes an attitude sensor (not shown) mounted to the light projection device and electrically connected to the processing module 420. The attitude sensor is used for measuring the real attitude of the light projection device 300 relative to the image display panel 200, and the processing module determines the displacement to be adjusted according to the real attitude and the preset attitude, for example, comparing the real attitude and the preset attitude. Wherein the preset posture is a posture, preset inside the processing module 420, where the light projection device 300 is located relative to the image display panel 200; when the real posture is consistent with a preset posture, the display state of the set pattern is an expected state; that is, when there is a deviation between the real posture and the preset posture, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is not zero, and at this time, the processing module 420 controls the adjusting mechanism 410 to adjust the position of the light projection device 300 with respect to the image display panel 200, and conversely, the light projection device 300 is zero with respect to the image display panel 200. Optionally, the attitude sensor includes at least one of an angular velocity sensor, a geomagnetic compass, and an inclination sensor, which may be one of them, or a combination of them.

In still other embodiments, the adjusting device 400 includes at least three distance sensors (not shown) mounted to the light projection device 300 and electrically connected to the processing module 420. The at least three distance sensors are respectively used for measuring the real distance of the image display panel 200, and the processing module 420 determines the displacement to be adjusted according to the real distance and a preset distance, for example, by comparing the real distance and the preset distance. Wherein the preset distance is a distance of the distance sensor relative to the image display panel 200 when the light projection device 300 is in a desired posture relative to the image display panel 200, which is preset inside the processing module 420. When the real distance measured by each distance sensor is consistent with the preset distance, the display state of the set pattern is an expected state; that is, when there is a deviation between the real distance and the preset distance, the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 is not zero, and at this time, the processing module 420 controls the adjusting mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 until the real distance measured by each distance sensor is consistent with the preset distance; on the contrary, the to-be-adjusted displacement of the light projection device 300 with respect to the image display panel 200 is zero.

In still other embodiments, the adjustment device 400 includes an input module (not shown) that is electrically connected to the processing module. The user can input the displacement to be adjusted to the input module according to the visual observation and practical experience; the processing module 420 is used to directly obtain the to-be-adjusted displacement. Optionally, the input module includes at least one of a display screen, a keyboard, and a key.

It is understood that in other embodiments of the present invention, at least two of the above-described embodiments may also be combined to derive corresponding variant embodiments; in this variant, the processing module 420 may also obtain the to-be-adjusted displacement.

When the light projection device 300 initially projects the set pattern onto the image display panel 200, the set pattern appearing on the image display panel 200 is often slightly deformed compared with the expected pattern, for example, due to a slight position change (such as high left, low right, high front, low back) of the light projection device 300 relative to the bracket 100 in the moving process of the calibration apparatus, the accuracy of the ADAS calibration of the vehicle to be measured is affected; the setting of the adjusting device 400 overcomes the disadvantage well, and can ensure a better presentation effect of the set pattern.

It is worth mentioning that: the processing module 420, as a control device for connecting the image capturing sensor 440 and the driving module 412, as shown in fig. 6, includes a processor 421 and a memory 422, and the processor 421 and the memory 422 may be connected by a bus or other means. The image capturing sensor 440 and the driving module 412 are connected to the bus.

Memory 422 is provided as a non-volatile computer-readable storage medium that may be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The processor 421 executes the steps performed by the processing modules described above by executing non-volatile software programs, instructions, and modules stored in the memory 422. The memory 422 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data output from the image pickup sensor 440, and the like. Further, the memory 422 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device.

In some embodiments, the memory 422 may optionally include memory located remotely from the processor 421, which may be connected to the processor 421 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The program instructions/modules are stored in the memory 422 and, when executed by the one or more processors 421, perform the steps performed by the processing modules described above.

The calibration apparatus provided by the embodiment of the present invention includes a support 100, an image display panel 200, a light projection device 300, and an adjustment device 400. Wherein the bracket 100 is used for bearing and mounting various structures. The light projection device 300 is used to project light to the image display panel 200 to form a set pattern to assist in calibrating a sensor under test on a vehicle under test.

Compared with the calibration apparatus on the market at present, the calibration apparatus provided by the embodiment of the present invention is used for calibrating the set pattern of the vehicle to be measured, which is not formed by ink printing, but formed by projecting light to the image display panel 200 through the light projection device 300. Therefore, the calibration equipment provided by the embodiment of the invention can effectively avoid the defect that the display effect of the set pattern is influenced because the ink at the edge of the set pattern diffuses outwards.

Based on the same inventive concept, the present invention further provides a calibration method applied to the calibration apparatus in the above embodiment, please refer to fig. 7, which shows a schematic flow chart of the calibration method, and with reference to fig. 1 to 6, the method includes the following steps:

s1: the light projection device 300 is controlled to project light to the image display panel 200 to form a set pattern, so that the sensor under test in the vehicle under test collects a calibration image with the set pattern, and the calibration image is compared with a preset image in the vehicle under test. Specifically, the set pattern is a pattern adapted to the model of the vehicle to be tested; the set pattern may be obtained by storing the light projection device 300 itself, or by obtaining the set pattern from an external device (e.g., a computer, a tablet, a mobile phone, etc.) through data communication. If the calibration image is consistent with a preset image in the vehicle to be detected, the sensor to be detected is normal; and if the calibration image is inconsistent with the preset image in the vehicle to be detected, the sensor to be detected needs to be maintained.

Compared with the calibration method on the market at present, the set pattern in the calibration method provided by the embodiment of the invention is formed by projecting light to the image display panel through the light projection device instead of being formed by ink printing. Therefore, the calibration method provided by the embodiment of the invention can effectively avoid the defect that the display effect of the set pattern is influenced because the ink at the edge of the set pattern diffuses outwards.

Based on the same inventive concept, the present invention further provides a calibration method for calibration equipment, which is applied to the calibration equipment in the above embodiments, please refer to fig. 8, which shows a flow diagram of the calibration method for calibration equipment; referring to fig. 1 to 6, the calibration apparatus includes the above-mentioned support 100, an image display panel 200, a light projection device 300, and an adjustment device 400. The adjusting device 400 comprises an adjusting mechanism 410, a processing module 420, an adjusting box 430 and an image acquisition sensor 440; wherein the image pickup sensor 440 is used to acquire a mark image having the preset mark 210 on the image display panel 200. The calibration method of the calibration equipment comprises the following steps:

s100: and acquiring a mark image acquired by the image acquisition sensor.

S200: and determining the displacement to be adjusted according to the marked image. The processing module 420 acquires the mark image acquired by the image capturing sensor 440 and determines the to-be-adjusted displacement of the light-projecting device 300 relative to the image display panel 200 according to the mark image.

Preferably, the processing module 420 determines the displacement to be adjusted by obtaining the real coordinates of the preset mark 210 in the mark image and the preset coordinates of the preset mark, and according to the real coordinates and the preset coordinates. The preset coordinates are coordinates of the preset mark 210 preset inside the processing module, and the "coordinates of the preset mark 210 preset inside the processing module" may be coordinates of the whole contour of the preset mark 210, or coordinates of a part of the whole contour of the preset mark. The processing module 420 compares the real coordinates with the preset coordinates, and when there is a deviation between the real coordinates and the preset coordinates, the displacement of the light projection device 300 to be adjusted with respect to the image display panel 200 is not zero; otherwise, the to-be-adjusted displacement is zero.

S300: controlling the adjusting mechanism 410 adjusts the position of the light projection device 300 relative to the image display panel 200 according to the displacement to be adjusted. Specifically, when the displacement to be adjusted is not zero, the processing module controls the adjusting mechanism 410 to adaptively adjust the position of the light projection device 300 relative to the image display panel 200 so as to make the display state of the set pattern presented on the image display panel 200 a desired state; when the displacement to be adjusted is zero, the adjusting mechanism 410 is not controlled to operate.

Before the calibration device performs calibration, the image acquisition sensor 440 acquires a mark image in real time, and the processing module 420 determines a to-be-adjusted displacement of the light projection device 300 according to the mark image, and adaptively drives the driving module 412 to operate until a display state of a set pattern displayed on the image display panel 200 is an expected state; thereby facilitating the subsequent calibration process.

Based on the same inventive concept, the present invention further provides another calibration method for calibration equipment, which is applied to the calibration equipment in the above embodiments, please refer to fig. 9, which shows a schematic flow chart of the calibration method for the calibration equipment; referring to fig. 1 to 6, the calibration apparatus includes the above-mentioned support 100, an image display panel 200, a light projection device 300, and an adjustment device 400. The adjusting device 400 comprises an adjusting mechanism 410, a processing module 420, an adjusting box 430 and an image acquisition sensor 440; wherein the image pickup sensor 440 is used to acquire a mark image having a set pattern presented on the image display panel 200. The calibration method of the calibration equipment comprises the following steps:

s100': and acquiring a mark image acquired by the image acquisition sensor.

S200': and determining the displacement to be adjusted according to the marked image. The processing module 420 acquires the mark image acquired by the image capturing sensor 440 and determines the to-be-adjusted displacement of the light-projecting device 300 relative to the image display panel 200 according to the mark image.

Preferably, the processing module 420 determines the displacement to be adjusted by obtaining real coordinates of the set pattern in the mark image and preset coordinates of the set pattern, and according to the real coordinates and the preset coordinates. The preset coordinates are coordinates of the preset pattern inside the processing module, and the "coordinates of the preset pattern inside the processing module" may be coordinates of the whole outline of the set pattern, or coordinates of a part of points in the whole outline of the set pattern. The processing module 420 compares the real coordinates with the preset coordinates, and when there is a deviation between the real coordinates and the preset coordinates, the displacement of the light projection device 300 to be adjusted with respect to the image display panel 200 is not zero; otherwise, the to-be-adjusted displacement is zero.

