CN112964274A - Calibration method for vehicle and ADAS sensor target and movable base - Google Patents
Calibration method for vehicle and ADAS sensor target and movable base Download PDFInfo
- Publication number
- CN112964274A CN112964274A CN202110155133.6A CN202110155133A CN112964274A CN 112964274 A CN112964274 A CN 112964274A CN 202110155133 A CN202110155133 A CN 202110155133A CN 112964274 A CN112964274 A CN 112964274A
- Authority
- CN
- China
- Prior art keywords
- layer
- calibration
- auxiliary
- vehicle
- positioning
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 102100034112 Alkyldihydroxyacetonephosphate synthase, peroxisomal Human genes 0.000 title claims abstract description 59
- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 title claims abstract description 59
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000009434 installation Methods 0.000 claims description 13
- 238000013459 approach Methods 0.000 claims description 8
- 230000033001 locomotion Effects 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 230000003028 elevating effect Effects 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 238000012937 correction Methods 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 230000033228 biological regulation Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000009897 systematic effect Effects 0.000 description 1
Images
Classifications
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Manufacturing & Machinery (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The application relates to a calibration method and a movable base for a vehicle and an ADAS sensor target, which relate to the field of automobile maintenance and manufacturing, wherein the method comprises the steps of installing positioning and calibrating auxiliary parts on the axes of two rear wheels of a vehicle to be calibrated; installing an ADAS target and two adjustable calibration auxiliary pieces on the same axis on a movable base; so that a rectangle is formed between the two positioning and calibrating auxiliary pieces and the two adjustable calibrating auxiliary pieces; moving the movable base parallel to the vehicle to be calibrated until the central line of the frame is coincident with the geometric central line; adjusting the angle between the movable base and the vehicle to be calibrated to enable the distances between the positioning calibration auxiliary piece and the adjustable calibration auxiliary piece which are opposite to each other on the two sides to be equal; and moving the movable base to adjust the distance between the movable base and the vehicle to be checked. The application has the effects of convenient calibration and convenient operation.
Description
Technical Field
The present application relates to the field of vehicle maintenance and repair and manufacturing, and more particularly, to a method for calibrating a vehicle and an ADAS sensor target and a movable base.
Background
The advanced driving assistance system (ADAS system) senses the surrounding environment at any time during the driving process of the automobile by using various sensors (millimeter wave radar, laser radar, single/double-eye camera and satellite navigation) installed on the automobile, collects data, identifies, detects and tracks static and dynamic objects, and performs systematic operation and analysis by combining navigation map data, thereby enabling drivers to perceive the possible danger in advance and effectively increasing the comfort and safety of automobile driving.
In order to realize the functions of the ADAS system, various ADAS system sensor positions must be accurately installed at corresponding positions of the vehicle; therefore, when the ADAS system sensor is installed, the corresponding location must be found on the vehicle.
Currently, U.S. HUNTER corporation (patent publication No. CN 109791045A) designs and installs a beam with a measuring camera on a calibration plate of a calibration sensor, photographs a target of a four-wheel aligner installed on a wheel with the camera, and instructs to move the calibration plate to achieve alignment through numerical analysis of an image formed by the camera.
The applicant believes that the above described device requires adjustment of the vehicle position when aligning the vehicle and target, and has the problem of being awkward to operate.
Disclosure of Invention
In order to solve the problem that the operation is not easy when the vehicle and the target are calibrated, the application provides a calibration method and a movable base of the vehicle and the ADAS sensor target, which are convenient to operate.
In a first aspect, the calibration method for the vehicle and the ADAS sensor target, which is convenient to operate and provided by the present application, adopts the following technical solutions:
a method of calibrating a vehicle to an ADAS sensor target, comprising the steps of:
installing positioning and calibrating auxiliary parts on the axes of two rear wheels of a vehicle to be calibrated;
installing an ADAS target and two adjustable calibration auxiliary pieces on the same axis on a movable base;
placing the movable base on one side of the vehicle to be calibrated to enable the two positioning calibration auxiliary parts and the two adjustable calibration auxiliary parts to form a rectangle approximately;
the host computer calculates and obtains the frame center line of the vehicle to be calibrated, the geometric center line between the vehicle to be calibrated and the movable base and the distance information between the positioning calibration auxiliary member and the adjustable calibration auxiliary member which are opposite at two sides in real time based on the relative position information of the two adjustable calibration auxiliary members and the two positioning calibration auxiliary members;
moving the movable base parallel to the vehicle to be calibrated until the central line of the frame is coincident with the geometric central line;
adjusting the angle between the movable base and the vehicle to be calibrated to enable the distances between the positioning calibration auxiliary piece and the adjustable calibration auxiliary piece which are opposite to each other on the two sides to be equal;
and moving the movable base, and adjusting the distance between the movable base and the vehicle to be calibrated until the distance between the positioning calibration auxiliary piece and the adjustable calibration auxiliary piece which are opposite to each other at two sides is equal to the preset test distance.
By adopting the technical scheme, the adjusting and calibrating auxiliary piece is arranged on the movable base, and the positioning and calibrating auxiliary piece is arranged on the vehicle to be calibrated, so that the host can acquire the position of the movable base and the position of the vehicle to be calibrated, and the deflection angle and the offset distance between the vehicle to be calibrated and the movable base can be acquired by calculating the position information of the host; during adjustment, an operator can move the movable base according to the deflection angle and the deflection distance, so that the middle point of the movable base is located on the central axis of the vehicle to be corrected, and then the central axes of the movable base and the vehicle to be corrected are coincided through adjusting the angle of the base and the distance of the vehicle to be corrected, wherein the distance is equal to the preset distance. At the moment, the ADAS target is installed on the specific position of the movable base, so that the ADAS target follows the movable base to reach the calibrated position; in the whole process, an operator does not need to move the automobile, and only needs to move the movable base to realize the calibration between the ADAS target and the vehicle to be calibrated, so that the calibration is convenient and the operation is convenient.
Preferably, the positioning calibration auxiliary member and the adjustable calibration auxiliary member are four-wheel aligner measuring targets, the host comprises a camera and a computer, the camera acquires image information of the positioning calibration auxiliary member and the adjustable calibration auxiliary member, and the computer acquires relative position information of images of the positioning calibration auxiliary member and the adjustable calibration auxiliary member based on the acquired image information.
By adopting the technical scheme, the image data of the measurement targets of the positioning calibration auxiliary piece and the adjustable calibration auxiliary piece are shot and acquired through the camera, and then the computer converts the image data into the position data through the existing four-wheel aligner testing method, so that the relative position information of the images of the positioning calibration auxiliary piece and the adjustable calibration auxiliary piece can be rapidly acquired.
Preferably, the positioning and calibrating auxiliary part and the adjustable calibrating auxiliary part are linear array CCD four-wheel positioning measuring heads with built-in wireless modules, and the host machine acquires relative position information output by the positioning and calibrating auxiliary part and the adjustable calibrating auxiliary part through wireless communication respectively.
By adopting the technical scheme, the linear array CCD four-wheel positioning measuring head can obtain the relative position information of the linear array CCD four-wheel positioning measuring heads on two adjacent corners of the rectangle besides not obtaining the relative position of the linear array CCD four-wheel positioning measuring heads on opposite corners of the rectangle, and the host machine can simultaneously obtain the relative position information of the four linear array CCD four-wheel positioning measuring heads output by the wireless module, so that the relative position information of the positioning calibration auxiliary member and the adjustable calibration auxiliary member can be quickly calculated by calculation.
Preferably, the host computer calculates and obtains a frame center line of the vehicle to be calibrated based on the relative position information of the two positioning calibration auxiliary parts; the host computer obtains the geometric center line between the vehicle to be calibrated and the movable base through calculation based on the relative position information of the two adjustable calibration auxiliary pieces and the two positioning calibration auxiliary pieces.
By adopting the technical scheme, the center line of the vehicle frame of the vehicle to be calibrated can be obtained by making the perpendicular bisector from the relative position information of the two positioning and calibrating auxiliary parts; the center points of the two adjustable calibration auxiliary pieces are obtained through the host machine based on the relative position information of the two adjustable calibration auxiliary pieces, the center points of the two positioning calibration auxiliary pieces are obtained based on the relative position information of the two positioning calibration auxiliary pieces, and the geometric center line can be obtained by connecting the two center points.
In a second aspect, the present application provides a movable base applied to the vehicle and the target calibration method, and adopts the following technical solutions:
a movable base applied to a vehicle and target calibration method comprises a movable base, a main base body, an auxiliary base body, a calibration mounting beam and an ADAS camera target stand, wherein the main base body is fixedly mounted on the upper side of the movable base, the auxiliary base body is horizontally connected to one side of the main base body, the calibration mounting beam is horizontally fixed to one side, far away from the auxiliary base body, of the main base body, and the ADAS camera target stand is fixedly connected to the upper side of the auxiliary base body; the two ends of the calibration mounting beam are fixedly connected with auxiliary part mounting pipes for positioning and calibrating the auxiliary parts; and radar target seats are arranged on two sides of the calibration mounting beam.
By adopting the technical scheme, the base can be adjusted in movement due to the arrangement of the movable base; the auxiliary part mounting pipes are fixed at two ends of the horizontally arranged calibration mounting beam, so that the positioning calibration auxiliary part can be quickly mounted on the calibration mounting beam without other clamping parts; the horizontal slip of both sides of calibration installation roof beam is connected with the radar target holder for the installation of radar mark target can also be supplied as the horizontal base that slides to the calibration installation roof beam, with the installation that is fit for various types of vehicles.
Preferably, movable base includes the motion layer, transfers the middle level, roll adjustment layer and accent to the layer, a plurality of universal wheels are installed to the bottom on motion layer, transfer the middle level along being on a parallel with calibration installation roof beam length direction horizontal slip is on the motion layer, the roll adjustment layer is along the perpendicular to calibration installation roof beam length direction horizontal slip is on transferring the middle level, it uses vertical direction to rotate to connect on the roll adjustment layer as the axial to transfer to the layer, main base fixed mounting in transfer to on the layer, just the roll adjustment layer with main base the central axis coincidence.
By adopting the technical scheme, through the four-layer design of the moving layer, the adjusting layer, the distance adjusting layer and the direction adjusting layer, in the process of calibrating the target and the vehicle to be calibrated, the movable base can slide freely by moving the moving layer until the movable base is integrally arranged on one side of the vehicle to be calibrated to be positioned, and a rectangle is roughly formed between the two positioning calibration auxiliary parts and the two adjustable calibration auxiliary parts. Then, the middle adjusting layer is moved, so that the main base body moves parallel to the vehicle to be calibrated until the center line of the frame and the geometric center line are superposed; then, the angle between the movable base and the vehicle to be calibrated is adjusted through rotating the steering layer, so that the distances between the positioning calibration auxiliary parts and the adjustable calibration auxiliary parts which are opposite to each other on the two sides of the main base body are equal; finally, moving the distance adjusting layer, and adjusting the distance between the main body and the vehicle to be calibrated until the distance between the positioning calibration auxiliary part and the adjustable calibration auxiliary part which are opposite to each other on the two sides is equal to the preset test distance; position correction of the ADAS target is completed. In the whole process, the other degrees of freedom of the middle adjusting layer, the distance adjusting layer and the direction adjusting layer are limited, so that the problems of rotation or deviation caused by translation or deviation caused by rotation are reduced, and the main base body is convenient to adjust.
Preferably, a centering screw rod parallel to the length direction of the calibration mounting beam is mounted on the moving layer, a centering slide block mounted on the centering screw rod is fixedly connected to the bottom of the centering layer, and a centering driving piece for driving the centering screw rod to rotate is arranged on the moving layer; the adjusting layer is provided with a distance adjusting screw rod perpendicular to the length direction of the calibration mounting beam, the bottom of the distance adjusting layer is fixedly connected with a distance adjusting slider arranged on the distance adjusting screw rod, and the adjusting layer is provided with a distance adjusting driving piece used for driving the distance adjusting screw rod to rotate.
By adopting the technical scheme, the centering screw rod is driven to rotate by the centering driving piece, so that the slippage of the centering layer is more labor-saving, and the position of the centering layer can be slightly adjusted; in a similar way, the distance adjusting screw rod is driven to rotate by the distance adjusting driving piece, so that the sliding of the distance adjusting layer is more labor-saving, and the position of the distance adjusting layer is slightly adjusted.
Preferably, the centering driving piece is connected to the moving layer in a sliding manner, the centering driving piece comprises a centering linkage position for linking the rotation of the centering screw rod and a centering disconnection linkage position for releasing the linkage with the centering screw rod, and the centering driving piece is connected with a first stopping piece for stopping the rotation of the steering layer; when the centering screw rod is in the centering linkage position, the first stopping piece approaches the direction adjusting layer, so that the direction adjusting layer is limited to rotate; when the centering screw rod is in the interruption linkage position, the first stopping piece is far away from the direction adjusting layer, so that the direction adjusting layer can rotate;
the distance adjusting driving piece is connected to the distance adjusting layer in a sliding mode and comprises a distance adjusting linkage position and a distance adjusting disconnection position, the distance adjusting linkage position is in linkage with the distance adjusting screw rod to rotate, the distance adjusting disconnection position is in disconnection with the distance adjusting screw rod in linkage, and the distance adjusting driving piece is connected with a second stopping piece used for stopping the rotation of the direction adjusting layer; when the distance adjusting screw rod is located at the distance adjusting linkage position, the second stopping piece is close to the direction adjusting layer, so that the direction adjusting layer is limited to rotate; when the distance adjusting screw rod is located at the distance adjusting disconnection position, the second stopping piece is far away from the direction adjusting layer, so that the direction adjusting layer can rotate.
By adopting the technical scheme, when the centering screw rod is positioned at the centering linkage position, the first stopping piece approaches the direction adjusting layer, so that the direction adjusting layer is limited to rotate, and therefore, the direction adjusting layer cannot rotate in the process of centering; similarly, when the distance adjusting screw rod is located at the distance adjusting linkage position, the second stopping piece is close to the direction adjusting layer, so that the direction adjusting layer is limited to rotate, and therefore, the direction adjusting layer cannot rotate in the distance adjusting layer adjusting process;
meanwhile, when the distance adjusting screw rod is in the distance adjusting disconnection position, the second stopping piece is far away from the direction adjusting layer, so that the direction adjusting layer can rotate, and when the distance adjusting screw rod is in the distance adjusting disconnection position, the first stopping piece is far away from the direction adjusting layer, so that the direction adjusting layer can rotate, and therefore in the rotating process of the direction adjusting layer, the direction adjusting layer and the distance adjusting layer cannot slide. The accuracy of the adjustment is further ensured.
Preferably, an elevating disc is fixedly connected to the bottom of the direction-adjusting layer, so that a stopping gap is formed between the direction-adjusting layer and the distance-adjusting layer, the end face of the direction-adjusting layer facing the distance-adjusting layer forms a braking surface, and the first stopping piece and the second stopping piece can be inserted into the stopping gap to abut against the braking surface.
By adopting the technical scheme, the braking surface at the bottom of the direction-adjusting layer is large enough, so that the first stopping piece and the second stopping piece can be inserted into the abutting braking surface of the stopping gap to limit the rotation of the direction-adjusting layer after the horizontal position of the direction-adjusting layer is subjected to fine adjustment.
Preferably, the auxiliary base body is connected to the main base body in a sliding mode along the vertical direction, and radar target seats are horizontally connected to two sides of the calibrating and mounting beam in a sliding mode.
Through adopting above-mentioned technical scheme for the height of ADAS camera target stand can be adjusted and radar target seat horizontal position can be adjusted, thereby makes the regulation can adapt to different motorcycle types.
In summary, the present application includes at least one of the following beneficial technical effects:
1. the vehicle and the target calibration only needs to move the movable base for operation convenience;
2. the calibration of the vehicle and the target can be realized by utilizing the existing four-wheel aligner system host, and manufacturers and maintainers do not need to additionally purchase ADAS calibration equipment.
Drawings
FIG. 1 is a schematic flow diagram of a method of calibrating a vehicle to an ADAS sensor target;
FIG. 2 is a schematic measurement diagram of the calibration auxiliary member as a measuring target of the four-wheel aligner;
FIG. 3 is a schematic diagram of the measurement when the calibration auxiliary is a linear array CCD four-wheel positioning measuring head;
FIG. 4 is a schematic structural view of the movable base;
FIG. 5 is a schematic view of the movable base;
FIG. 6 is a schematic view of an exploded structure of the movable base;
FIG. 7 is an enlarged schematic view of A in FIG. 6;
fig. 8 is an enlarged schematic view of B in fig. 6.
Description of reference numerals: 1. a host; 2. a movable base; 3. a vehicle to be calibrated; 4. positioning a calibration aid; 5. an adjustable calibration aid; 21. a movable base; 22. a main body; 23. attaching a substrate; 24. calibrating the mounting beam; 25. an ADAS camera target; 26. a radar target holder; 27. the auxiliary member mounting tube; 211. a motion layer; 212. adjusting the middle layer; 213. a distance adjusting layer; 214. a direction adjusting layer; 215. a universal wheel; 216. an elevating plate; 301. centering a screw rod; 302. centering the sliding block; 303. centering a driving piece; 304. centering the driving rod; 305. a centering hand wheel; 306. centering driving wheels; 307. centering the driven wheel; 401. adjusting a distance screw rod; 402. a distance adjusting slide block; 403. a distance-adjusting driving member; 404. a distance-adjusting driving rod; 405. a distance adjusting hand wheel; 406. a distance adjusting driving wheel; 407. a distance-adjusting driven wheel; 50. a first stop member; 501. a first vertical bar; 502. a first cross bar; 503. a first brake block; 60. a second stop member; 601. a second vertical bar; 602. a second cross bar; 603. and a second brake block.
Detailed Description
The present application is described in further detail below with reference to figures 1-8.
A calibration method for a vehicle and an ADAS sensor target can realize calibration of the vehicle and the ADAS sensor target through the cooperation of an existing four-wheel aligner system and a movable base 2, and specifically comprises the following steps as shown in figure 1:
s10, installing and positioning the calibration auxiliary parts 4 on the axes of the two rear wheels of the vehicle 3 to be calibrated;
the positioning and calibrating auxiliary part 4 can be directly a calibrating auxiliary part on the existing automobile four-wheel aligner; namely, the positioning and calibrating auxiliary part 4 can be a four-wheel aligner measuring target or a linear array CCD four-wheel positioning measuring head.
The positioning and calibrating auxiliary member 4 and the rear wheel are generally installed by clamping and fixing a positioning jig on the outer wall of the hub of the rear wheel, so that the central axis of the positioning jig is coaxial with the central axis of the hub of the rear wheel. And then the four-wheel aligner measuring target or the linear array CCD four-wheel positioning measuring head is spliced and fixed on a central shaft of the positioning fixture, so that the four-wheel aligner measuring target or the linear array CCD four-wheel positioning measuring head is installed on the axis of the rear hub of the automobile. It should be noted that the positioning clamp applied in the present application is any positioning clamp applied in the art to achieve the above functions, and therefore, the description thereof is omitted.
S20, mounting an ADAS target and two adjustable calibration auxiliary pieces 5 on the same axis on the movable base 2;
the ADAS target is a calibration target of an automobile ADAS sensor, and generally, the ADAS target referred to in the present application at least includes an ADAS radar calibration target and an ADAS camera calibration target. When the ADAS radar calibration target and the ADAS camera calibration target are accurate in position relative to the vehicle on the movable base 2, the standard image information of the ADAS camera calibration target can be acquired only when the ADAS camera mounting position on the vehicle is accurate; and in the same way, the standard radar information for obtaining the calibration target of the ADAS radar can be obtained only when the ADAS radar is accurately installed.
The two adjustable calibration aids 5 and the positioning calibration aid 4 form a calibration aid on the four-wheel aligner of the automobile. As shown in fig. 2, therefore, when the positioning and calibrating auxiliary 4 is a four-wheel aligner measuring target, the adjustable calibrating auxiliary 5 is a four-wheel aligner measuring target. As shown in fig. 3, when the positioning and calibrating auxiliary member 4 is a linear array CCD four-wheel positioning measuring head, the adjustable calibrating auxiliary member 5 is a linear array CCD four-wheel positioning measuring head.
S30, the host 1 calculates and obtains the real-time frame center line of the vehicle 3 to be calibrated, the geometric center line between the vehicle 3 to be calibrated and the movable base 2 and the distance information between the positioning and calibrating auxiliary 4 and the adjustable and calibrating auxiliary 5 which are opposite at two sides based on the relative position information of the two adjustable and calibrating auxiliary 5 and the two positioning and calibrating auxiliary 4;
the main machine 1, the positioning and calibrating auxiliary part 4 and the adjustable calibrating auxiliary part 5 can form a four-wheel aligner system. Namely, the main machine 1, the positioning and calibrating auxiliary part 4 and the adjustable calibrating auxiliary part 5 can be directly obtained through the existing four-wheel aligner system.
As shown in fig. 2, when the positioning and calibrating auxiliary 4 and the adjustable calibrating auxiliary 5 are four-wheel aligner measuring targets, the main unit 1 includes a camera and a computer, the camera acquires image information of the positioning and calibrating auxiliary 4 and the adjustable calibrating auxiliary 5, and the computer acquires relative position information of the images of the positioning and calibrating auxiliary 4 and the adjustable calibrating auxiliary 5 based on the acquired image information.
As shown in fig. 3, therefore, when the positioning and calibrating auxiliary 4 and the adjustable calibrating auxiliary 5 are linear array CCD four-wheel positioning measuring heads, the positioning and calibrating auxiliary 4 and the adjustable calibrating auxiliary 5 will have a wireless module built therein, and the wireless module generally adopts a bluetooth module. The main body 1 is capable of acquiring the relative position information output by the positioning calibration assistance 4 and the adjustable calibration assistance 5 through wireless communication, respectively.
In the two modes, the position modes of the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 calculated and obtained by the host 1 can be directly obtained by adopting a four-wheel aligner system. Therefore, it is not described in detail.
Specifically, the host 1 makes a perpendicular bisector based on the relative position information of the two positioning and calibrating auxiliary parts 4, and then the frame center line of the vehicle 3 to be calibrated can be calculated; the relative position information of the two positioning and calibrating auxiliary pieces 4 is used for obtaining the middle points of the two adjustable calibrating auxiliary pieces 5 through the host 1 based on the relative position information of the two adjustable calibrating auxiliary pieces 5, the middle points of the two positioning and calibrating auxiliary pieces 4 are obtained based on the relative position information of the two positioning and calibrating auxiliary pieces 4, and the geometric center line between the vehicle 3 to be calibrated and the movable base 2 can be obtained by connecting the two middle points. And the distance information between the positioning and calibrating auxiliary element 4 and the adjustable calibrating auxiliary element 5 which are opposite at two sides can be obtained by calculating the relative position information between the positioning and calibrating auxiliary element 4 and the adjustable calibrating auxiliary element 5.
S40, moving the movable base 2 parallel to the vehicle 3 to be calibrated until the central line of the frame and the geometric central line coincide;
through the feedback of the main machine 1, an operator moves the movable base 2 parallel to the vehicle 3 to be checked, so that the middle point of the movable base 2 can move relative to the vehicle 3 to be checked, and when the frame center line and the geometric center line coincide, the middle point of the movable base 2 is positioned on the frame center line of the vehicle 3 to be checked.
S50, adjusting the angle between the movable base 2 and the vehicle 3 to be calibrated to enable the distances between the positioning calibration auxiliary part 4 and the adjustable calibration auxiliary part 5 which are opposite to each other on the two sides to be equal;
by feedback from the main machine 1, the operator adjusts the angle between the movable base 2 and the vehicle 3 to be calibrated, and when the distances between the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 opposite to each other on both sides are equal, the movable base 2 will be parallel to the vehicle 3 to be calibrated.
And S60, moving the movable base 2, and adjusting the distance between the movable base 2 and the vehicle 3 to be calibrated until the distance between the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 which are opposite at two sides is equal to the preset test distance.
The distance between the movable base 2 and the vehicle 3 to be calibrated is adjusted by moving the movable base 2, and when the distances between the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 which are opposite at two sides are equal to the preset test distance; the ADAS target position is fully aligned and the position correction of the ADAS target is completed.
In conclusion, the operator does not need to move the automobile in the whole process, and only needs to move the movable base 2 to realize the calibration between the ADAS target and the vehicle 3 to be calibrated, so that the calibration is convenient and the operation is convenient.
As shown in fig. 4, the present application provides a movable base 2 applied to the vehicle and target calibration method, comprising a movable base 21, a main base 22, an auxiliary base 23, a calibration mounting beam 24 and an ADAS camera target holder 25, wherein the main base 22 is fixedly mounted on the upper side of the movable base 21, the auxiliary base 23 is horizontally connected to one side of the main base 22, the calibration mounting beam 24 is horizontally fixed to one side of the main base 22 far away from the auxiliary base 23, and the ADAS camera target holder 25 is fixedly connected to the upper side of the auxiliary base 23; the two ends of the calibration mounting beam 24 are fixedly connected with auxiliary part mounting pipes 27 for positioning and calibrating the auxiliary parts 4; radar backing plates 26 are mounted to either side of alignment mounting beam 24.
As shown in fig. 4, when the vehicle and target calibration is performed, an ADAS camera calibration target is attached to the ADAS camera target holder 25 of the movable base 2, and an ADAS radar calibration target is attached to the radar target holder 26. Adjustable alignment aids 5 are inserted and fixed into aid mounting tubes 27 at both ends of the alignment mounting beam 24. Then, the movable base 2 is moved to one side of the vehicle 3 to be calibrated, where the ADAS sensor is required to be installed, and if the ADAS sensor is required to be installed on the front side of the vehicle 3 to be calibrated, the movable base 2 is moved to the front side of the vehicle 3 to be calibrated; if the ADAS sensor is to be mounted on the rear side of the vehicle 3 to be checked, the movable base 2 is moved to the rear side of the vehicle 3 to be checked.
Meanwhile, in order to enable the movable base 2 to be suitable for calibrating various vehicles, radar target holders 26 are arranged on two sides of the calibration mounting beam 24 and can be horizontally arranged on the upper end face of the calibration mounting beam 24 in a sliding mode; the auxiliary base 23 is fixedly connected to the main base 22 in a slidable manner in the vertical direction.
Specifically, as shown in fig. 4, a slide way is arranged on the upper end surface of the calibration mounting beam 24 of the radar target holder 26 along the horizontal direction, the radar target holder 26 is embedded into the slide way and is connected in the slide way in a sliding manner, and a positioning bolt is arranged on the radar target holder 26; when the positioning bolt is unscrewed, the radar target holder 26 can slide, the position of the radar target holder 26 is adjusted, and after the positioning bolt is screwed, the fixation of the position of the radar target holder 26 can be realized. Meanwhile, in order to ensure the accuracy of the position of the radar target holder 26, graduated scales are arranged on two sides of the end face of the calibration mounting beam 24, so that an operator can conveniently correspond to the position of the radar target holder 26.
Similarly, as shown in fig. 4, a sliding tube is vertically disposed on the main base 22, and an insertion rod inserted into the sliding tube is fixed on the auxiliary base 23. And a positioning bolt is arranged on the sliding pipe; when the positioning bolt is loosened, the inserting rod can be slid to adjust the height position of the ADAS camera target frame 25, and after the positioning bolt is screwed, the height position of the ADAS camera target frame 25 can also be fixed.
As shown in fig. 4 and 5, the movable base 21 includes a moving layer 211, a centering layer 212, a distance adjusting layer 213 and a direction adjusting layer 214 in sequence from bottom to top, a plurality of universal wheels 215 are installed at the bottom of the moving layer 211, the centering layer 212 horizontally slides on the moving layer 211 along a direction parallel to the length direction of the calibration installation beam 24, the distance adjusting layer 213 horizontally slides on the centering layer 212 along a direction perpendicular to the length direction of the calibration installation beam 24, the direction adjusting layer 214 is rotatably connected to the distance adjusting layer 213 with the vertical direction as the axial direction, the main body 22 is fixedly installed on the direction adjusting layer 214, and the central axes of the distance adjusting layer 213 and the main body 22 are coincident.
As shown in fig. 4 and 5, with the four-layer design of the kinematic layer 211, the alignment layer 212, the distance adjustment layer 213, and the direction adjustment layer 214, during the calibration of the target with the vehicle 3 to be calibrated, the movable base 2 can be slid arbitrarily by moving the kinematic layer 211 until the movable base 2 is integrally placed on the side of the vehicle 3 to be calibrated, and two positioning calibration aids 4 and two adjustable calibration aids 5 form a rectangle. Then, the adjusting layer 212 is moved to enable the main base body 22 to move parallel to the vehicle 3 to be calibrated until the frame center line and the geometric center line are overlapped; then, the angle between the movable base 2 and the vehicle 3 to be calibrated is adjusted by rotating the direction adjusting layer 214, so that the distances between the opposite positioning calibration auxiliary parts 4 and the adjustable calibration auxiliary parts 5 on the two sides of the main base body 22 are equal; finally, the distance adjusting layer 213 is moved to adjust the distance between the main body 22 and the vehicle 3 to be calibrated until the distance between the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 opposite to each other on the two sides is equal to the preset test distance; position correction of the ADAS target is completed. In the whole process, other degrees of freedom of the alignment layer 212, the distance adjustment layer 213 and the direction adjustment layer 214 are limited, so that the problems of rotation or deviation caused by translation or deviation caused by rotation are reduced, and the adjustment of the main body 22 is facilitated.
Further, as shown in fig. 4 and 6, a centering screw rod 301 parallel to the length direction of the alignment mounting beam 24 is mounted on the moving layer 211, a centering slider 302 mounted on the centering screw rod 301 is fixedly connected to the bottom of the centering layer 212, and a centering driving member 303 for driving the centering screw rod 301 to rotate is disposed on the moving layer 211; the centering screw rod 301 is driven to rotate by the centering driving piece 303, so that the sliding of the centering layer 212 is more labor-saving, and the position of the centering layer 212 can be slightly adjusted.
As shown in fig. 4 and 6, the centering driving member 303 is slidably connected to the moving layer 211, the centering driving member 303 includes a centering linkage position for linking the rotation of the centering screw rod 301 and an interruption linkage position for releasing the linkage with the centering screw rod 301, and the centering driving member 303 is connected with a first stopping member 50 for stopping the rotation of the direction adjusting layer 214; when the centering screw rod 301 is in the centering linkage position, the first stopping piece 50 approaches the direction adjusting layer 214, so that the direction adjusting layer 214 is limited to rotate; when the centering screw rod 301 is in the centering disconnection position, the first stopping member 50 is away from the direction adjusting layer 214, so that the direction adjusting layer 214 can rotate.
Specifically, as shown in fig. 6 and 7, the centering driving member 303 includes a centering driving rod 304 rotatably connected to the side wall of the moving layer 211, a centering handwheel 305 fixedly connected to the end of the centering driving rod 304, and a centering driving wheel 306 keyed on the centering fixing rod, wherein the centering driving wheel 306 is a gear; one side of the centering screw rod 301 facing the centering driving piece 303 penetrates through the side wall of the moving layer 211, and a centering driven wheel 307 meshed with the centering driving wheel 306 is fixedly connected to the side, through which the centering screw rod 301 penetrates out. When the centering driving rod 304 slides towards one side of the moving layer 211, the key of the centering driving rod 304 is inserted into the centering driving wheel 306, the centering driving rod 304 can drive the centering driving wheel 306 to rotate, the first stopping member 50 approaches the centering layer 214, and the centering driving member 303 is in a centering linkage position; when the centering driving rod 304 slides to the side far from the moving layer 211, the key of the centering driving rod 304 is disengaged from the centering driving wheel 306, the centering driving rod 304 cannot drive the centering driving wheel 306 to rotate, the first stopping member 50 is far from the direction adjusting layer 214, and the centering driving member 303 is in the centering disconnection position.
Further, as shown in fig. 4 and 6, a distance adjusting screw 401 perpendicular to the length direction of the calibration mounting beam 24 is mounted on the distance adjusting layer 212, a distance adjusting slider 402 mounted on the distance adjusting screw 401 is fixedly connected to the bottom of the distance adjusting layer 213, and a distance adjusting driving member 403 for driving the distance adjusting screw 401 to rotate is disposed on the distance adjusting layer 212. The distance adjusting screw rod 401 is driven to rotate by the distance adjusting driving piece 403, so that the sliding of the distance adjusting layer 213 is more labor-saving, and the position of the distance adjusting layer 213 is slightly adjusted.
As shown in fig. 4 and 6, the distance adjusting driving member 403 is slidably connected to the distance adjusting layer 212, the distance adjusting driving member 403 includes a distance adjusting linkage position for linking the distance adjusting screw 401 to rotate and a distance adjusting disconnection position for releasing the linkage with the distance adjusting screw 401, and the distance adjusting driving member 403 is connected to a second stopping member 60 for stopping the rotation of the direction adjusting layer 214; when the distance adjusting screw 401 is in the distance adjusting linkage position, the second stopping piece 60 approaches the direction adjusting layer 214, so that the direction adjusting layer 214 is limited to rotate; when the distance adjusting screw 401 is in the distance adjusting disconnection position, the second stopping member 60 is away from the direction adjusting layer 214, so that the direction adjusting layer 214 can rotate.
Specifically, as shown in fig. 6 and 8, the distance adjustment driving member 403 includes a distance adjustment driving rod 404 rotatably connected to a side wall of the distance adjustment layer 212, a distance adjustment handwheel 405 fixedly connected to an end of the distance adjustment driving rod 404, and a distance adjustment driving wheel 406 keyed on the distance adjustment fixing rod, and the distance adjustment driving wheel 406 is a gear; one side of the distance adjusting screw rod 401 facing the distance adjusting driving member 403 penetrates through the side wall of the distance adjusting layer 212, and a distance adjusting driven wheel 407 engaged with the distance adjusting driving wheel 406 is fixedly connected to the side of the distance adjusting screw rod 401. When the distance adjusting driving rod 404 slides towards the middle adjusting layer 212, the key of the distance adjusting driving rod 404 is inserted into the distance adjusting driving wheel 406, the distance adjusting driving rod 404 can drive the distance adjusting driving wheel 406 to rotate, the second stopping piece 60 approaches the direction adjusting layer 214, and the distance adjusting driving piece 403 is located at a distance adjusting linkage position; when the distance adjusting driving rod 404 slides to the side far from the distance adjusting middle layer 212, the key of the distance adjusting driving rod 404 is disengaged from the distance adjusting driving wheel 406, the distance adjusting driving rod 404 cannot drive the distance adjusting driving wheel 406 to rotate, the first stopping member 50 is far from the distance adjusting middle layer 214, and the distance adjusting driving member 403 is in the distance adjusting disconnection position.
Specifically, as shown in fig. 5, the raised plate 216 is fixedly connected to the bottom of the direction-adjusting layer 214, so that a cut-off gap is generated between the direction-adjusting layer 214 and the distance-adjusting layer 213, the end surface of the direction-adjusting layer 214 facing the distance-adjusting layer 213 forms a braking surface, and the first and second stoppers 50 and 60 can be inserted into the stop surface of the cut-off gap. Further, in order to enhance the effect of turning the stopping turn layer 214 of the first and second stopping members 50 and 60, the braking surface may be provided with a slope that is inclined from the radially outer side to the radially inner side and gradually decreases in distance from the distance adjusting layer 213.
Specifically, as shown in fig. 5 and 7, the first stopping member 50 includes a first vertical rod 501, a first cross rod 502 and a first brake block 503. The first vertical rod 501 is vertically arranged, one side of the bottom of the first vertical rod 501 is connected to the moving layer 211 in a sliding mode and is linked with the centering driving rod 304, the first vertical rod 501 can slide synchronously along with the sliding of the centering driving rod 304, and the top end of the first vertical rod 501 is at the same height as the distance adjusting gap between the direction adjusting layer 214 and the distance adjusting layer 213; one end of the first cross rod 502 is horizontally and fixedly connected to the top end of the first vertical rod 501 through a bolt, and one end of the first cross rod 502 can extend into a gap between the direction adjusting layer 214 and the distance adjusting layer 213 to form a stop gap between the direction adjusting layer 214 and the distance adjusting layer 213; namely, when the centering driving piece 303 is in the centering linkage position, the first cross rod 502 extends into the stopping gap; when the centering driving member 303 is in the interruption position, the first cross bar 502 will be disengaged from the cut-off gap. The first brake block 503 may be made of rubber, and the first brake block 503 is fixedly connected to an upper end surface of the first cross bar 502 facing the direction-adjusting layer 214, and is used for abutting against a braking surface to limit the rotation of the direction-adjusting layer 214.
As shown in fig. 5 and 8, the second stopper 60 is similar in structure to the first stopper 50. The second stop member 60 includes a second vertical bar 601, a second cross bar 602, and a second brake block 603. 603, a second vertical rod 601 is vertically arranged, one side of the bottom of the second vertical rod 601 is connected to the distance adjusting layer 212 in a sliding manner and is linked with the distance adjusting driving rod 404, the second vertical rod can synchronously slide along with the sliding of the distance adjusting driving rod 404, and the top end of the second vertical rod 601 is at the same height as the distance adjusting gap between the direction adjusting layer 214 and the distance adjusting layer 213; one end of the second cross bar 602 is horizontally and fixedly connected to the top end of the second vertical bar 601 through a bolt, and one end of the second cross bar 602 can extend into a gap between the direction adjusting layer 214 and the distance adjusting layer 213 to generate a stop gap; that is, when the distance-adjusting driving member 403 is in the distance-adjusting linkage position, the second cross bar 602 will extend into the cut-off gap; when the distance adjustment driving member 403 is in the distance adjustment disconnection position, the second cross bar 602 will be disengaged from the cut-off gap. The second brake block 603 can be made of rubber, and the second brake block 603 is fixedly connected to the upper end surface of the second cross rod 602 facing to the direction-adjusting layer 214, and is used for abutting against a braking surface to limit the rotation of the direction-adjusting layer 214.
It should be noted that in this embodiment, when the centering driving member 303 is located at the centering linkage position, the distance between the first vertical rod 501 and the centering layer 212 is at least 20 cm, and the sliding distance of the centering driving member 303 is 25 cm; when the distance adjusting driving member 403 is in the distance adjusting linkage position, the distance between the second vertical rod 601 and the distance adjusting layer 213 is at least 20 cm, and the sliding distance of the distance adjusting driving member 403 is 25 cm. Therefore, in the case where the position of the middle layer 212 and the position of the distance adjusting layer 213 are actually fine-tuned, the middle layer 212 does not collide with the first vertical bar 501, and the distance adjusting layer 213 does not collide with the second vertical bar 601.
In summary, during the calibration of the target and the vehicle 3 to be calibrated:
it is first possible to position the movable base 2 in its entirety on the side of the vehicle 3 to be calibrated by moving the moving layer 211, and to form a substantially rectangular shape between the two positioning and calibration aids 4 and the two adjustable calibration aids 5.
Then, the centering screw rod 301 is moved to a centering linkage position, and the distance adjusting screw rod 401 is moved to a distance adjusting disconnection position; the tuning layer 213 and the steering layer 214 are turned off. Then, the centering screw 301 is rotated, so that the main base 22 moves parallel to the vehicle 3 to be calibrated until the frame center line and the geometric center line coincide.
Then, the centering screw rod 301 is moved to a centering disconnection position, and the distance adjusting screw rod 401 is moved to a distance adjusting disconnection position; the pitch regulation layer 213 and the middle regulation layer 212 are turned off. The angle between the movable base 2 relative to the vehicle 3 to be calibrated is adjusted by turning the direction-adjusting layer 214 so that the distances between the positioning and calibration aids 4 and the adjustable calibration aids 5 opposed on both sides of the main base 22 are equal.
Finally, the centering screw rod 301 is moved to a disconnection adjusting linkage position, and the distance adjusting screw rod 401 is moved to a distance adjusting linkage position; the steering layer 214 and the centering layer 212 are cut off. Moving the distance adjusting layer 213, and adjusting the distance between the main body 22 and the vehicle 3 to be calibrated until the distance between the positioning calibration auxiliary 4 and the adjustable calibration auxiliary 5 opposite to each other on the two sides is equal to the preset test distance; position correction of the ADAS target is completed.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (10)
1. A method of calibrating a vehicle to an ADAS sensor target, comprising: the method comprises the following steps:
mounting and positioning an auxiliary calibration part (4) on the axes of two rear wheels of a vehicle (3) to be calibrated;
mounting an ADAS target and two adjustable calibration aids (5) on the same axis on a movable base (2);
placing the movable base (2) on the side of the vehicle (3) to be calibrated, so that a rectangle is formed between the two positioning and calibrating auxiliary parts (4) and the two adjustable calibrating auxiliary parts (5);
the method comprises the following steps that a host (1) calculates and obtains real-time frame center lines of a vehicle (3) to be calibrated, geometric center lines between the vehicle (3) to be calibrated and a movable base (2) and distance information between the positioning calibration auxiliary parts (4) and the adjustable calibration auxiliary parts (5) which are opposite at two sides based on the relative position information of the two adjustable calibration auxiliary parts (5) and the two positioning calibration auxiliary parts (4);
moving the movable base (2) parallel to the vehicle (3) to be calibrated until the centre line of the frame coincides with the geometric centre line;
adjusting the angle between the movable base (2) and the vehicle (3) to be calibrated to ensure that the distances between the positioning calibration auxiliary part (4) and the adjustable calibration auxiliary part (5) which are opposite at two sides are equal;
and moving the movable base (2), and adjusting the distance between the movable base (2) and the vehicle (3) to be calibrated until the distance between the positioning calibration auxiliary part (4) and the adjustable calibration auxiliary part (5) which are opposite at two sides is equal to the preset test distance.
2. The method of calibrating a vehicle to an ADAS sensor target of claim 1, wherein: the positioning and calibrating device is characterized in that the positioning and calibrating auxiliary part (4) and the adjustable calibrating auxiliary part (5) are four-wheel aligner measuring targets, the host (1) comprises a camera and a computer, the camera acquires image information of the positioning and calibrating auxiliary part (4) and the adjustable calibrating auxiliary part (5), and the computer acquires relative position information of images of the positioning and calibrating auxiliary part (4) and the adjustable calibrating auxiliary part (5) based on the acquired image information.
3. The method of calibrating a vehicle to an ADAS sensor target of claim 1, wherein: the positioning and calibrating auxiliary part (4) and the adjustable calibrating auxiliary part (5) are linear array CCD four-wheel positioning measuring heads with built-in wireless modules, and the host (1) respectively acquires relative position information output by the positioning and calibrating auxiliary part (4) and the adjustable calibrating auxiliary part (5) through wireless communication.
4. The method of calibrating a vehicle to an ADAS sensor target of claim 1, wherein: the host (1) calculates and obtains the frame center line of the vehicle (3) to be calibrated based on the relative position information of the two positioning and calibrating auxiliary parts (4); the main machine (1) calculates and obtains a geometric center line between the vehicle (3) to be calibrated and the movable base (2) based on the relative position information of the two adjustable calibration auxiliary pieces (5) and the two positioning calibration auxiliary pieces (4).
5. A mobile base (2) for use in the vehicle and target calibration method according to any one of claims 1 to 4, characterized in that: the calibration and installation device comprises a movable base (21), a main base body (22), an auxiliary base body (23), a calibration and installation beam (24) and an ADAS camera target frame (25), wherein the main base body (22) is fixedly installed on the upper side of the movable base (21), the auxiliary base body (23) is horizontally connected to one side of the main base body (22), the calibration and installation beam (24) is horizontally fixed on one side, far away from the auxiliary base body (23), of the main base body (22), and the ADAS camera target frame (25) is fixedly connected to the upper side of the auxiliary base body (23); two ends of the calibration mounting beam (24) are fixedly connected with auxiliary part mounting pipes (27) for positioning and calibrating the auxiliary parts (4); and radar target seats (26) are arranged on two sides of the calibration mounting beam (24).
6. A movable base (2) according to claim 5, characterized in that: movable base (21) are including motion layer (211), accent middle level (212), roll adjustment layer (213) and turn to layer (214), a plurality of universal wheels (215) are installed to the bottom of motion layer (211), it is on being on a parallel with alignment installation roof beam (24) length direction level slides on motion layer (211), roll adjustment layer (213) are along the perpendicular to alignment installation roof beam (24) length direction level slides on accent middle level (212), turn to layer (214) and use vertical direction to connect on roll adjustment layer (213) for axial rotation, main base (22) fixed mounting in turn to on layer (214), just roll adjustment layer (213) with main base (22) the central axis coincidence.
7. The movable base (2) according to claim 6, characterized in that: a centering screw rod (301) parallel to the length direction of the calibration mounting beam (24) is mounted on the moving layer (211), a centering sliding block (302) mounted on the centering screw rod (301) is fixedly connected to the bottom of the centering layer (212), and a centering driving piece (303) used for driving the centering screw rod (301) to rotate is arranged on the moving layer (211); the adjusting layer (212) is provided with a distance adjusting screw rod (401) perpendicular to the length direction of the calibration mounting beam (24), the bottom of the distance adjusting layer (213) is fixedly connected with a distance adjusting slide block (402) arranged on the distance adjusting screw rod (401), and the adjusting layer (212) is provided with a distance adjusting driving piece (403) used for driving the distance adjusting screw rod (401) to rotate.
8. The movable base (2) according to claim 7, characterized in that: the centering driving piece (303) is connected to the moving layer (211) in a sliding mode, the centering driving piece (303) comprises a centering linkage position for linking the rotation of the centering screw rod (301) in a linkage mode and a centering disconnection linkage position for releasing the linkage with the centering screw rod (301), and the centering driving piece (303) is connected with a first stopping piece (50) for stopping the rotation of the direction adjusting layer (214); when the centering screw rod (301) is in a centering linkage position, a first stopping piece (50) approaches the steering layer (214), so that the steering layer (214) is limited to rotate; when the centering screw rod (301) is in a centering disconnection position, the first stopping piece (50) is far away from the direction adjusting layer (214), so that the direction adjusting layer (214) can rotate;
the distance adjusting driving piece (403) is connected to the distance adjusting layer (212) in a sliding mode, the distance adjusting driving piece (403) comprises a distance adjusting linkage position and a distance adjusting disconnection position, the distance adjusting linkage position is linked with the distance adjusting screw rod (401) in a linkage mode, the distance adjusting disconnection position is disconnected from the distance adjusting linkage position with the distance adjusting screw rod (301), and the distance adjusting driving piece (403) is connected with a second stopping piece (60) used for stopping the rotation of the direction adjusting layer (214); when the distance adjusting screw rod (401) is in a distance adjusting linkage position, a second stopping piece (60) approaches the direction adjusting layer (214), so that the direction adjusting layer (214) is limited to rotate; when the distance adjusting screw rod (401) is in the distance adjusting disconnection position, the second stopping piece (60) is far away from the direction adjusting layer (214), so that the direction adjusting layer (214) can rotate.
9. The movable base (2) according to claim 8, characterized in that: an elevating disc (216) is fixedly connected to the bottom of the direction adjusting layer (214), so that a stopping gap is generated between the direction adjusting layer (214) and the distance adjusting layer (213), the end face, facing the distance adjusting layer (213), of the direction adjusting layer (214) forms a braking surface, and the first stopping piece (50) and the second stopping piece (60) can be inserted into the stopping gap to abut against the braking surface.
10. A movable base (2) according to claim 5, characterized in that: the auxiliary base body (23) is connected to the main base body (22) in a sliding mode along the vertical direction, and radar target seats (26) are connected to two sides of the calibration mounting beam (24) in a sliding mode horizontally.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155133.6A CN112964274A (en) | 2021-02-04 | 2021-02-04 | Calibration method for vehicle and ADAS sensor target and movable base |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155133.6A CN112964274A (en) | 2021-02-04 | 2021-02-04 | Calibration method for vehicle and ADAS sensor target and movable base |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112964274A true CN112964274A (en) | 2021-06-15 |
Family
ID=76273848
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110155133.6A Pending CN112964274A (en) | 2021-02-04 | 2021-02-04 | Calibration method for vehicle and ADAS sensor target and movable base |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112964274A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113654523A (en) * | 2021-09-06 | 2021-11-16 | 湖南联科科技有限公司 | Horizontal calibration device and method |
| CN114207386A (en) * | 2021-11-10 | 2022-03-18 | 深圳市易检车服科技有限公司 | Vehicle ADAS calibration device |
| CN114720152A (en) * | 2022-04-18 | 2022-07-08 | 烟台开发区海德科技有限公司 | Four-wheel positioning and ADAS integrated detection calibration system and method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672552A (en) * | 2012-05-22 | 2012-09-19 | 北京迪蒙吉意超硬材料技术有限公司 | Ultrasonic machining device and machining method for diamond microporous wire-drawing die |
| CN107481289A (en) * | 2017-07-13 | 2017-12-15 | 西安应用光学研究所 | The precision target drone system and method for big visual field camera far field calibration |
| CN107813293A (en) * | 2017-10-24 | 2018-03-20 | 北京金轮坤天特种机械有限公司 | A kind of six degree of freedom adjustable base device used under Flexible Manufacture double-manipulator environment |
| CN209326931U (en) * | 2018-12-20 | 2019-08-30 | 驭势科技（浙江）有限公司 | Lightweight camera calibration equipment |
| CN210895554U (en) * | 2019-11-27 | 2020-06-30 | 驭势科技（浙江）有限公司 | Vehicle camera calibration device |
| CN111380703A (en) * | 2018-12-27 | 2020-07-07 | 深圳市道通科技股份有限公司 | Method for aligning calibration device to vehicle based on wheel aligner and calibration system |
| EP3736555A1 (en) * | 2019-05-10 | 2020-11-11 | Beissbarth GmbH | Vehicle calibration tool |
-
2021
- 2021-02-04 CN CN202110155133.6A patent/CN112964274A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102672552A (en) * | 2012-05-22 | 2012-09-19 | 北京迪蒙吉意超硬材料技术有限公司 | Ultrasonic machining device and machining method for diamond microporous wire-drawing die |
| CN107481289A (en) * | 2017-07-13 | 2017-12-15 | 西安应用光学研究所 | The precision target drone system and method for big visual field camera far field calibration |
| CN107813293A (en) * | 2017-10-24 | 2018-03-20 | 北京金轮坤天特种机械有限公司 | A kind of six degree of freedom adjustable base device used under Flexible Manufacture double-manipulator environment |
| CN209326931U (en) * | 2018-12-20 | 2019-08-30 | 驭势科技（浙江）有限公司 | Lightweight camera calibration equipment |
| CN111380703A (en) * | 2018-12-27 | 2020-07-07 | 深圳市道通科技股份有限公司 | Method for aligning calibration device to vehicle based on wheel aligner and calibration system |
| EP3736555A1 (en) * | 2019-05-10 | 2020-11-11 | Beissbarth GmbH | Vehicle calibration tool |
| CN210895554U (en) * | 2019-11-27 | 2020-06-30 | 驭势科技（浙江）有限公司 | Vehicle camera calibration device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113654523A (en) * | 2021-09-06 | 2021-11-16 | 湖南联科科技有限公司 | Horizontal calibration device and method |
| CN114207386A (en) * | 2021-11-10 | 2022-03-18 | 深圳市易检车服科技有限公司 | Vehicle ADAS calibration device |
| CN114207386B (en) * | 2021-11-10 | 2024-02-02 | 深圳市易检车服科技有限公司 | ADAS calibration device for vehicle |
| CN114720152A (en) * | 2022-04-18 | 2022-07-08 | 烟台开发区海德科技有限公司 | Four-wheel positioning and ADAS integrated detection calibration system and method |
| CN114720152B (en) * | 2022-04-18 | 2023-08-04 | 烟台大学 | Four-wheel positioning and ADAS integrated detection calibration system and method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112964274A (en) | Calibration method for vehicle and ADAS sensor target and movable base | |
| US11624608B2 (en) | Vehicular alignment for sensor calibration | |
| CN108267163B (en) | Calibration system for sensors and cameras on a vehicle | |
| US20210387637A1 (en) | Apparatus and method for calibrating and aligning automotive sensors | |
| EP2150772B1 (en) | Method for use with an optical aligner system for positioning a fixture relative to a vehicle | |
| US7121011B2 (en) | Camera technique for adaptive cruise control (ACC) sensor adjustment | |
| CN110542376B (en) | Device and method for positioning ADAS (advanced automatic analysis and design) calibration target plate placement position | |
| US8069576B2 (en) | Vehicle wheel alignment measuring method and apparatus | |
| EP2038606B1 (en) | Apparatus and method for determining the orientation of an object such as vehicle wheel alignment | |
| CN106985909B (en) | Wheel alignment and toe angle adjustment system for a three-wheeled vehicle | |
| CN107320122B (en) | CT center indicating assembly and PET-CT mounting rack | |
| US11835646B2 (en) | Target alignment for vehicle sensor calibration | |
| US20220057198A1 (en) | Vehicular floor target alignment for sensor calibration | |
| CN111380704B (en) | Clamp removing error testing method based on four-wheel aligner and positioning clamp | |
| CN115015859A (en) | Radar camera calibration equipment and method for heavy truck | |
| WO2021013224A1 (en) | Marking apparatus, marking system, and marking method | |
| CN212873571U (en) | Calibration camera device | |
| KR20230078788A (en) | Target Alignment for Vehicle Sensor Calibration |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |