CN208905111U - The device demarcated for vehicle camera - Google Patents
The device demarcated for vehicle camera Download PDFInfo
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- CN208905111U CN208905111U CN201820435272.8U CN201820435272U CN208905111U CN 208905111 U CN208905111 U CN 208905111U CN 201820435272 U CN201820435272 U CN 201820435272U CN 208905111 U CN208905111 U CN 208905111U
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- bracing frame
- scaling board
- plate bracing
- calibration plate
- calibration
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Abstract
The embodiment of the present disclosure is related to technical field of vehicle, provides a kind of device demarcated for vehicle camera.When the device provided using the embodiment of the present disclosure carries out vehicle camera calibration, the relative position of whole device and vehicle is adjusted by mobile movable pedestal, until the front-wheel and scaling board of the preceding end in contact vehicle of movable pedestal are located on vehicle front middle line, and then the pose of vehicle camera can be demarcated.The apparatus structure that the embodiment of the present disclosure provides is simple and realizes that difficulty is lower, is facilitated using the process that the device demarcates camera easy to operate, is applicable in the camera calibration of all kinds of intelligent driving vehicles.
Description
Technical field
Embodiment of the disclosure is related to technical field of vehicle, more particularly to the device demarcated for vehicle camera.
Background technique
(such as unmanned vehicle) generally requires installation camera to acquire vehicle front and surrounding on intelligent driving vehicle
Image information, and then vehicle can determine corresponding traveling strategy according to acquired image information.It is understandable to be, it takes the photograph
As installation site of the head on vehicle and Installation posture can significantly influence the accuracy of acquired image information, because
It is a urgent problem to be solved that how this, which carries out calibration relative to the pose (position and posture) of vehicle to camera,.
Utility model content
One purpose of an embodiment of the present disclosure be to solve it is mentioned above at least one the technical issues of.
A kind of device demarcated for vehicle camera, comprising:
Movable pedestal, calibration plate bracing frame and scaling board；The calibration plate bracing frame is fixed on the removable bottom
On seat, it is used to support the scaling board；The front end of the movable pedestal is located at the front of the scaling board.
In some embodiments, the movable pedestal includes base support and castor；The castor is mounted on the bottom
On seat support；The castor is universal wheel, and bearing height is adjustable.
In some embodiments, the calibration plate bracing frame is adjustable to the bearing height of the scaling board.
In some embodiments, the calibration of the scaling board is apart from adjustable；Described in the calibration distance refers in calibration
Scaling board is at a distance from vehicle.
In some embodiments, the base support includes a plurality of profile being stitched together；The a plurality of profile includes the
One direction beam and second direction beam；The first direction is the direction perpendicular to the scaling board；The second direction is parallel
In the direction of the scaling board；
It is greater than the width of vehicle in the length of the second direction beam of mark timed contact vehicle.
In some embodiments, in a first direction, the calibration plate bracing frame can in the position of the movable pedestal
It adjusts.
In some embodiments, the calibration plate bracing frame includes a plurality of profile being stitched together；The a plurality of profile packet
Include first direction beam, second direction beam and third direction beam；The third direction beam is perpendicular to first direction beam and second direction
Beam；The third direction beam is vertically fixed on movable pedestal；First direction beam is fixed on the top of the third direction beam
And lower section, second direction beam are fixed on the top of the third direction beam；
The a plurality of profile of the calibration plate bracing frame further includes calibration plate bracing frame vertical beam, the calibration plate bracing frame vertical beam
On fixed beam in a first direction, with third direction Liangping row and higher than the third direction beam；
The scaling board is fixed on the first direction beam and the calibration plate bracing frame vertical beam of the calibration plate bracing frame
On.
In some embodiments, the height of the first direction beam and the calibration plate bracing frame vertical beam is adjustable.
In some embodiments, a plurality of profile of the calibration plate bracing frame further includes scaling board bracing frame crossbeam, described
Scaling board bracing frame crossbeam is vertically fixed on the calibration plate bracing frame vertical beam, and with second direction Liangping row；
The scaling board be fixed on the calibration first direction beam of plate bracing frame, the calibration plate bracing frame vertical beam and
In the scaling board bracing frame crossbeam.
In some embodiments, in a first direction, the scaling board is adjustable in the position of the calibration plate bracing frame.
In some embodiments, further includes: infrared range-measurement system；The ranging direction of the infrared range-measurement system includes the calibration
The direction of plate direction.
In some embodiments, the infrared range-measurement system is located at mark by corner brace and the fixed calibration plate bracing frame of screw
On second direction beam in front of fixed board.
In some embodiments, further includes: inclinometer；The inclinometer is used to indicate the horizontal angle of described device main body
Degree.
In some embodiments, in each structure included by described device the connection of at least two structures by corner brace and
Screw is fixed.
When the device provided using the embodiment of the present disclosure carries out vehicle camera calibration, pass through mobile movable pedestal tune
The relative position of whole whole device and vehicle, until the front-wheel and scaling board of the preceding end in contact vehicle of movable pedestal are located at vehicle
On the middle line of front, and then the pose of vehicle camera can be demarcated.The apparatus structure that the embodiment of the present disclosure provides is simple
And realize that difficulty is lower, facilitated using the process that the device demarcates camera easy to operate, is applicable to all kinds of intelligence and drives
It sails in the camera calibration of vehicle.
Detailed description of the invention
Fig. 1 shows the apparatus structure front view of one embodiment of disclosure offer demarcated for vehicle camera；
Fig. 2 shows the apparatus structure backsights demarcated for vehicle camera that an embodiment of the disclosure provides
Figure；
The fixed schematic diagram of castor and base support that the embodiment that Fig. 3 shows the disclosure provides；
The scaling board that the embodiment that Fig. 4 shows the disclosure provides and the first direction beam fixation of calibration plate bracing frame are shown
It is intended to；
The calibration plate bracing frame vertical beam of scaling board and calibration plate bracing frame that the embodiment that Fig. 5 shows the disclosure provides
Fixed schematic diagram；
The apparatus structure demarcated for vehicle camera that the embodiment that Fig. 6 shows the disclosure provides locally shows
It is intended to.
Specific embodiment
It should be appreciated that specific embodiment described herein is only used to explain the disclosure, it is not used to limit the disclosure.
Fig. 1 and Fig. 2 depicts the apparatus structure demarcated for vehicle camera that an embodiment of the disclosure provides
Schematic diagram, specifically include that movable pedestal 1, calibration plate bracing frame 2 and scaling board 3.Wherein, calibration plate bracing frame 2 is fixed
On movable pedestal 1, it is used to support scaling board 3；The front end of movable pedestal 1 is located at the front of scaling board 3.
When the device that is provided using the embodiment of the present disclosure carries out vehicle camera calibration, which can be placed on to
The front of measuring car adjusts position of the whole device relative to vehicle by movable pedestal 1, so that movable pedestal 1
Front end can contact the front-wheel of vehicle, and scaling board 3 is located on vehicle front middle line.Then, it is clapped using vehicle camera
Taking the photograph scaling board 3 (may include several uniform and cross-distribution black and white block patterns, the rectangular row of black and white block pattern on scaling board 3
Column, and side is parallel to the ground), it can be obtained camera relative to calibration by calculating the position of angle point and angle on scaling board
The pose of plate 3, the pose relative to scaling board 3 of position and camera further according to scaling board 3 relative to vehicle body, passes through a system
Column operations can be obtained pose of the camera relative to vehicle.The apparatus structure that the embodiment of the present disclosure provides is simple and realizes difficulty
It is lower, facilitated using the process that the device demarcates camera easy to operate, is applicable to taking the photograph for all kinds of intelligent driving vehicles
As leader is fixed.
In the specific implementation, scaling board here can use glass, plastics, rubber slab, metal or other materials system
Make.
Wherein, movable pedestal 1 here can be moved along at least one direction.It such as depicted in figs. 1 and 2, can be with
First direction and/or second direction shown in Fig. 1 move.Wherein, first direction is the direction perpendicular to scaling board 3, the
Two directions are the direction for being parallel to scaling board 3.And then when carrying out camera calibration, by a first direction and/or second party
Movable pedestal 1 is moved up to adjust the position of whole device, until being moved to suitable calibration position.
In some embodiments, movable pedestal can be there are many implementation, one of optional embodiment
It can be found in Fig. 1 and Fig. 2.Specifically, movable pedestal 1 may include base support 11 and castor 12.Base support 11 is used
Plate bracing frame 2 is demarcated in support, castor 12 is mounted on base support 11, and then is able to drive base support 11 and pedestal branch
Calibration plate bracing frame 2 on frame 11 moves in a specified direction.
Wherein, castor 12 here can be fixed on base support 11 by truckle installation plate 13 as shown in Figure 3.Certainly also
Can be in such a way that other be fixed, it is not limited in this embodiment of the present disclosure.Castor 12 can also be any one energy
Enough movable pulleies moved at least one direction, such as can be Fig. 1 and universal wheel shown in Fig. 2, so as to freely
Adjustment whole device move in all directions.Can certainly be other movable pulleies, such as or directional wheel, this public affairs
It opens embodiment and this is not especially limited.In addition, in order to make base support 11 and ground holding horizontal, castor 12 can be with
For the adjustable castor of bearing height, such as can be to pass through the castor that screw washer adjusts height.Adjusting can thus be passed through
The height of multiple castors 12 adjusts the angle of base support 11 Yu ground, finally makes base support 11 parallel to the ground.
Here base support 11 can also be implemented in several ways, and one of optional embodiment can join
Fig. 1 is seen, including a plurality of profile being stitched together；The a plurality of profile includes first direction beam and second direction beam, wherein first
Direction is the direction perpendicular to scaling board 3；Second direction is to be parallel to the direction of scaling board 3.First direction beam and second direction
Beam is mutually spliced to form entire base support 11.In addition, the second direction beam of the front end of movable pedestal 1 needs in calibration
It to be contacted with the wheel of vehicle to be measured.Since different intelligent driving its wheel of vehicle may be different from the axis angle of vehicle, in order to
The second direction beam 11 ' of device front end can be made preferably to contact wheel in calibration, the length of second direction beam 11 ' can be big
In the length of other second direction beams.Further, length can be sufficiently large, greater than the left and right vehicle wheel two-wheeled of each type
Spacing, to guarantee that second direction beam can be permanently connected to wheel always with axle keeping parallelism.
In some embodiments, calibration plate bracing frame 2 can also there are many embodiments, below to one of optional
Embodiment be illustrated.Referring to Fig. 1 and Fig. 2.Demarcating plate bracing frame 2 also may include a plurality of profile being stitched together；
The a plurality of profile includes first direction beam 21, second direction beam 22 and third direction beam 23；Here first direction and second
Direction be Fig. 1 and Fig. 2 shows first direction and second direction.Third direction beam 23 is perpendicular to first direction beam 21 and
Two direction beams 22.First direction beam 21 is fixed on the over and under of third direction beam 23 namely the both ends of third direction beam 23；
Second direction beam 22 is only secured to the top of the third direction beam 23.First direction beam 21, second direction beam 22 and third
Direction beam 23 constitutes a rectangular parallelepiped structure.Third direction beam 23 is vertically fixed on movable pedestal 1, thus will be entire rectangular
Body structure is fixed on movable pedestal 1.
It can also include calibration plate bracing frame vertical beam 24 in a plurality of profile, calibration plate bracing frame vertical beam 24 is fixed on first party
To on beam 21, as shown in Figure 2, first direction beam 21 includes the beam at 23 both ends of third direction beam, demarcates plate bracing frame vertical beam 24
It can be fixed on as shown in Figure 2 on all first direction beams 21, the of the top of third direction beam 23 can also be only secured to
On one direction beam 21.Calibration plate bracing frame vertical beam 24 is parallel with third direction beam 23 and is higher than third direction beam 23.Scaling board 3 is solid
It is scheduled on the first direction beam 21 and calibration plate bracing frame vertical beam 24 of calibration plate bracing frame 2.In this way, removable
When dynamic pedestal 1 is parallel to the ground, scaling board 3 can be vertical with ground holding, and adjusts position under the drive of movable pedestal 1
It sets.In addition, can also include scaling board bracing frame crossbeam 25 in a plurality of profile, scaling board bracing frame crossbeam 25 be vertically fixed on mark
On fixed board support frame vertical beam 24, and it is parallel with second direction beam 22.Scaling board 3 can be also secured to calibration plate bracing frame vertical beam
24 and scaling board bracing frame crossbeam 25 on, so as to improve stability.
Wherein, a kind of optional fixed form of scaling board 3 and the first direction beam 21 of calibration plate bracing frame 2 can be such as figure
Shown in 4, namely it is fixed by corner brace 4 and screw 5.It can specifically contact in scaling board 3 and be set at calibration 2 position of plate bracing frame
It is equipped with the corner brace 4 of triangle and is fixed with screw 5, enable to scaling board 3 and calibration plate bracing frame 2 steady in this way
It is solidly connected, and scaling board 3 and the first direction beam 21 of calibration plate bracing frame 2 are mutually perpendicular to.It can also take other can certainly
So that the orthogonal fixed form of first direction beam 21 of scaling board 3 and calibration plate bracing frame 2, the disclosure are not made this specifically
It limits.
A kind of optional fixed form of scaling board 3 and calibration plate bracing frame vertical beam 24 can be as shown in figure 5, namely pass through
Scaling board fixed block 6 and screw 7 are fixed.Other can also be taken to enable to scaling board 3 and calibration plate bracing frame vertical beam certainly
24 firm fixed forms, the disclosure are not especially limited this.
By above-mentioned narration it is found that during the calibration process, needing for scaling board 3 to be placed on vehicle front middle line.Therefore, this public affairs
The device for opening embodiment offer can also include infrared range-measurement system 8.The ranging direction of infrared range-measurement system 8 includes scaling board direction
Direction, by opening the switch of infrared range-measurement system 8, infrared range-measurement system issues infrared light, indicates the position of headstock, and adjusting is facilitated to mark
The position for determining frame makes its center and headstock central alignment.Further, infrared range-measurement system can be to be located at as shown in fig. 6, being fixed on
On the second direction beam 23 in 3 front of scaling board.Similarly, the mode fixed can be identical as the fixed form of each profile,
Namely it is fixed by several rangefinder fixed corner codes and screw, naturally it is also possible to fixed side can be consolidated using other
Formula.
In addition, entire caliberating device needs to keep horizontal with ground by above-mentioned narration it is found that during the calibration process, therefore,
The device that the embodiment of the present disclosure provides can also include inclinometer 9, and inclinometer 9 is used to indicate the level angle of apparatus main body.Into
One step, inclinometer 9 can be fixed on apparatus main body by corner brace and screw, such as can be as shown in Fig. 2, being fixed on calibration
On plate bracing frame crossbeam 25, so as to measure constantly whole device currently with ground institute angle degree.
In some alternative embodiments, can also be designed according to the following two kinds in any one design described device,
So that described device has better flexibility, to adapt to different calibration demands.
A kind of design is that the calibration of scaling board 3 is arranged apart from adjustable.Here calibration distance refers to the scaling board in calibration
3 at a distance from vehicle.When implementing, such purpose can be realized by multiple means.Referring specifically to being shown in Fig. 1 and Fig. 2
Device structure, can be improved according to structure of the following means to the device in Fig. 1 and Fig. 2, realize the above object.
A kind of means are that setting calibration plate bracing frame 2 is adjustable at a distance from vehicle.
Such as can be set calibration plate bracing frame 2 can be carried out with movable pedestal 1 removably at multiple positions
Connection, and multiple positions are different at a distance from first direction beam, enable to calibration plate bracing frame 2 can at a distance from vehicle in this way
It adjusts.Specifically, screw hole or other connection structures can be made respectively in multiple positions of movable pedestal 1, so that scaling board
Support frame 2 can be attached at any one position with movable pedestal 1.
For another example, the adjustable in length of the first direction beam 11 ' of movable pedestal 1 can be set, in this way by adjusting
The length of one direction beam 11 ' is it is also possible that calibration plate bracing frame 2 is adjustable at a distance from vehicle.For example first direction can be set
Beam 11 ' is divided into 2 sections, and first segment can be used as the sliding slot of second segment, thus can slide into second segment by adjusting first segment
Length is so that the length of 11 ' entirety of first direction beam is adjustable.
Another means is, so that in a first direction, scaling board 3 is adjustable in the position of calibration plate bracing frame 2.Specifically
Implementation can be referenced for a kind of description of means.It can be arranged in a first direction, scaling board 3 and scaling board branch
Support 2 is detachably connected in multiple positions.Or also can be set calibration plate bracing frame 2 it is adjustable in the length of second direction beam.
Specific implementation details can be referenced for a kind of description of means, and which is not described herein again.
Another design is, so that calibration plate bracing frame 2 is adjustable to the bearing height of scaling board 3.In the specific implementation, may be used
It is adjustable with the length that third direction beam 23 and calibration plate bracing frame vertical beam 24 is arranged.Specific implementation details can be referenced for
A kind of description of means.For example third direction beam 23 and calibration each of plate bracing frame vertical beam 24 beam are divided into 2 sections, the
One section of sliding slot that can be used as second segment can thus slide into the length of second segment so that the beam by adjusting first segment
Whole length is adjustable.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the utility model
Embodiment can be practiced without these specific details.In some instances, be not been shown in detail well known method,
Structure and technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more in each utility model aspect
A, in the description above to the exemplary embodiment of the utility model, each feature of the utility model is divided together sometimes
Group is into single embodiment, figure or descriptions thereof.However, the method for the disclosure should not be construed to reflect following meaning
Figure: the requires of the utility model features more more than feature expressly recited in each claim i.e. claimed.
More precisely, as reflected in the following claims, it is in terms of utility model single less than disclosed above
All features of embodiment.Therefore, it then follows thus claims of specific embodiment are expressly incorporated in the specific embodiment party
Formula, wherein separate embodiments of each claim as the utility model itself.
Those skilled in the art will understand that can be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more devices different from this embodiment.It can be the module or list in embodiment
Member or component are combined into a module or unit or component, and furthermore they can be divided into multiple submodule or subelement or
Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it can use any
Combination is to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so disclosed
All process or units of what method or apparatus are combined.Unless expressly stated otherwise, this specification is (including adjoint power
Benefit require, abstract and attached drawing) disclosed in each feature can carry out generation with an alternative feature that provides the same, equivalent, or similar purpose
It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments
Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in the utility model
Within the scope of and form different embodiments.For example, in the following claims, embodiment claimed is appointed
Meaning one of can in any combination mode come using.
Certain unit embodiments of the utility model can be implemented in hardware, or on one or more processors
The software module of operation is realized, or is implemented in a combination thereof.
The utility model is limited it should be noted that above-described embodiment illustrates rather than the utility model,
And those skilled in the art can be designed alternative embodiment without departing from the scope of the appended claims.In right
In it is required that, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not arranged
Except there are element or steps not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more
A such element.The utility model can be by means of including the hardware of several different elements and by means of properly programmed
Computer is realized.In the unit claims listing several devices, several in these devices can be by same
One hardware branch embodies.The use of word first, second etc. does not indicate any sequence.These words can be explained and be run after fame
Claim.
Claims (14)
1. a kind of device demarcated for vehicle camera characterized by comprising
Movable pedestal, calibration plate bracing frame and scaling board；The calibration plate bracing frame is fixed on the movable pedestal,
It is used to support the scaling board；The front end of the movable pedestal is located at the front of the scaling board.
2. the apparatus according to claim 1, which is characterized in that the movable pedestal includes base support and castor；Institute
Castor is stated to be mounted on the base support；The castor is universal wheel, and bearing height is adjustable.
3. the apparatus according to claim 1, which is characterized in that the calibration plate bracing frame is high to the support of the scaling board
It spends adjustable.
4. the apparatus according to claim 1, which is characterized in that the calibration of the scaling board is apart from adjustable；It is described calibration away from
From referring to that the scaling board is at a distance from vehicle in calibration.
5. the apparatus of claim 2, which is characterized in that the base support includes a plurality of type being stitched together
Material；The a plurality of profile includes first direction beam and second direction beam；The first direction is the direction perpendicular to the scaling board；
The second direction is to be parallel to the direction of the scaling board；
It is greater than the width of vehicle in the length of the second direction beam of mark timed contact vehicle.
6. device according to claim 5, which is characterized in that in a first direction, the calibration plate bracing frame is described
The position of movable pedestal is adjustable.
7. device according to claim 5, which is characterized in that the calibration plate bracing frame include be stitched together it is a plurality of
Profile；The a plurality of profile includes first direction beam, second direction beam and third direction beam；The third direction beam is perpendicular to first
Direction beam and second direction beam；The third direction beam is vertically fixed on movable pedestal；First direction beam is fixed on described
The over and under of third direction beam, second direction beam are fixed on the top of the third direction beam；
The a plurality of profile of the calibration plate bracing frame further includes calibration plate bracing frame vertical beam, and the calibration plate bracing frame vertical beam is fixed
In a first direction on beam, with third direction Liangping row and higher than the third direction beam；
The scaling board is fixed on the first direction beam and the calibration plate bracing frame vertical beam of the calibration plate bracing frame.
8. device according to claim 7, which is characterized in that the first direction beam and the calibration plate bracing frame are perpendicular
Depth of beam is adjustable.
9. device according to claim 7, which is characterized in that a plurality of profile of the calibration plate bracing frame further includes calibration
Plate bracing frame crossbeam, the scaling board bracing frame crossbeam is vertically fixed on the calibration plate bracing frame vertical beam, and and second party
To Liangping row；
The scaling board is fixed on the calibration first direction beam of plate bracing frame, the calibration plate bracing frame vertical beam and described
In scaling board bracing frame crossbeam.
10. device according to claim 7, which is characterized in that in a first direction, the scaling board is in the scaling board
The position of support frame is adjustable.
11. device according to claim 7, which is characterized in that further include: infrared range-measurement system；The infrared range-measurement system
Ranging direction includes the direction of the scaling board direction.
12. device according to claim 11, which is characterized in that the infrared range-measurement system passes through corner brace and the fixed institute of screw
Calibration plate bracing frame is stated to be located on the second direction beam in front of scaling board.
13. the apparatus according to claim 1, which is characterized in that further include: inclinometer；The inclinometer is used to indicate institute
State the level angle of the main body of device.
14. -13 described in any item devices according to claim 1, which is characterized in that in each structure included by described device
The connection of at least two structures is fixed by corner brace and screw.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435272.8U CN208905111U (en) | 2018-03-28 | 2018-03-28 | The device demarcated for vehicle camera |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820435272.8U CN208905111U (en) | 2018-03-28 | 2018-03-28 | The device demarcated for vehicle camera |
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| CN208905111U true CN208905111U (en) | 2019-05-24 |
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| CN201820435272.8U Active CN208905111U (en) | 2018-03-28 | 2018-03-28 | The device demarcated for vehicle camera |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930462A (en) * | 2019-11-27 | 2020-03-27 | 驭势科技（浙江）有限公司 | Vehicle camera external parameter calibration method, device, system and computer equipment |
| CN111080717A (en) * | 2019-12-23 | 2020-04-28 | 吉林大学 | Automatic calibration device and method for camera parameters |
-
2018
- 2018-03-28 CN CN201820435272.8U patent/CN208905111U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930462A (en) * | 2019-11-27 | 2020-03-27 | 驭势科技（浙江）有限公司 | Vehicle camera external parameter calibration method, device, system and computer equipment |
| CN111080717A (en) * | 2019-12-23 | 2020-04-28 | 吉林大学 | Automatic calibration device and method for camera parameters |
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