CN216013641U - Device for calibrating vehicle-mounted radar and camera - Google Patents

Abstract

The utility model provides a device for calibrating a vehicle-mounted radar and a camera, which comprises a bottom frame, a first moving seat, a stand column, a cross rod and two wheel clamps, wherein the bottom frame is provided with a first horizontal guide rail; the first moving seat is connected to the first horizontal guide rail in a sliding mode, the lower end of the stand column is connected to the first moving seat in a rotating mode, the lower portion of the stand column is provided with a rotating seat, and the stand column is provided with a thunder standard target plate and a camera head target plate; the two ends of the cross rod are sequentially provided with a first laser and a first scale, the wheel clamp is provided with a second laser and a second scale, the first moving seat, the second laser and the first scale are used for adjusting the position of the stand column, then the second laser, the rotating seat and the second scale are used for adjusting the swing direction of the radar target plate and the camera target plate, the radar target plate and the camera target plate can be perpendicular to the running vector of the vehicle and face the center of the vehicle, the calibration precision of the vehicle-mounted radar and the camera is improved, and the normal use of the unmanned driving mode of the vehicle is guaranteed.

Description

Device for calibrating vehicle-mounted radar and camera

Technical Field

The utility model belongs to the technical field of automobile detection equipment, and particularly relates to a device for calibrating a vehicle-mounted radar and a camera.

Background

The unmanned driving mode of the vehicle needs to use an adaptive radar cruise control system, a lane departure early warning system, an emergency braking auxiliary system and the like, wherein the adaptive radar cruise control system is provided with a radar, the lane departure early warning system is provided with a camera, the radar and the camera are installed on the vehicle, and coordinate parameters are calibrated through matching of a calibration plate so as to determine coordinate parameters of the radar and the camera under a vehicle body coordinate system. The calibration plate is generally vertically placed in front of the center of a vehicle body, in the related technology, when the calibration plate is placed, the placement position of the calibration plate is generally determined by a worker through reference objects such as a license plate, a wiper and the like on the vehicle by naked eyes, the steps are complex, the operation is troublesome, the calibration plate often deviates from the center line of the vehicle, the angle is oblique and the like, namely the placement position of the calibration plate deviates, the calibration precision of the coordinate parameters of a radar and a camera is low, and the normal use of the unmanned driving mode of the vehicle is influenced.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model aims to provide a device for calibrating a vehicle-mounted radar and a camera, and aims to solve the technical problems that the arrangement position of a calibration plate is deviated, and the calibration precision of the radar and the camera is low in the prior art.

In order to achieve the purpose, the utility model adopts the technical scheme that: the device for calibrating the vehicle-mounted radar and the camera comprises a bottom frame, a first moving seat, a stand column, a cross bar and two wheel clamps, wherein the bottom frame is provided with a first horizontal guide rail; the first moving seat is connected to the first horizontal guide rail in a sliding mode and is provided with a first locking device; the lower part of the upright post is provided with a rotating seat, the upright post is rotationally connected to the first moving seat through the rotating seat, the rotating seat is provided with a second locking device, one side of the upright post is provided with a mine standard target plate and a camera head target plate, and the mine standard target plate and the camera head target plate are both provided with target surfaces; the cross bar is arranged on the stand column, a first laser and a first scale are arranged at two ends of the cross bar, the distance from the two first scales to the stand column is equal, the distance from the two first lasers to the stand column is equal, the thunder standard target plate and the camera head target plate are vertically arranged, the length direction of the cross bar is parallel to the target surface, and the laser head of the first laser and the target surface are both positioned at the same side of the cross bar; the wheel anchor clamps are provided with second laser instrument and second scale, wherein, the second laser instrument is used for towards first scale transmission laser, first laser instrument is used for towards the second scale transmission laser.

Further, the first locking device comprises a first screw hole formed in the first movable seat and a first set screw in threaded connection with the first screw hole, and an insertion end of the first set screw is used for pressing the first horizontal guide rail.

Furthermore, the second locking device comprises a second set screw and a second screw hole arranged on the first movable seat, the rotating seat is provided with an arc-shaped groove, the second set screw penetrates through the arc-shaped groove and is in threaded connection with the second screw hole, and the second set screw is provided with a nut which is used for abutting against the edge of the arc-shaped groove.

Further, the stand is provided with the crane, the crane be provided with stand sliding connection's elevator, the elevator be provided with the third screw and with third screw threaded connection's third holding screw, the end of inserting of third holding screw is used for pressing to the stand, the target board setting up to the thunder is in on the crane.

Furthermore, the chassis is provided with a second horizontal guide rail, the second horizontal guide rail is connected with a second movable seat in a sliding mode, the first horizontal guide rail is arranged on the second movable seat, the second horizontal guide rail is perpendicular to the first horizontal guide rail, and the second movable seat is provided with a third locking device.

Furthermore, the third locking device comprises a fourth screw hole arranged on the second movable seat and a fourth set screw in threaded connection with the fourth screw hole, and an insertion end of the fourth set screw is used for pressing the second horizontal guide rail.

Further, both ends of horizontal pole all are provided with first installation pole, first laser instrument with first scale sets up on the first installation pole.

Furthermore, the both ends of horizontal pole all be provided with the parallel mounting hole of horizontal pole length direction, first installation pole is provided with and inserts the section of inserting of mounting hole, one side of horizontal pole is provided with the intercommunication the fifth screw of mounting hole, the horizontal pole passes through fifth screw threaded connection has the fifth holding screw, the end of inserting of fifth holding screw is used for pressing to the section of inserting.

Furthermore, the insertion section is provided with a flat position, and the mounting hole is a flat hole matched with the flat position.

Further, the wheel clamp comprises a clamp frame, a plurality of clamp claws and a second mounting rod, the second mounting rod is arranged on one side, away from the clamp claws, of the clamp frame, and the second laser and the second scale are arranged on the second mounting rod.

The device for calibrating the vehicle-mounted radar and the camera has the advantages that: compared with the prior art, the upright post of the device for calibrating the vehicle-mounted radar and the camera is provided with the cross rod, the position of the upright post is adjusted by utilizing the first moving seat, the second laser and the first scale, the upright post is opposite to the central line of the vehicle, then the swinging directions of the radar standard-reaching target plate and the camera head target plate are adjusted by utilizing the second laser, the rotating seat and the second scale, the target surfaces of the radar standard-reaching target plate and the camera head target plate can be perpendicular to the driving vector of the vehicle and face the center of the vehicle, the calibration of the vehicle-mounted radar and the camera is facilitated, the calibration precision of the vehicle-mounted radar and the camera is improved, the data precision of the vehicle-mounted radar and the camera during driving is improved, the vehicle-mounted radar and the camera can be normally used during driving of the vehicle, and the normal use of the unmanned driving mode of the vehicle is ensured.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a use state of a device for calibrating a vehicle-mounted radar and a camera according to an embodiment of the present invention;

FIG. 2 is a schematic view of an overall structure of a chassis of a device for calibrating a vehicle-mounted radar and a camera according to an embodiment of the present invention

FIG. 3 is a schematic overall structure diagram of another view angle of the chassis of the apparatus for calibrating the vehicle-mounted radar and the camera according to the embodiment of the present invention;

FIG. 4 is an enlarged schematic view at A in FIG. 3;

FIG. 5 is an enlarged schematic view at B in FIG. 3;

FIG. 6 is an enlarged schematic view at C of FIG. 3;

FIG. 7 is an enlarged schematic view at D of FIG. 3;

fig. 8 is a schematic structural diagram of an overall wheel clamp of the apparatus for calibrating a vehicle-mounted radar and a camera according to the embodiment of the present invention.

Wherein, in the figures, the respective reference numerals:

100. a chassis; 110. a first horizontal guide rail; 120. a second horizontal guide rail; 130. a second movable base; 140. a third locking device; 141. a fourth set screw; 200. a first movable base; 210. a first locking device; 211. a first set screw; 300. a column; 310. a rotating seat; 311. an arc-shaped slot; 320. a second locking device; 321. a second set screw; 322. a nut; 330. a target board for mine reaching standards; 340. a camera head target plate; 350. target surface; 400. a cross bar; 410. a first laser; 420. a first scale; 430. a first mounting bar; 431. an inserting section; 432. flattening; 440. mounting holes; 450. a fifth screw hole; 460. a fifth set screw; 500. a wheel clamp; 510. a second laser; 520. a second scale; 530. a clamp frame; 540. a clamp jaw; 550. a second mounting bar; 600. a lifting frame; 610. a lifting block; 620. a third set screw; 700. a vehicle; 710. a vehicle centerline.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to fig. 1 to 8 and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings, which is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the utility model.

Furthermore, the terms "first", "second", "third", "fourth", "fifth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third", "fourth", "fifth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In fig. 1, reference numeral 700 denotes a vehicle which requires an on-vehicle radar and camera calibration process, and reference numeral 710 denotes a vehicle center line.

Referring to fig. 1, fig. 2, fig. 3 and fig. 8, a description will now be given of an apparatus for calibrating a vehicle-mounted radar and a camera according to an embodiment of the present invention. The device for calibrating the vehicle-mounted radar and the camera comprises an underframe 100, a first movable base 200, a column 300, a cross rod 400 and two wheel clamps 500. The base frame 100 is provided with a first horizontal guide rail 110, the first movable base 200 is slidably connected to the first horizontal guide rail 110, the first movable base 200 is provided with a first locking device 210, and the first locking device 210 is used for locking and fixing the first movable base 200 on a predetermined position of the first horizontal guide rail 110 and preventing the first movable base 200 from continuously sliding after moving to the predetermined position of the first horizontal guide rail 110; the lower part of the upright 300 is provided with a rotating seat 310, the lower end of the upright 300 is rotatably connected to the first movable seat 200 through the rotating seat 310, the rotating seat 310 is provided with a second locking device 320, and the second locking device 320 is used for locking and fixing the upright 300 on a preset position of the first movable seat 200, so as to prevent the upright 300 from continuously rotating after moving to the preset position. One side of the upright post 300 is provided with a radar target plate 330 and a camera target plate 340, the radar target plate 330 and the camera target plate 340 are both provided with target surfaces 350, the central axes of the radar target plate 330 and the camera target plate 340 are parallel to the central axis of the upright post 300 and are on the same plane, the target surface 350 of the radar target plate 330 is used for matching with vehicle-mounted radar calibration coordinate parameters, and the target surface 350 of the camera target plate 340 is used for matching with camera calibration coordinate parameters. Cross bar 400 sets up on stand 300, the both ends of cross bar 400 all have set gradually first laser instrument 410 and first scale 420, two first scales 420 equal to the distance of stand 300, two first laser instruments 410 equal to the distance of stand 300, wherein, radar target board 330 and the vertical setting of camera target board 340, the length direction of cross bar 400 is parallel with mark target surface 350, the laser head of first laser instrument 410 all is located same one side of cross bar 400 with mark target surface 350, when can guaranteeing that first laser instrument 410 shines on wheel anchor clamps 500 like this, mark target surface 350 is towards the vehicle. Specifically, in this embodiment, the length direction of the cross bar 400 is perpendicular to the central axis of the radar target plate 330, and the plane where the central axes of the camera target plate 340 and the column 300 are located, so that the distances from the two first scales 420 to the camera target plate 340 are equal, and the distances from the two first scales 420 to the camera target plate 340 are equal; similarly, the two first lasers 410 are equidistant from the camera target plate 340, and the two first lasers 410 are equidistant from the camera target plate 340. Wherein, the shooting head of the first laser 410, the camera target plate 340 and the radar target plate 330 are positioned on the same side of the cross rod 400.

The wheel clamp 500 is provided with a second laser 510 and a second scale 520, the second laser 510 being used to illuminate the first scale 420, and the first laser 410 being used to illuminate the second scale 520. It should be noted that, in this embodiment, the plane where the radar target plate 330 and the camera target plate 340 are located is parallel to the length direction of the cross bar 400, the height of the first laser 410 is adapted to the height of the second scale 520, and the height of the second laser 510 is adapted to the height of the first scale 420, that is, the height of the first laser 410 is equal to the height of the second scale 520, and the first laser 410 can horizontally emit laser light to irradiate the second scale 520, and similarly, the height of the second laser 510 is the same as that of the first scale 420, and the second laser 510 can horizontally emit laser light to irradiate the first scale 420. The numerical value of the scale of the first scale 420 is the horizontal distance from the scale to the upright 300, the wheel clamp 500 is used for being installed on the rear hub of the vehicle, and when the wheel clamp 500 is installed on the rear hub of the vehicle, the second laser 510 and the second scale 520 extend out of the rear hub of the vehicle, the laser path emitted by the second laser 510 is parallel to the direction of the vehicle body, and the numerical value of the scale of the second scale 520 is the horizontal distance from the scale to the rear hub.

Referring to fig. 1 to 3, when the device for monitoring a vehicle-mounted radar and a camera according to the embodiment of the present invention is used, the base frame 100 is placed on the ground, the upright 300 is vertical, and the cross bar 400 is horizontal; then the vehicle drives to the vicinity of the underframe 100, and the radar target plate 330 and the camera target plate 340 face the head of the vehicle; then, the two wheel clamps 500 are respectively installed on two rear hubs of the vehicle, with the second laser 510 and the second scale 520 facing the crossbar 400; then, the two second lasers 510 are opened, the laser paths emitted by the two second lasers 510 are parallel, the first movable base 200 is moved, the lasers of the two second lasers 510 can respectively irradiate two different first scales 420, until the scale readings of the two lasers which irradiate the two first scales 420 are nearly the same (the difference of the numerical values is not more than four millimeters), since the two first scales 420 at both ends of the cross bar 400 are equidistant from the upright 300, then the center axis of shaft 300 will intersect the centerline of the vehicle, completing the alignment, allowing the center axis of shaft 300 to be aligned with the center of the vehicle, that is, the first movable base 200 has been moved to the predetermined position of the first horizontal rail 110, the first locking device 210 can be operated to lock the first movable base 200, so as to fix the first movable base 200 on the first horizontal rail 110, and prevent the first movable base 200 from driving the upright 300 to move away from the center of the vehicle. Next, two first lasers 410 are turned on, the column 300 is rotated, the column 300 drives the cross rod 400 to rotate, the lasers of the two first lasers 410 are respectively irradiated on two different second scales 520, and the scale readings of the two lasers irradiated on the two second scales 520 tend to be the same (the numerical difference is no more than four millimeters), because the distances from the two first lasers 410 at the two ends of the cross rod 400 to the column 300 are equal, the distances from the two first lasers 410 to the camera target plate 340 are equal, and the distances from the two first lasers 410 to the camera target plate 340 are equal. The target surfaces 350 of the radar target plate 330 and the camera target plate 340 can be opposite to the vehicle, the central line of the vehicle is perpendicular to the target surfaces 350 of the radar target plate 330 and the camera target plate 340, and the central line of the vehicle is intersected with the vertical central axis of the radar target plate 330/the camera target plate 340, namely the target surfaces 350 of the radar target plate 330 and the camera target plate 340 are perpendicular to the driving vector of the vehicle and are positioned on the central line of the vehicle, so that the calibration of the vehicle-mounted radar and the vehicle-mounted camera is facilitated, the calibration precision of the vehicle-mounted radar and the vehicle-mounted camera is improved, the data precision of the vehicle-mounted radar and the vehicle-mounted camera during driving is improved, the vehicle-mounted radar and the vehicle-mounted camera can be normally used during driving of the vehicle, and the normal use of the unmanned driving mode of the vehicle is ensured.

Compared with the prior art, the device for calibrating the vehicle-mounted radar and the camera provided by the utility model has the advantages that the cross rod 400 is arranged on the upright post 300, the first moving seat 200, the second laser 510 and the first scale 420 are used for adjusting the position of the upright post 300 to enable the upright post 300 to be opposite to the central line of the vehicle, then the second laser 510, the rotating seat 310 and the second scale 520 are used for adjusting the swinging directions of the radar target plate 330 and the camera target plate 340, the target surfaces 350 of the radar target plate 330 and the camera target plate 340 can be perpendicular to the driving vector of the vehicle and face the center of the vehicle, the calibration of the vehicle-mounted radar and the camera is convenient, the calibration precision of the vehicle-mounted radar and the camera is improved, the data precision of the vehicle-mounted radar and the camera during driving is improved, and the vehicle-mounted radar and the camera can be normally used during driving of the vehicle, and normal use of the unmanned driving mode of the vehicle is ensured.

It should be noted that, referring to fig. 2, the bottom frame 100 has a plurality of wheels (not shown), which facilitate moving the bottom frame 100, the upright 300, and the cross bar 400, and the bottom of the bottom frame 100 is provided with a plurality of adjustable support legs (not shown), which are screwed on the bottom frame 100, so that the bottom frame 100 can be close to horizontal by the adjustable support legs.

Referring to fig. 3 and 4, as an embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, the first locking device 210 includes a first screw hole (not shown) disposed on the first movable base 200 and a first set screw 211 threadedly coupled to the first screw hole, and an insertion end of the first set screw 211 is used for pressing the first horizontal rail 110. That is, when the position of the first movable base 200 needs to be adjusted, the first set screw 211 is loosened to separate the insertion end of the first set screw 211 from the first horizontal rail 110, and then the first movable base 200 can be pushed to slide along the first horizontal rail 110 to adjust the position of the first movable base 200; when the first movable base 200 needs to be locked and fixed, the first set screw 211 is tightened, and the insertion end of the first set screw 211 abuts against the first horizontal guide rail 110, so that the position of the first movable base 200 can be fixed, and the first movable base 200 is prevented from continuously sliding along the first horizontal guide rail 110.

In addition, the first locking device 210 can be replaced by a movable pin and a plurality of holes, for example, the first horizontal rail 110 has a plurality of holes, the first movable base 200 has a movable pin, the movable pin can be inserted into the holes to fix the position of the first movable base 200, and the movable pin can be pulled out to move the first movable base 200.

Referring to fig. 3 and 4, as an embodiment of the device for calibrating a vehicle-mounted radar and a camera provided by the present invention, the second locking device 320 includes a second set screw 321 and a second screw hole (not shown) disposed in the first movable base 200, the rotatable base 310 is provided with an arc-shaped slot 311, the second set screw 321 passes through the arc-shaped slot 311 and is in threaded connection with the second screw hole, and the second set screw 321 has a nut 322 for abutting against an edge of the arc-shaped slot 311. The center of the arc-shaped groove 311 coincides with the rotation axis of the upright 300, when the second set screw 321 is unscrewed, the nut 322 is separated from the edge of the arc-shaped groove 311, and at this time, the rotating base 310 can rotate to adjust the swing directions of the first laser 410 of the cross bar 400, the thunder reaching target plate 330 of the upright 300 and the camera head target plate 340; when the rotating base 310 needs to be locked and fixed, the second set screw 321 is tightened, and the nut 322 of the second set screw 321 abuts against the edge of the arc-shaped groove 311, that is, the second set screw 321 is matched with the first moving base 200 to clamp the rotating base 310, so that the radar target plate 330 and the camera target plate 340 of the column 300 can be fixed, and the radar target plate 330 and the camera target plate 340 of the column 300 are prevented from continuously swinging.

In addition, the second locking device 320 can be replaced by a movable bolt and a plurality of jacks, for example, the first movable base 200 is provided with a plurality of jacks, the rotating base 310 is provided with a movable bolt, the movable bolt can be inserted into the jacks to fix the position of the rotating base 310, and the rotating base 310 of the upright 300 can be rotated by pulling out the movable bolt; or a screw hole is formed in the rotating seat 310, the second fastening screw 321 is in threaded connection with the screw hole, and then the insertion end of the second fastening screw 321 is abutted against the first moving seat 200, so that when the second fastening screw 321 is screwed or unscrewed, the rotating seat 310 can be locked or loosened.

Referring to fig. 3 and 5, as an embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, the upright post 300 is provided with a lifting frame 600, the lifting frame 600 is provided with a lifting block 610 slidably connected to the upright post 300, the lifting block 610 is provided with a third screw hole (not shown) and a third set screw 620 threadedly connected to the third screw hole, an insertion end of the third set screw 620 is used for pressing the upright post 300, and the radar target plate 330 is disposed on the lifting frame 600. Crane 600 is located the below of camera mark target plate 340, camera mark target plate 340 sets up the top at stand 300, radar mark target plate 330 can be through elevator 610 height-adjusting, when unscrewing third holding screw 620, crane 600 can reciprocate, crane 600 drives the lift of radar target plate 330 up and down, thereby can adjust the height of radar target plate 330 up and down, let the height of radar target plate 330 up and down and the high looks adaptation of on-vehicle radar, the height of on-vehicle radar equals with the height of radar target plate 330 up and down promptly, be convenient for on-vehicle radar demarcation coordinate parameter. After the height is adjusted, the third fastening screw 620 can be screwed down, the radar target plate 330 can be locked and fixed, the radar target plate 330 is prevented from moving when the vehicle-mounted radar is calibrated, and the calibration precision is guaranteed. Secondly, when needing camera calibration parameter, can loosen third holding screw 620, let crane 600 descend to stand 300 bottom, let thunder reach standard target plate 330 descend to the lowest position, prevent that thunder reach standard target plate 330 from blocking the target surface 350 of camera head target plate 340, be convenient for let the camera cooperate camera head target plate 340 to mark.

Referring to fig. 3 and 6, as an embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, a chassis 100 is provided with a second horizontal rail 120, the second horizontal rail 120 is slidably connected to a second movable base 130, the first horizontal rail 110 is disposed on the second movable base 130, the second horizontal rail 120 is perpendicular to the first horizontal rail 110, and the second movable base 130 is provided with a third locking device 140. The third locking device 140 is used for locking and fixing the position of the second moving seat 130 on the second horizontal guide rail 120, and when the second moving seat 130 can move along the second horizontal guide rail 120, the first horizontal guide rail 110, the column 300, the cross bar 400, the radar target plate 330 and the camera target plate 340 can be moved together, so that the radar target plate 330 and the camera target plate 340 can move on a horizontal plane by matching with the first horizontal guide rail 110 and the first moving seat 200, and the distance and the position from the target surface 350 of the radar target plate 330 and the camera target plate 340 to the vehicle body can be adjusted, so that the position adjustment of the radar target plate 330 and the camera target plate 340 is more convenient.

It should be noted that, for convenience of use, the length direction of the second horizontal guide rail 120 may be parallel to the running vector of the vehicle, and when the second moving seat 130 is moved, the distances between the target plate 330 for thunder standard, the target plate 340 for camera head and the vehicle may be adjusted, so that the calibration of multiple distances by the camera head matching with the target surface 350 of the target plate 340 for camera head is facilitated, and the calibration of the camera head is facilitated. For example, when the target surface 350 of the camera head target plate 340 is one meter seven away from the vehicle body, the camera head performs one calibration in cooperation with the target surface 350 of the camera head target plate 340; then, the second movable seat 130 is moved to enable the target surface 350 of the camera head target plate 340 to be two meters and seven away from the vehicle body, and the calibration is performed for the second time, so that multiple groups of data can be calibrated by the camera head, and the coordinate parameters of the camera head under the vehicle body coordinate system can be better calibrated

On the basis of the above, referring to fig. 3 and fig. 6, as a specific embodiment of the device for calibrating a vehicle-mounted radar and a camera provided by the present invention, the third locking device 140 includes a fourth screw hole (not shown) disposed on the second movable base 130 and a fourth set screw 141 in threaded connection with the fourth screw hole, and an insertion end of the fourth set screw 141 is used for pressing the second horizontal rail 120. That is, when the position of the second movable base 130 needs to be adjusted, the fourth set screw 141 is unscrewed, and the insertion end of the fourth set screw 141 is separated from the second horizontal rail 120, so that the second movable base 130 can be pushed to slide along the second horizontal rail 120, so as to adjust the position of the second movable base 130; when the second movable base 130 needs to be locked and fixed, the fourth fastening screw 141 is tightened, and the insertion end of the fourth fastening screw 141 abuts against the second horizontal rail 120, so that the position of the second movable base 130 can be fixed, and the second movable base 130 is prevented from continuously sliding along the second horizontal rail 120.

In addition, the fourth locking device can be replaced by a movable bolt and a plurality of jacks, for example, the second horizontal rail 120 is provided with a plurality of jacks, the second movable base 130 is provided with a movable bolt, the movable bolt can be inserted into the jacks to fix the position of the second movable base 130, and the movable bolt can be pulled out to move the second movable base 130.

Referring to fig. 3 and 7, as a specific embodiment of the device for calibrating a vehicle-mounted radar and a camera provided by the present invention, first mounting rods 430 are disposed at two ends of a cross rod 400, a first laser 410 and a first scale 420 are disposed on the first mounting rods 430, the first mounting rods 430 can be mounted on the cross rod 400 by welding or detachable connection, the specific length of the first mounting rods 430 can be determined according to the size of a vehicle body to be measured, and the first laser 410 and the first scale 420 are mounted on the first mounting rods 430, so that the cross rod 400 can be extended continuously, the distance between the first laser 410 and the first scale 420 and the upright post 300 can be increased, and vehicles with different sizes can be measured.

Referring to fig. 1, 2, 3, and 6, as a specific embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, two ends of a cross bar 400 are respectively provided with a mounting hole 440 parallel to a length direction of the cross bar 400, a first mounting rod 430 is provided with an insertion section 431 inserted into the mounting hole 440, one side of the cross bar 400 is provided with a fifth screw hole 450 communicated with the mounting hole 440, the cross bar 400 is in threaded connection with a fifth set screw 460 through the fifth screw hole 450, and an insertion end of the fifth set screw 460 is used for pressing the insertion section 431. That is, the insertion section 431 can be locked and fixed in the mounting hole 440 through the fifth set screw 460, when the positions of the first laser 410 and the first scale 420 relative to the cross rod 400 need to be adjusted, the fifth set screw 460 can be loosened, and then the insertion section 431 moves in the mounting hole 440 to adjust the positions of the first laser 410 and the first scale 420 relative to the cross rod 400, that is, the distance between the first laser 410 or the first scale 420 and the upright post 300 can be adjusted, so that the distance between the two first lasers 410 or the two first scales 420 can be adjusted according to the width of the vehicle to be detected, the first laser 410 can irradiate the second scale 520 of the wheel clamp 500 mounted on the rear hub of the vehicle, and the second laser 510 can irradiate the first scale 420, thereby facilitating the calibration of the vehicle-mounted radar and the camera.

On the basis, please refer to fig. 1, fig. 2, fig. 3, and fig. 6, as a specific embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, the insertion section 431 is provided with a flat position 432, and the installation hole 440 is a flat hole adapted to the flat position 432, so that the insertion section 431 cannot rotate freely after being inserted into the installation hole 440, thereby preventing the swing direction of the first laser 410 and the first scale 420 from being changed due to the rotation of the insertion section 431, avoiding installation deviation, ensuring that the angles of the first laser 410 and the first scale 420 do not skew due to the adjustment of the length of the insertion section 431 extending out of the installation hole 440, and ensuring the installation accuracy of the first laser 410 and the first scale 420.

Referring to fig. 1 and 8, as an embodiment of the apparatus for calibrating a vehicle-mounted radar and a camera provided by the present invention, a wheel clamp 500 includes a clamp frame 530, a plurality of clamp claws 540, and a second mounting rod 550, wherein the second mounting rod 550 is disposed on a side of the clamp frame 530 away from the clamp claws 540, and a second laser 510 and a second scale 520 are disposed on the second mounting rod 550. Referring to fig. 2, the number of the clamp claws 540 may be three, the clamp claws 540 are used for mounting and clamping the rear wheel hub of the vehicle, that is, the clamp frame 530 is mounted and fixed on the rear wheel hub through the clamp claws 540, the second laser 510 and the second scale 520 are both located on one side of the clamp frame 530 departing from the clamp claws 540, and then the second laser 510 and the second scale 520 are both protruded out of the rear wheel hub, so that the second laser 510 can irradiate the first scale 420, and the first laser 410 can irradiate the second scale 520.

It can be understood that, for convenience of the first laser 410 irradiating the second scale 520 and the second laser 510 irradiating the first scale 420, please refer to fig. 1 to 3, as a specific embodiment of the apparatus for calibrating the vehicle-mounted radar and the camera provided by the present invention, the first laser 410 is located at a side of the first scale 420 facing the pillar 300, and the second scale 520 is located at a side of the second laser 510 facing the fixture frame 530, so that the first laser 410 and the second laser 510 are dislocated, the first laser 410 more conveniently irradiates the second scale 520, the second laser 510 more conveniently irradiates the first scale 420, the radar target plate 330 and the camera target plate 340 are conveniently positioned, and calibration accuracy and efficiency of the vehicle-mounted radar and the camera are improved.

It can be understood that, in order to align the pillar 300 with the center line of the vehicle, please refer to fig. 1, as a specific embodiment of the apparatus for calibrating the vehicle-mounted radar and the camera provided by the present invention, the irradiation directions of the two second lasers 510 are parallel, so that the two second lasers 510 can respectively irradiate the laser onto the two first scales 420 on the cross bar 400, which is convenient for finding points and aligning; similarly, in order to facilitate the first laser 410 to irradiate the second scale 520 on the wheel clamp 500, the irradiation directions of the two first lasers 410 are parallel.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. The utility model provides a device of demarcation vehicle-mounted radar and camera which characterized in that includes:

a chassis provided with a first horizontal guide rail;

the first moving seat is connected to the first horizontal guide rail in a sliding mode and is provided with a first locking device;

the lower part of the upright post is provided with a rotating seat, the upright post is rotationally connected to the first moving seat through the rotating seat, the rotating seat is provided with a second locking device, one side of the upright post is provided with a mine standard target plate and a camera head target plate, and the mine standard target plate and the camera head target plate are both provided with target surfaces;

the laser target plate is vertically arranged with the camera head target plate, the length direction of the cross bar is parallel to the target surface, and the laser head of the first laser and the target surface are both positioned at the same side of the cross bar;

two wheel anchor clamps all are provided with second laser instrument and second scale, wherein, the second laser instrument is used for court first scale transmission laser, first laser instrument is used for court second scale transmission laser.

2. The apparatus for calibrating a vehicle radar and a camera as recited in claim 1, wherein said first locking means comprises a first screw hole provided on said first movable base and a first set screw threadedly coupled to said first screw hole, an insertion end of said first set screw being adapted to press against said first horizontal rail.

3. The apparatus according to claim 1, wherein the second locking device comprises a second set screw and a second screw hole disposed on the first movable seat, the rotatable seat is provided with an arc-shaped slot, the second set screw passes through the arc-shaped slot and is in threaded connection with the second screw hole, and the second set screw has a nut for abutting against an edge of the arc-shaped slot.

4. The device for calibrating the vehicle-mounted radar and the camera is characterized in that the upright post is provided with a lifting frame, the lifting frame is provided with a lifting block which is in sliding connection with the upright post, the lifting block is provided with a third screw hole and a third set screw in threaded connection with the third screw hole, the insertion end of the third set screw is used for pressing the upright post, and the radar target plate is arranged on the lifting frame.

5. The apparatus of claim 1, wherein the chassis is provided with a second horizontal rail, the second horizontal rail is slidably connected to a second movable base, the first horizontal rail is disposed on the second movable base, the second horizontal rail is perpendicular to the first horizontal rail, and the second movable base is provided with a third locking device.

6. The apparatus according to claim 5, wherein the third locking device comprises a fourth screw hole disposed on the second movable base and a fourth set screw threadedly coupled to the fourth screw hole, and an insertion end of the fourth set screw is configured to press against the second horizontal rail.

7. The device for calibrating the vehicle-mounted radar and the camera according to claim 1, wherein a first mounting rod is arranged at each of two ends of the cross rod, and the first laser and the first scale are arranged on the first mounting rods.

8. The device for calibrating the vehicle-mounted radar and the camera according to claim 7, wherein mounting holes parallel to the length direction of the cross bar are formed in both ends of the cross bar, the first mounting rod is provided with an insertion section inserted into the mounting holes, a fifth screw hole communicated with the mounting holes is formed in one side of the cross bar, the cross bar is in threaded connection with a fifth set screw through the fifth screw hole, and an insertion end of the fifth set screw is used for pressing the insertion section.

9. The device for calibrating the vehicle-mounted radar and the camera according to claim 8, wherein the insertion section is provided with a flat position, and the mounting hole is a flat hole matched with the flat position.

10. The device for calibrating the vehicle-mounted radar and the camera as claimed in any one of claims 1 to 9, wherein the wheel clamp comprises a clamp frame, a plurality of clamp claws, and a second mounting rod, the second mounting rod is arranged on a side of the clamp frame, which faces away from the clamp claws, and the second laser and the second scale are arranged on the second mounting rod.

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