CN103978935B - Based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line - Google Patents
Based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line Download PDFInfo
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- CN103978935B CN103978935B CN201410235696.6A CN201410235696A CN103978935B CN 103978935 B CN103978935 B CN 103978935B CN 201410235696 A CN201410235696 A CN 201410235696A CN 103978935 B CN103978935 B CN 103978935B
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Abstract
Based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, comprise and demarcate vehicle, automotive line, vehicle-mounted viewing system and calibration mark thing; The method comprises three stations, and described station prepares station respectively, gathers station and terminate station; Described collection station front end is provided with travel switch; Vehicle successively by preparing station, gathering station and terminate station, completes demarcation with conveyor line in the process.The process of whole parameter calibration is carried out in flow production line, without the need to providing place in addition, do not need manually to adjust vehicle position and reach in addition separately place demarcate, eliminate a large amount of manpowers and time and place, significantly improve the efficiency of demarcation.
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 automotive line.
Background technology
Vehicle-mounted viewing system is made up of the multiple stage wide angle cameras be assemblied on car body all around, and every platform pick up camera covers certain interval, and image generates birds-eye view through viewpoint change, and carry out splicing and obtain vehicle-mountedly looking around aerial view.Panoramic view is looked down in the seamless spliced synthesis that the image absorbed to enable the above-mentioned multiple stage wide angle cameras be assemblied on car body generates not distortion through viewpoint change, and inner parameter and the ambient parameter of the above-mentioned wide angle cameras be assemblied on car body must by Accurate Calibrations.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 whether correctly also can affect the relative position relation looking down panoramic view and car body in final composite diagram.
Up to the present, what Main Auto factory in the world adopted is all 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 manually to participate in, and all there is a part of deviation in each vehicle parking position, cause system automatically cannot carry out staking-out work in some cases, demarcate inefficiency.
How to design and a kind of can correct that efficiency is 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 automotive line, by fixing calibration mark thing, fixed at the enterprising rower of automotive line, solve prior art and correct that efficiency is low, the shortcoming of operating difficulties.
Technical scheme: based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, comprises and demarcates vehicle, automotive 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 prepares station respectively, gathers station and terminate 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, the vehicle-mounted computer wire harness socket of vehicle is demarcated in external wire harness access by the operating personal preparing station, start the vehicle-mounted viewing system of this demarcation vehicle afterwards, 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 accurate collection station, trigger the travel switch being arranged on and gathering station; When travel switch triggers, image capture instruction is sent to vehicle-mounted computer, vehicle-mounted computer starts the picture gathering 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 platform camera imports into is clear, whether picture is put upside down, and whether in the scope that system is predicted according to marker position, 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 process, and calibration result is write vehicle-mounted computer;
3) demarcate a vehicle Following Car fitting line and enter end station, the operating personal terminating station pulls up the wire harness of vehicle-mounted computer, completes demarcation.
Described travel switch is touch switch.Touch switch is without the need to manual operation, time saving and energy saving.
Described touch switch is photoelectricity touch switch.Photoelectricity trigger switch can work as vehicle front bumper/spoiler position when sheltering from photoelectricity trigger switch, automatically generates energizing signal, passes to control system by CAN or other forms.
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 judgement more efficiently.Some manually can unlaboredly judge, needs a large amount of computer programs to complete, so adopt the mode combined
Step 2) in, comprise and judge whether every platform camera has initial stage imaging fault; This fault comprises without image output, significant image distortions and has serious noise; If any fault, revise.
Described correction comprises replacing camera and again demarcates under carrying out line.
Beneficial effect:
1, by the water operation on automobile assembly line, eliminate the process opened by vehicle and carry out camera parameter calibration into fixed area, substantially reduce the time of demarcation, save manpower and space.
2, by artificial, control desk, vehicle-mounted computer, or judgment mode that is artificial and control desk combination, improve accuracy and the alerting ability of calibration process.
3, by preparing station, gathering the setting of station and end station, fully carrying out combination that is artificial and automated machine, increasing work efficiency.
Accompanying drawing explanation
Fig. 1 calibration mark object location schematic diagram
Detailed description of the invention
Below in conjunction with accompanying drawing the present invention done and further explain.
As shown in Figure 1, based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, comprise and demarcate vehicle, automotive 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 prepares station respectively, gathers station and terminate station; Described collection station front end is provided with travel switch 3.
The method comprises the following steps:
Step 1) demarcate after vehicle completes and produce assembling, follow vehicle dress waterline 1 and enter preparation station, the vehicle-mounted computer wire harness socket of vehicle is demarcated in the access of external wire harness by the operating personal preparing station, starts the vehicle-mounted viewing system of this demarcation vehicle afterwards; Because one section will be had after system energization to start and setup time, just in time belt conveyor is sent to second station vehicle during this period of time.
Step 2) to demarcate a vehicle Following Car fitting line 1 and enter and accurately gather station, the travel switch 3 of triggering collection station front end also stops this fitting line 1; When travel switch 3 triggers, image capture instruction is sent to vehicle-mounted computer, vehicle-mounted computer starts the picture gathering each camera, and import picture into control desk, picture is judged as follows: whether the picture that every platform 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 process, and calibration result is write vehicle-mounted computer;
Wherein, travel switch 3 is press trigger type switch, also can be photoelectricity touch switch.Photoelectricity trigger switch can work as vehicle front bumper/spoiler position when sheltering from photoelectricity trigger switch, automatic generation energizing signal, is passed in control desk or vehicle driving computer by CAN or other forms and starts to gather, carry out automatic Calibration, without the need to manual operation, time saving and energy saving.
First judge whether every platform camera has incipient failure, comprise and judge whether every platform camera has initial stage imaging fault; This fault comprises without image output, significant image distortions and has serious noise; If any fault, revise.Revise and specifically refer to manual intervention, such as change camera, carry out line under the method such as demarcation again.
Whether the picture that every platform camera imports into photographs specified sign thing 2, whether picture orientation is correct; As do not photographed specified sign thing 2 or picture orientation mal, then correct; Such as, detect that the imaging of camera is contrary with normal picture, then can judge that camera is installed and put upside down, now carry out manually fault camera being unloaded refitting.
Step 3) to demarcate a vehicle Following Car fitting line 1 and enter end station, the operating personal terminating station pulls up the wire harness of vehicle-mounted computer, demarcates and terminates.
The process of whole parameter calibration is carried out in flow production line, and without the need to providing place in addition, the error of vehicle position on conveyor line is very little, needs the position manually adjusting vehicle hardly.Traditional calibration method is fixed area, by storing cycle in a specified area, often demarcates the camera parameter of a chassis, just needs to move vehicle.Calibration method stream line operation provided by the invention, the whole conveyor line of this process normally runs, and eliminates a large amount of manpowers and time.Meanwhile, stream line operation can fix set of system, only needs the position according to vehicle adjustment mark 2 or form, significantly improves the efficiency of demarcation.
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., based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, comprise and demarcate vehicle, automotive 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 prepares station respectively, gathers station and terminate 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, the vehicle-mounted computer wire harness socket of vehicle is demarcated in external wire harness access by the operating personal preparing station, start the vehicle-mounted viewing system of this demarcation vehicle afterwards, 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 collection station, trigger the travel switch (3) being arranged on and gathering station; When travel switch (3) triggers, image capture instruction is sent to vehicle-mounted computer, vehicle-mounted computer starts the picture gathering 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 platform camera imports into is clear, whether picture is put upside down, and whether in the scope that system is predicted according to calibration mark object location, photographs calibration mark thing (2), whether picture orientation is correct;
If do not met above-mentioned arbitrary condition, revise; As met above-mentioned all conditions, carrying out automatic Calibration process, and calibration result is write vehicle-mounted computer;
3) demarcate a vehicle Following Car fitting line (1) and enter end station, the operating personal terminating station pulls up the wire harness of vehicle-mounted computer, completes demarcation.
2., as claimed in claim 1 based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, it is characterized in that, described travel switch (3) is touch switch.
3., as claimed in claim 2 based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, it is characterized in that, described touch switch is photoelectricity touch switch.
4., as claimed in claim 1 based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, it 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., as claimed in claim 1 based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, it is characterized in that, step 2) in, comprise and judge whether every platform camera has initial stage imaging fault; This fault comprises without image output, significant image distortions and has serious noise; If any fault, revise.
6. as claimed in claim 5 based on calibration method on the vehicle-mounted viewing system camera parameter line of automotive line, it is characterized in that, described correction comprises replacing camera and again demarcates under carrying out line.
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| CN104792542B (en) * | 2015-04-08 | 2017-07-04 | 吉林大学 | Test System for Automobile Brake Performance calibrating installation and method based on stereoscopic vision |
| CN105574863B (en) * | 2015-12-14 | 2018-03-27 | 宁波裕兰信息科技有限公司 | A kind of 360 degree of on-line automatic calibration systems of viewing 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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| EP1868161A1 (en) * | 2006-06-15 | 2007-12-19 | Valeo Vision | Method of determining the range of visibility for a driver of a vehicle |
| EP2590408A1 (en) * | 2010-06-29 | 2013-05-08 | Clarion Co., Ltd. | Image calibration method and device |
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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. |