S300': controlling the adjusting mechanism 410 adjusts the position of the light projection device 300 relative to the image display panel 200 according to the displacement to be adjusted. Specifically, when the displacement to be adjusted is not zero, the processing module controls the adjusting mechanism 410 to adaptively adjust the position of the light projection device 300 relative to the image display panel 200 so as to make the display state of the set pattern presented on the image display panel 200 a desired state; when the displacement to be adjusted is zero, the adjusting mechanism 410 is not controlled to operate.

Based on the same inventive concept, embodiments of the present invention also provide a non-volatile computer storage medium storing computer-executable instructions, which are executed by one or more processors, such as the processor 421 in fig. 6, so that the one or more processors can execute the steps performed by the processing module described above.

Based on the same inventive concept, embodiments of the present invention also provide a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions that, when executed by the electronic device, cause the electronic device to perform the steps performed by the processing module described above.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A calibration apparatus, comprising:

a support;

an image display panel mounted to the supporter;

the light projection device is arranged on the bracket and used for projecting light to the image display panel to form a set pattern on the image display panel, and the set pattern is used for assisting in calibrating a sensor to be measured on a vehicle to be measured; and

2. The calibration apparatus according to claim 1, wherein the adjustment device further comprises an image capturing sensor, the image capturing sensor is mounted to the light projecting device, and the image capturing sensor is electrically connected to the processing module;

3. The calibration apparatus according to claim 2, wherein said determining the displacement to be adjusted according to the marker image comprises:

4. The calibration apparatus according to claim 2, wherein the predetermined marks are provided at corners of the surface of the image display panel.

5. The calibration apparatus according to claim 4, wherein the predetermined marks include a first mark group and a second mark group, the first mark group and the second mark group are both disposed at the corners, and the first mark group and the second mark group are symmetric with respect to a central axis of the image display panel.

6. The calibration apparatus according to claim 1, wherein the adjustment device further comprises an image capturing sensor, the image capturing sensor is mounted to the light projecting device, and the image capturing sensor is electrically connected to the processing module;

7. The calibration apparatus according to claim 6, wherein said determining the displacement to be adjusted according to the marker image comprises:

8. The calibration apparatus according to claim 1, wherein the adjustment device further comprises an attitude sensor, the attitude sensor is mounted to the light projection device, and the attitude sensor is electrically connected to the processing module;

9. The calibration apparatus according to claim 1, wherein the support includes a base and a stand assembly;

the bottom of the base comprises a driving wheel;

10. The calibration apparatus according to claim 9, wherein the image display panel is vertically mounted on the stand assembly, and the light projection device is disposed above the image display panel.

11. Calibration device according to claim 1, wherein the image display panel is made of a plastic material.

12. The calibration apparatus according to any one of claims 2 to 7, wherein the support includes a receiving box, the light projection device is received in the receiving box, a through hole is formed in a bottom of the receiving box, and the image capturing sensor is disposed at the through hole and fixed to the light projection device.

13. The calibration apparatus according to any one of claims 1 to 11, wherein the adjustment mechanism includes:

14. The calibration apparatus according to claim 13, wherein the adjustment mechanism includes three lifting rods, and top portions of the three lifting rods enclose a triangle.

15. The calibration apparatus according to claim 13, wherein the driving module includes at least three driving assemblies, one driving assembly corresponds to one lifting rod, the driving assembly is connected to the lifting rod, and the driving assembly is configured to drive the lifting rod to lift.

16. The calibration device according to claim 15, wherein the lifting rod is a screw rod;

17. The calibration apparatus according to claim 13, wherein the support includes a receiving box, the light projection device is received in the receiving box, a through hole is formed at a bottom of the receiving box, and a top of the lifting rod can extend into or pass through the through hole and abut against the light projection device.

18. The calibration apparatus according to claim 17, wherein a positioning column is disposed at a bottom of the light projection device, and a positioning hole is disposed at a bottom of the accommodating box, and the positioning column is inserted into and clearance-fitted with the positioning hole.

19. The calibration apparatus according to claim 17, wherein the adjustment mechanism further includes an adjustment box, and the adjustment box is fixed to the bottom of the accommodation box;

20. The calibration device according to claim 19, wherein the processing module is housed in the conditioning box.

21. The calibration apparatus according to claim 1, wherein the light projection device is a projector.

22. A calibration method applied to the calibration apparatus according to any one of claims 1 to 21, wherein the calibration method comprises:

and controlling the light projection device to project light to the image display panel to form a set pattern, so that a sensor to be tested in the vehicle to be tested acquires a calibration image with the set pattern, and comparing the calibration image with a preset image in the vehicle to be tested.

23. A calibration method of a calibration apparatus, applied to the calibration apparatus according to any one of claims 2 to 5, the calibration method comprising:

acquiring a mark image acquired by the image acquisition sensor;

determining the displacement to be adjusted according to the marked image;

24. The method of claim 23, wherein determining the displacement to be adjusted from the marker image comprises:

25. A calibration method of a calibration apparatus, applied to the calibration apparatus according to any one of claims 6 to 7, the calibration method comprising:

acquiring a mark image acquired by the image acquisition sensor;

determining the displacement to be adjusted according to the marked image;

26. The method of claim 25, wherein determining the displacement to be adjusted from the marker image comprises: