CN103978935A - Vehicle assembly line based vehicle around view system camera parameter on-line calibration method - Google Patents
Vehicle assembly line based vehicle around view system camera parameter on-line calibration method Download PDFInfo
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- CN103978935A CN103978935A CN201410235696.6A CN201410235696A CN103978935A CN 103978935 A CN103978935 A CN 103978935A CN 201410235696 A CN201410235696 A CN 201410235696A CN 103978935 A CN103978935 A CN 103978935A
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Abstract
A vehicle assembly line based vehicle around view system camera parameter on-line calibration method comprises performing calibration on vehicles, vehicle assembly lines and vehicle around view systems and performing correction on markers. The vehicle assembly line based vehicle around view system camera parameter on-line calibration method comprises three work stations comprising a preparation work station, a collection work station and an end work station; the front end of the collection work station is provided with a limit switch; the vehicles pass through the preparation work station, the collection work station and the end work station along with a production line and the calibration is achieved in the process. According to the vehicle assembly line based vehicle around view system camera parameter on-line calibration method, the integral parameter calibration process is performed on the production line, additional places are not required, the vehicle positions do not need to be manually adjusted, the vehicles do not need to drive to other separate places for calibration, and accordingly mass manpower, time and places are saved and the efficiency of the calibration is greatly improved.
Description
Technical field
The present invention relates to vehicle-mounted camera parameter calibration field, be specifically related to calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line.
Background technology
Vehicle-mounted viewing system is to be become by the Duo Tai wide-angle imaging mechanism being assemblied on car body all around, and it is certain interval that every pick up camera covers, and image generates birds-eye view through viewpoint change, and splices and obtain the vehicle-mounted aerial view of looking around.In order to make the image that above-mentioned many wide-angle imaging machines that are assemblied on car body absorb can generate the not seamless spliced synthetic panoramic view of looking down of distortion through viewpoint change, above-mentioned inner parameter and the ambient parameter that is assemblied in the wide-angle imaging machine on car body must be by Accurate Calibration.Whether the inner parameter of pick up camera accurately directly affects the distortion correction effect of composite diagram.Whether whether the ambient parameter of pick up camera accurately can affect each camera image junction in composite diagram misplaces, and also can affect whether in final composite diagram, look down the relative position relation of panoramic view and car body correct.
Up to the present, what Main Auto factory in the world adopted is all to demarcate under line, exactly mounted automobile is opened from fitting line, reach the demarcation that a specific station carries out manual intervention, because each calibration process is complicated, need to manually participate in, and all there is a part of deviation in each vehicle parking position, cause in some cases system cannot automatically carry out staking-out work, demarcate inefficiency.
How to design can a kind of correction efficiency high, easy-to-operate calibration method, become the important directions of vehicle-mounted viewing system research.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line, by fixing calibration mark thing, fixed at the enterprising rower of vehicle fitting line, solved prior art and proofreaied and correct that efficiency is low, the shortcoming of operating difficulties.
Technical scheme: calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line, comprises and demarcate vehicle, vehicle fitting line, vehicle-mounted viewing system and calibration mark thing; Wherein vehicle-mounted viewing system comprises one group of camera; It is characterized in that, comprise a control desk; The method comprises three stations, and described station is prepared respectively station, gathers station and finished station; Described collection station is provided with travel switch; The method comprises the following steps:
1) demarcate a vehicle Following Car fitting line and enter preparation station, prepare the operating personal of station and external wire harness access is demarcated to the vehicle-mounted computer wire harness socket of vehicle, start afterwards the vehicle-mounted viewing system of this demarcation vehicle, system enters calibration mode on line, waits for that extraneous energizing signal carries out image acquisition and processing;
2) demarcate a vehicle Following Car fitting line and enter the accurate station that gathers, trigger and be arranged on the travel switch that gathers station; When travel switch triggers, to vehicle-mounted computer, send image acquisition instruction, vehicle-mounted computer starts to gather the picture of each camera, and picture is imported in control desk or vehicle-mounted computer the machine, picture is judged as follows: whether the picture that every camera imports into is clear, whether picture is put upside down, and whether in system, photographs specified sign thing according to the scope of marker position prediction, whether picture orientation is correct;
If do not met above-mentioned arbitrary condition, revise; As all conditions of meeting a cassation, carry out automatic Calibration processing, and calibration result is write to vehicle-mounted computer;
3) demarcate a vehicle Following Car fitting line and enter end station, the operating personal that finishes station is pulled up the wire harness of vehicle-mounted computer, completes demarcation.
Described travel switch is touch switch.Touch switch is without manual operation, time saving and energy saving.
Described touch switch is photoelectricity touch switch.Photoelectricity trigger switch can be worked as vehicle front bumper/spoiler position while sheltering from photoelectricity trigger switch, automatically generates energizing signal, by CAN bus or other forms, passes to control system.
Step 2) in, the judgement of picture is completed by artificial or vehicle-mounted computer, or is jointly completed by artificial and control desk.Multiple decision method combines, and can complete more efficiently judgement.Some manually can unlaboredly be judged, needs a large amount of computer programs to complete, so adopt the mode combining
Step 2), in, comprise and judge whether every camera has initial stage imaging fault; This fault comprises without image output, image gross distortion and has serious noise; If any fault, revise.
Described correction comprises to be changed camera and carries out again demarcating under line.
Beneficial effect:
1, by the water operation on automobile assembly line, saved vehicle has been left to the process of carrying out camera parameter calibration into fixed area, greatly shortened the time of demarcating, saved manpower and space.
2, by artificial, control desk, vehicle-mounted computer, or the judgment mode of artificial and control desk combination, improved accuracy and the alerting ability of calibration process.
3, by preparing station, gather the setting of station and end station, fully carry out the combination of artificial and automated machine, increase work efficiency.
Accompanying drawing explanation
Fig. 1 calibration mark object location schematic diagram
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is done further and explained.
As shown in Figure 1, calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line, comprises and demarcates vehicle, vehicle fitting line 1, vehicle-mounted viewing system and calibration mark thing 2; Wherein vehicle-mounted viewing system comprises one group of camera; It is characterized in that, comprise a control desk, the method comprises three stations, and described station is prepared respectively station, gathers station and finished station; Described collection station front end is provided with travel switch 3.
The method comprises the following steps:
Step 1) demarcate vehicle and complete after production assembling, follow vehicle dress waterline 1 and enter preparation station, prepare the operating personal of station by the vehicle-mounted computer wire harness socket of external wire harness access demarcation vehicle, start afterwards the vehicle-mounted viewing system of this demarcation vehicle; Because will have one section to start and setup time after system energising, just in time belt conveyor is sent to second station vehicle during this period of time.
Step 2) demarcate a vehicle Following Car fitting line 1 and enter the accurate station that gathers, the travel switch 3 of triggering collection station front end also stops this fitting line 1; When travel switch 3 triggers, to vehicle-mounted computer, send image acquisition instruction, vehicle-mounted computer starts to gather the picture of each camera, and import picture into control desk, picture is judged as follows: whether the picture that every camera imports into is clear, whether picture is put upside down, and whether in estimation range, photographs specified sign thing, whether picture orientation is correct;
If do not met above-mentioned arbitrary condition, revise; As all conditions of meeting a cassation, carry out automatic Calibration processing, and calibration result is write to vehicle-mounted computer;
Wherein, travel switch 3 is press trigger type switch, can be also photoelectricity touch switch.Photoelectricity trigger switch can be worked as vehicle front bumper/spoiler position while sheltering from photoelectricity trigger switch, automatically generate energizing signal, by CAN bus or other forms, pass in control desk or vehicle driving computer and start to gather, carry out automatic Calibration, without manual operation, time saving and energy saving.
First judge whether every camera has incipient failure, comprise and judge whether every camera has initial stage imaging fault; This fault comprises without image output, image gross distortion and has serious noise; If any fault, revise.Revise specifically finger manual intervention, such as changing camera, carry out under line the methods such as demarcation again.
Whether the picture that every camera imports into photographs specified sign thing 2, whether picture orientation is correct; As do not photograph specified sign thing 2 or picture orientation mal, proofread and correct; For example, the imaging that camera detected is contrary with normal picture, can judge that camera is installed to put upside down, and now carries out manually fault camera being unloaded to refitting.
Step 3) demarcate a vehicle Following Car fitting line 1 and enter end station, the operating personal that finishes station is pulled up the wire harness of vehicle-mounted computer, demarcates and finishes.
The process of whole parameter calibration is carried out in flow production line, and without place is provided in addition, vehicle error of position on conveyor line is very little, needs hardly manually to adjust the position of vehicle.Traditional calibration method is fixed area, and by storing cycle, in the region of appointment, the camera parameter of every demarcation one chassis, just need to move vehicle.Calibration method stream line operation provided by the invention, the whole conveyor line of this process normally moves, and has saved a large amount of manpowers and time.Meanwhile, stream line operation can be fixed a cover system, only needs to adjust according to vehicle position or the form of mark 2, has significantly improved the efficiency of demarcating.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (6)
1. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line, comprises and demarcates vehicle, vehicle fitting line (1), vehicle-mounted viewing system and calibration mark thing (2); Wherein vehicle-mounted viewing system comprises one group of camera; It is characterized in that, comprise a control desk; The method comprises three stations, and described station is prepared respectively station, gathers station and finished station; Described collection station is provided with travel switch (3); The method comprises the following steps:
1) demarcate a vehicle Following Car fitting line (1) and enter preparation station, prepare the operating personal of station and external wire harness access is demarcated to the vehicle-mounted computer wire harness socket of vehicle, start afterwards the vehicle-mounted viewing system of this demarcation vehicle, system enters calibration mode on line, waits for that extraneous energizing signal carries out image acquisition and processing;
2) demarcate a vehicle Following Car fitting line (1) and enter the accurate station that gathers, trigger and be arranged on the travel switch (3) that gathers station; When travel switch (3) triggers, to vehicle-mounted computer, send image acquisition instruction, vehicle-mounted computer starts to gather the picture of each camera, and picture is imported in control desk or vehicle-mounted computer the machine, picture is judged as follows: whether the picture that every camera imports into is clear, whether picture is put upside down, and whether in system, photographs specified sign thing (2) according to the scope of marker position prediction, whether picture orientation is correct;
If do not met above-mentioned arbitrary condition, revise; As all conditions of meeting a cassation, carry out automatic Calibration processing, and calibration result is write to vehicle-mounted computer;
3) demarcate a vehicle Following Car fitting line (1) and enter end station, the operating personal that finishes station is pulled up the wire harness of vehicle-mounted computer, completes demarcation.
2. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line as claimed in claim 1, is characterized in that, described travel switch (3) is touch switch.
3. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line as claimed in claim 2, is characterized in that, described touch switch is photoelectricity touch switch.
4. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line as claimed in claim 1, is characterized in that step 2) in, the judgement of picture is completed by artificial or vehicle-mounted computer, or is jointly completed by artificial and control desk.
5. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line as claimed in claim 1, is characterized in that step 2) in, comprise and judge whether every camera has initial stage imaging fault; This fault comprises without image output, image gross distortion and has serious noise; If any fault, revise.
6. calibration method on the vehicle-mounted viewing system camera parameter line based on vehicle fitting line as claimed in claim 5, is characterized in that, described correction comprises to be changed camera and carries out again demarcating under line.
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| CN104792542A (en) * | 2015-04-08 | 2015-07-22 | 吉林大学 | Automobile brake performance detecting system calibrating apparatus and automobile brake performance detecting system calibrating method based on stereoscopic vision |
| CN105574863A (en) * | 2015-12-14 | 2016-05-11 | 宁波裕兰信息科技有限公司 | Online automatic calibration system for 360-degree panoramic system |
| US10922559B2 (en) | 2016-03-25 | 2021-02-16 | Bendix Commercial Vehicle Systems Llc | Automatic surround view homography matrix adjustment, and system and method for calibration thereof |
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| CN103978935B (en) | 2016-03-09 |
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Effective date of registration: 20170110 Address after: 214000 Jiangsu Province, Wuxi New District Longshan Road, No. 4 (Wang Zhuang science and Technology Venture Center) C building 203-204 Patentee after: Wuxi Wissen Intelligent Sensing Technology Co., Ltd. Address before: 214028 Wuxi Province, Jiangsu New District Longshan Road, No. 4 (Wang Zhuang science and Technology Venture Center) C building, floor 2 Patentee before: Wuxi Guan Zhi vision Science and Technology Ltd. |
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Address after: 214000 C 203-204, Longshan Road, Wuxi New District, Jiangsu, China (203-204) Patentee after: Wuxi wisdom Sensor Technology Co., Ltd. Address before: 214000 C 203-204, Longshan Road, Wuxi New District, Jiangsu, China (203-204) Patentee before: Wuxi Wissen Intelligent Sensing Technology Co., Ltd. |
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Effective date of registration: 20190610 Address after: 201203 Shanghai Pudong New Area free trade trial area, 1 spring 3, 400 Fang Chun road. Patentee after: Shanghai Sen Sen vehicle sensor technology Co., Ltd. Address before: 214000 C 203-204, Longshan Road, Wuxi New District, Jiangsu, China (203-204) Patentee before: Wuxi wisdom Sensor Technology Co., Ltd. |