CN106646407A - Radar calibration equipment checking method, device and system - Google Patents
Radar calibration equipment checking method, device and system Download PDFInfo
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- CN106646407A CN106646407A CN201611160979.4A CN201611160979A CN106646407A CN 106646407 A CN106646407 A CN 106646407A CN 201611160979 A CN201611160979 A CN 201611160979A CN 106646407 A CN106646407 A CN 106646407A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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Abstract
The invention relates to a radar calibration equipment checking method, device and system. The method comprises the steps of: acquiring a first image of radar calibration equipment shot by a photographic system, and analyzing the first image to obtain a second image of the radar calibration equipment in the first image; calculating the position of the second image in the first image, and obtaining the actual position of the radar calibration equipment according to the product of the position and a set value; calculating a rotation angle of the second image in the first image, and obtaining the actual rotation angle of the radar calibration equipment according to the product of the rotation angle and a set value; and checking whether the actual position and actual rotation angle of the radar calibration equipment respectively satisfy the corresponding preset conditions. The method, the device and the system greatly improve the measurement precision of the radar calibration equipment, and ensure the high precision requirement of the radar calibration equipment.
Description
Technical field
The present invention relates to vehicle electric field, more particularly to a kind of Radar Calibration UC methods, devices and systems.
Background technology
Radar is that, using the electronic equipment of electromagnetic wave detection target, it launches electromagnetic wave and target is irradiated and it is received
Echo, is derived from the information such as distance, range rate (radial velocity), the azel of target to electromagnetic emission point.
At present radar has been widely used in technical field of automotive electronics, such as collision is pre- before vehicle-mounted middle-range radar system is used in
In alarm system and self-adaption cruise system.
Installation accuracy requirement of the radar on car load is very high, so being required for using special and high accuracy before vehicle release
Radar Calibration equipment the accuracy that radar is installed is verified.Therefore, in order to ensure the installation accuracy of radar, to radar mark
The required precision of locking equipment is also very high.If the precision of Radar Calibration equipment is unsatisfactory for requirement, front collision warning systems and self adaptation
The detecting distance of radar will be inaccurate in the systems such as cruise system, affects car load safety.
The calibration of Radar Calibration equipment safeguarded in conventional art uses level angle gauge and chi is signed an undertaking the method for conjunction,
I.e. survey crew has the installation dimension and angle of instrumentation radar calibration facility by level angle gauge and chi, so as to judge radar mark
Whether the installation dimension of locking equipment and the deviation of angle meet design requirement.Because there is error, the method measurement in manual measurement
Precision is not high, it is impossible to ensure the high-precision requirement of Radar Calibration equipment.
The content of the invention
Based on this, it is necessary to for the problems referred to above, there is provided a kind of Radar Calibration UC methods, devices and systems, have
Effect improves the certainty of measurement of Radar Calibration equipment.
A kind of Radar Calibration UC method, including step：
The first image of the Radar Calibration equipment that camera system shoots is obtained, described first image is analyzed, obtained
Second image of the Radar Calibration equipment in described first image；
Position of second image in described first image is calculated, is obtained according to the product of the position and setting value
Obtain the physical location of the Radar Calibration equipment；
The anglec of rotation of second image in described first image is calculated, according to taking advantage of for the anglec of rotation and setting value
Product obtains the actual anglec of rotation of the Radar Calibration equipment；
Whether the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively corresponding pre-conditioned.
A kind of Radar Calibration UC device, including：
Image obtains module, for obtaining the first image of the Radar Calibration equipment of camera system shooting, to described first
Image is analyzed, and obtains the second image of the Radar Calibration equipment in described first image；
Position obtains module, for calculating position of second image in described first image, according to the position
And the product of setting value obtains the physical location of the Radar Calibration equipment；
The anglec of rotation obtains module, for calculating the anglec of rotation of second image in described first image, according to described
The product of the anglec of rotation and setting value obtains the actual anglec of rotation of the Radar Calibration equipment；
Whether correction verification module, the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively right
That what is answered is pre-conditioned.
A kind of Radar Calibration UC system, including：
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, for obtaining the first image of the Radar Calibration equipment of camera system shooting, enters to described first image
Row analysis, obtains the second image of the Radar Calibration equipment in described first image；Second image is calculated described first
Position in image, according to the product of the position and setting value the physical location of the Radar Calibration equipment is obtained；Calculate
The anglec of rotation of second image in described first image, according to the product of the anglec of rotation and setting value the thunder is obtained
The actual anglec of rotation of locking equipment up to standard；Whether the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively
It is corresponding pre-conditioned.
Above-mentioned Radar Calibration UC methods, devices and systems, obtain the image of Radar Calibration equipment, by image point
Analysis method obtains Radar Calibration equipment position in the picture and the anglec of rotation, then the position by Radar Calibration equipment in the picture
Put and the anglec of rotation is changed, position and the anglec of rotation of the Radar Calibration equipment in real space is obtained, then according to thunder
The deviation of position and the anglec of rotation of the locking equipment up to standard in real space can carry out quantization maintenance to Radar Calibration equipment.
Because the method calculates the physical location and the actual anglec of rotation of Radar Calibration equipment by graphical analysis automatically, it is not necessary to artificial
Measurement, therefore substantially increase the certainty of measurement of Radar Calibration equipment, it is ensured that the high-precision requirement of Radar Calibration equipment.
Description of the drawings
Fig. 1 is the schematic flow sheet of the Radar Calibration UC method of an embodiment；
Fig. 2 is the schematic diagram of the pyrometric cone calibration facility of a specific embodiment；
Fig. 3 is the schematic diagram of the camera placement location of a specific embodiment；
Fig. 4 is the schematic diagram that pyrometric cone image is obtained from image of a specific embodiment；
Fig. 5 is the signal of the coordinate system of the coordinate system of the scaling board image of the foundation of a specific embodiment and pyrometric cone image
Figure；
Fig. 6 is the structural representation of the Radar Calibration UC device of an embodiment；
Fig. 7 is the structural representation of the Radar Calibration UC system of an embodiment.
Specific embodiment
It is below in conjunction with the accompanying drawings and preferably real further to illustrate the effect of the technological means taken of the invention and acquirement
Example is applied, to technical scheme, clear and complete description is carried out.
As shown in figure 1, a kind of Radar Calibration UC method, including step：
S110, the first image for obtaining the Radar Calibration equipment that camera system shoots, are analyzed to described first image,
Obtain the second image of the Radar Calibration equipment in described first image；
S120, the position of second image in described first image is calculated, according to the position and setting value
Product obtains the physical location of the Radar Calibration equipment；
The anglec of rotation of S130, calculating second image in described first image, according to the anglec of rotation and setting
The product of value obtains the actual anglec of rotation of the Radar Calibration equipment；
Whether S140, the physical location of the verification Radar Calibration equipment and the actual anglec of rotation meet respectively corresponding default
Condition.
Above-mentioned Radar Calibration UC method calculates the free degree of Radar Calibration equipment automatically, it is not necessary to artificial to survey
Amount, therefore substantially increase the certainty of measurement of Radar Calibration equipment, it is ensured that the high-precision requirement of Radar Calibration equipment, wherein certainly
By spending for object movable dimension in space.The specific embodiment of each step is described in detail below.
In step s 110, Radar Calibration equipment is the equipment checked to radar installation accuracy in prior art.For example, such as
Shown in Fig. 2, Radar Calibration equipment can be the pyrometric cone calibration facility that middle-range radar system is commonly used.Radar Calibration equipment is also
Can be that other can not make restriction to the equipment of radar installation accuracy check, such as metal derby etc., the present invention to this.
Before verifying to Radar Calibration equipment, first preliminary school can be carried out to the size dimension of Radar Calibration equipment
Test, it is ensured that the size dimension of Radar Calibration equipment meets requirement.So that Radar Calibration equipment is as pyrometric cone as an example, personnel are to three for verification
The length of side in pyramid section is measured, it is ensured that the length of side in pyrometric cone section is not long or too short, i.e., the length of side is in normal length scope
It is interior.
Camera system can be camera or camera etc..In order to further improve the certainty of measurement of Radar Calibration equipment,
Need to ensure the image that camera system shoots Radar Calibration equipment under horizontality, i.e., in one embodiment, the shooting
System is in horizontality.Camera system can also adopt this reality when the image of Radar Calibration equipment is shot under non-standard state
The free degree (physical location and the actual anglec of rotation) that a method obtains Radar Calibration equipment is applied, and measuring accuracy is also above biography
The precision measured using modes such as chi tools in system technology, but in order to further improve the certainty of measurement of Radar Calibration equipment,
Camera system needs to take pictures Radar Calibration equipment under horizontality, and then can be calculated according to the image of the shooting
The more accurately free degree.
Guarantee that camera system shooting image under horizontality there are various implementations, for example, camera system is positioned over
In horizontal table top near Radar Calibration equipment, or that camera system is positioned over into locating rack is first-class, and the present invention does not do to this
Go out to limit.So that camera system is positioned on locating rack as an example, as shown in figure 3, locating rack is positioned over Radar Calibration equipment front one
At set a distance L, the position of placement is needed in level, it is impossible to have significantly inclination.There is level meter on locating rack, level meter can be with
The level condition of locating rack is indicated, is contributed to user of service and the head on locating rack is adjusted to into horizontality, camera bracket
For plumbness.Head on locating rack is used for the angle of fixing camera and adjustment camera.When tester will image
Head is adjusted to after horizontality, it is possible to is directed at Radar Calibration equipment and is taken pictures, and obtains the image of Radar Calibration equipment.
After obtaining the image of Radar Calibration equipment, the image is analyzed, identifies the Radar Calibration in described image
The image of equipment, the image that Discrimination Radar calibration facility is analyzed to image can be with according to existing mode reality in prior art
It is existing.
In step S120 and step S130, image coordinate system：The digital picture of camera acquisition can be with computer
Array is stored as, the value of each element (pixel, pixel) in array is the brightness (gray scale) of picture point.To radar mark
The image of locking equipment carries out graphical analysis, sets up the image coordinate system of described image, you can with the solid projected using coordinate system
Geometry teaching principle calculates position and the anglec of rotation of the Radar Calibration equipment in image coordinate system.
The device that Radar Calibration equipment is included is different, and the calculation of the free degree is also different.With reference to two realities
Apply example to illustrate.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of thing；In one embodiment, the step of calculating position of second image in described first image includes：
Relative position of the image of S121, the image for calculating scaling board and object in described first image.No matter scaling board and mesh
Whether mark thing fixedly mounts, and scaling board and object can be checked.When being checked, object is typically only focused on
Relative position and scaling board between, i.e. Radar Calibration equipment need the relative position for ensureing object and scaling board accurate.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of thing；The anglec of rotation includes angle of heel, yaw angle and the angle of pitch；In one embodiment, second image is calculated
The step of anglec of rotation in described first image, can include：
S131, angle of heel of the image in described first image, yaw angle and the angle of pitch that calculate scaling board；
Scaling board is the plate of drop target thing, and as shown in Figure 2 or Figure 3, scaling board is the rectangle in pyrometric cone calibration facility
Plate.Absorbing material can be paved with scaling board.XYZ coordinate system is built with right, front, upper three directions, angle of heel refers to vehicle
Around the angle that X-axis rotates, the angle of pitch refers to the angle that vehicle rotates around Y-axis, and yaw angle refers to the angle that vehicle rotates about the z axis
Degree, that is, the angle for swinging.Can be with when scaling board is calculated in the angle of heel of image coordinate system, the angle of pitch and yaw angle
The solid geometry mathematical principle projected using coordinate system.
S132, angle of heel of the image in described first image, yaw angle and the angle of pitch that calculate object；
Object is the object for receiving radar emission signal, such as pyrometric cone or metal derby etc..Such as Fig. 2 or Fig. 3 institutes
Show, object is the object that pyrometric cone calibration facility middle section is triangle.Object is being calculated in the side of image coordinate system
The solid geometry mathematical principle of coordinate system projection can be utilized when inclination angle, the angle of pitch and yaw angle.
It should be noted that above-mentioned steps S121, step S131 and step S132 have no sequencing, can enter simultaneously
OK, it is also possible to which the order arranged according to user oneself is carried out, the present invention does not make restriction to this.
In order to more fully understand that the Radar Calibration equipment includes the calculation of scaling board and the object free degree, below
With reference to being embodied as being described in detail.
It should be noted that in order to reduce amount of calculation, following methods establish respectively the first coordinate of the image of scaling board
Second coordinate system of the image of system and the object.Can also be calculated based on whole figure coordinate system, equally
The length on each side of scaling board in image, and base and the high length of triangle can be calculated, and then calculates scaling board
With the free degree of pyrometric cone, the present invention restriction is not made to this.
After establishing the first coordinate system of scaling board image and the second coordinate system of target object image, you can to utilize coordinate
The solid geometry mathematical principle of system's projection calculates the free degree of Radar Calibration equipment.Said with reference to pyrometric cone and scaling board
It is bright.It should be noted that when the miscellaneous equipment outside Radar Calibration equipment is pyrometric cone and scaling board, such as object is gold
Category block, or scaling board is the other shapes outside rectangle, can also equally utilize the solid geometry mathematics of coordinate system projection former
Reason calculate the free degree, therefore, although below illustrated with scaling board and pyrometric cone, those skilled in the art should manage
The solution present invention is not merely applied to triangle using the method that the solid geometry mathematical principle of coordinate system projection calculates the free degree
Cone and scaling board.
In one embodiment, the relative position of the image of calculating scaling board and the image of object in described first image
The step of putting can include：
S1211, set up respectively the scaling board image the first coordinate system and the object image second seat
Mark system；
By taking the calibration facility that middle-range Radar Calibration system is adopted as an example, the scaling board of the calibration facility is parallelogram mark
Fixed board, object is pyrometric cone.After getting the image of the Radar Calibration equipment, figure is analyzed, in obtaining image
The image of scaling board and the image of pyrometric cone, as shown in Figure 4.Acquisition scaling board image and pyrometric cone image are analyzed to image
Can be being realized using existing mode in prior art.Then the image coordinate system of scaling board image is set up for scaling board image
A (i.e. XOY), as shown in left in Figure 5, sets up the image coordinate system A ' (i.e. X ' O ' Y ') of pyrometric cone, such as pyrometric cone image
In Fig. 5 shown in right figure.
S1212, position of the origin of second coordinate system in first coordinate system is calculated, obtain the figure of scaling board
Relative position of the image of picture and object in described first image.
No matter whether fixedly mount between pyrometric cone and scaling board, Radar Calibration equipment need to only ensure pyrometric cone and scaling board
Relative position accurately.Therefore the position dimension for also needing to pyrometric cone in whole coordinate system is checked, that is, judge
Positions of the origin O ' of X ' O ' Y ' in the coordinate system XOY of scaling board.
In one embodiment, angle of heel of the image in described first image, yaw angle and the pitching of scaling board are calculated
The step of angle, can include：
S1311, set up the scaling board image the first coordinate system, the image of the scaling board is parallelogram；
The image coordinate system A (i.e. XOY) of scaling board image is set up for scaling board image, as shown in left in Figure 5.Demarcate
Plate can be the scaling board of rectangle, or foursquare scaling board, or scaling board of other parallelogram etc..
S1312, the base according to parallelogram and the angle of the first coordinate system X-axis, obtain the image of scaling board
Angle of heel in described first image；
So that scaling board is as rectangular slab as an example, the pattern of scaling board should normally be rectangle.But the demarcation of actual imaging in picture
Plate is as shown in figure 5, this is because scaling board is present caused by the angle of pitch, angle of heel and yaw angular displacement.As shown in figure 5, in picture
γ angles be parallelogram base and the angle of heel of X-coordinate axle angle, i.e. scaling board in A coordinate systems.Parallelogram bottom
While nethermost for parallelogram, can be being determined according to mode of the prior art.Parallelogram base and the folder of X-axis
The determination mode at angle has many kinds, such as the projection according to base and base in X-axis determines etc..
S1313, the base according to parallelogram and the anticosine of the ratio on the actual base of the scaling board, are marked
Yaw angle of the image of fixed board in described first image；
Parallelogram base h2 is the projection of the actual base H2 vertical planes in A coordinate systems of scaling board, and relation is：
h2=H2× cos β, β are yaw angle (1)
Actual base is side corresponding with parallelogram base, and the length of actual base H2 can be measured according to chi tool
Arrive.Can be obtained according to formula (1)：
More than S1314, the adjacent edge on base according to parallelogram and the anti-of the ratio of the adjacent edge on the actual base
String, obtains the angle of pitch of the image of scaling board in described first image；
The adjacent edge on parallelogram base is parallelogram side h1, and the adjacent edge on actual base is length of side H1.It is parallel
Quadrangle side h1 is the projection of scaling board actual length of side H1 vertical plane in A coordinate systems, and relation is：
h1=H1× cos α, α are the angle of pitch (2)
Actual length of side H1 is that with parallelogram when h1 is corresponding, the length of actual base H1 can be measured according to chi tool
Obtain.Can be obtained according to formula (2)：
In one embodiment, angle of heel of the image in described first image, yaw angle and the pitching of object are calculated
The step of angle, includes：
S1321, set up the object image the second coordinate system, the object be pyrometric cone, the object
Image be triangle；
The image coordinate system A ' (i.e. X ' O ' Y ') of pyrometric cone is set up for pyrometric cone image, as shown in right in Figure 5.
S1322, the base according to triangle and the angle of the second coordinate system X-axis, obtain the image of object in institute
State the angle of heel in the first image；
As shown in figure 5, the angle γ ' between the base O'B and X ' reference axis in pyrometric cone image is the inclination of pyrometric cone
Angle.Triangle base is the nethermost side of triangle, can be being determined according to mode of the prior art.Triangle base and X ' sit
The determination mode of the angle of parameter has many kinds, such as throwing according to triangle base and triangle base in X ' reference axis
Shadow determination etc..
The anticosine of the ratio on the base of the actual cross-section of S1323, the base according to triangle and pyrometric cone, obtains target
Yaw angle of the image of thing in described first image, the actual cross-section is that triangle conical point cuts to the vertical of pyrometric cone bottom surface
Face；
Base O'B in pyrometric cone image and the projection of pyrometric cone actual cross-section base vertical plane in A ' coordinate systems, close
It is to be：
dO'B=d0× cos β, β are yaw angle (3)
Wherein, dO'BFor the length of base O'B, d0For the actual length of side of pyrometric cone, pyrometric cone actual cross-section base is that is to say
Length, can according to chi have measurement obtain.Can be obtained according to formula (3)
S1324, according to the anticosine of the high ratio on the high base with the actual cross-section on the base of triangle,
Obtain the angle of pitch of the image of object in described first image；
The high h' on the O'B sides of base in pyrometric cone imageO'BCan be released by Heron's formula, h'O'BIt is actual with pyrometric cone to cut
High h on the base of facePyrometric coneThe projection of vertical plane in A ' coordinate systems, relation is：
h'O'B=hPyrometric cone× cos α, α are the angle of pitch (4)
Wherein, dO'AFor the length of length of side O'A, dABFor the length of length of side AB.Can be obtained according to formula (4)：
In another embodiment, the Radar Calibration equipment includes object, i.e., described second image includes object
Image；The anglec of rotation includes angle of heel, yaw angle and the angle of pitch.Second image is calculated in described first image
The step of position, includes：S12-1, position of the image in described first image for calculating object.Calculate second image
The step of anglec of rotation in described first image, includes：S13-1, side of the image in described first image for calculating object
Inclination angle, yaw angle and the angle of pitch.
In one embodiment, the step of calculating position of the image of object in described first image includes：S12-
11st, the second coordinate system of the image of the object is set up, the origin of second coordinate system is calculated in described first image
Position, obtains position of the image of object in described first image.
It should be noted that, the position for calculating object is not restricted to aforesaid way, can be with its of the image of object
It puts and calculates object in the position of image.So that object is as pyrometric cone as an example, the image of pyrometric cone is triangle, such as Fig. 5
Shown in right figure, when determining object position in the picture, the position of O ' can be calculated, it is also possible to calculate the position of A, it is also possible to
Calculate the position of B, it is also possible to calculate the position at triangle midpoint etc..
In one embodiment, angle of heel of the image in described first image, yaw angle and the pitching of object are calculated
The step of angle, includes：
S13-11, set up the object image the second coordinate system, the object be pyrometric cone, the object
Image be triangle；
S13-12, the base according to triangle and the angle of the second coordinate system X-axis, obtain the image of object in institute
State the angle of heel in the first image；
The anticosine of the ratio on the base of the actual cross-section of S13-13, the base according to triangle and pyrometric cone, obtains mesh
Yaw angle of the image of mark thing in described first image, the actual cross-section is that triangle conical point cuts to the vertical of pyrometric cone bottom surface
Face；
S13-14, according to the anticosine of the high ratio on the base of the height on the base of triangle and actual cross-section, obtain
Obtain the angle of pitch of the image of object in described first image.
The specific embodiment of above-mentioned steps S13-11～S13-14 will not be described here with step S1321～S1324.
Due to it is obtained above be the position in image coordinate system and the anglec of rotation, tester cannot judge radar mark
Whether the free degree of locking equipment meets requirement, therefore also needs to carry out coordinate system to the position in step image coordinate system and the anglec of rotation
Conversion, obtains the free degree of world coordinate system.The free degree in world coordinate system, tester is known that Radar Calibration
The deviation of equipment, so as to be unsatisfactory for carrying out quantization maintenance to calibration facility when standard is required in deviation, it is ensured that Radar Calibration equipment
High-precision requirement.
In one embodiment, the setting value is the product of distance and default proportionality coefficient, and the distance is institute
State the distance between camera system and described Radar Calibration equipment.
Relational expression is there is between image coordinate system A and world coordinate system W：
K=a × L (9)
A is default proportionality coefficient, relevant with camera system, by actual measurement gained.L is the camera system and the radar
The distance between calibration facility.Bigger apart from L knowable to relational expression, the size that real world object size is imaged in picture is less.
As a example by angle of heel, yaw angle and the angle of pitch by the image of scaling board in described first image, according to formula (8) and
Formula (9) carries out coordinate system conversion to angle of heel, yaw angle and the angle of pitch respectively, obtains the corresponding numerical value in world coordinate system,
That is angle of heel of the scaling board in real space, yaw angle and the angle of pitch.
In step S140, after obtaining the free degree in world coordinate system, it is default that setting judges whether the free degree meets
Whether the program of condition, the automatic detection free degree meets corresponding pre-conditioned, calculates automatically and deviates, and tester is according to this
Deviation carries out quantization maintenance to calibration facility.After obtaining the free degree in world coordinate system, it is also possible to directly show the free degree
Show, tester judges whether the free degree meets corresponding pre-conditioned, then carries out quantization maintenance to calibration facility.
Pre-conditioned is the requirement that each car load factory proposes to equipment.Calibration facility before processing and fabricating, depot
A set of making standard can be clearly proposed to equipment supplier, quantifies the requirement to each physical dimension and angle, this is just formed
Depot is required the standard of equipment.The effect of check equipment is exactly these that check calibration facility whether to meet required for depot
Geometric standard.For example, whether the angle of pitch of the scaling board after the conversion of verification coordinate system, yaw angle, angle of heel meet depot to mark
The standard of fixed board requires whether the relative position for verifying the pyrometric cone after coordinate system conversion and scaling board meets standard requirement, school
Whether the yaw angle of the pyrometric cone tested after coordinate system conversion, the angle of pitch, angle of heel meet depot requires the standard of pyrometric cone.
Based on same inventive concept, the present invention also provides a kind of Radar Calibration UC device, right below in conjunction with the accompanying drawings
The specific embodiment of apparatus of the present invention is described in detail.
As shown in fig. 6, a kind of Radar Calibration UC device, including：
Image obtains module 110, for obtaining the first image of the Radar Calibration equipment of camera system shooting, to described the
One image is analyzed, and obtains the second image of the Radar Calibration equipment in described first image；
Position obtains module 120, for calculating position of second image in described first image, according to institute's rheme
Put and the product of setting value obtains the physical location of the Radar Calibration equipment；
The anglec of rotation obtains module 130, for calculating the anglec of rotation of second image in described first image, according to institute
State the actual anglec of rotation of the product acquisition of the anglec of rotation and setting value Radar Calibration equipment；
Whether correction verification module 140, the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment be full respectively
Foot is corresponding pre-conditioned.
Above-mentioned Radar Calibration UC device passes through the free degree for calculating Radar Calibration equipment automatically, it is not necessary to artificial
Measurement, is not only restricted to the precision of survey tool, therefore substantially increases the certainty of measurement of Radar Calibration equipment, it is ensured that radar mark
The high-precision requirement of locking equipment.The function of modules is described in detail below.
Before verifying to Radar Calibration equipment, first preliminary school can be carried out to the size dimension of Radar Calibration equipment
Test, it is ensured that the size dimension of Radar Calibration equipment meets requirement.The acquisition of Radar Calibration equipment drawing picture can be according to prior art
In existing camera system realize that camera system can be camera or camera etc..Set to further improve Radar Calibration
Standby certainty of measurement, needs to ensure the image that camera system shoots Radar Calibration equipment under horizontality, i.e., in an enforcement
In example, image obtains the image that module 110 obtains Radar Calibration equipment by the camera system in horizontality, obtains radar
After the image of calibration facility, the image is analyzed, the image of the Radar Calibration equipment in described image is identified, to image
The image for being analyzed Discrimination Radar calibration facility can be to realize according to existing mode in prior art..
The device that Radar Calibration equipment is included is different, and the calculation of the free degree is also different.With reference to two realities
Apply example to illustrate.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of thing；In one embodiment, position obtains module 120 and calculates the image of scaling board and the image of object described the
Relative position in one image.The anglec of rotation includes angle of heel, yaw angle and the angle of pitch；In one embodiment, the anglec of rotation
Obtain angle of heel of the image in described first image, yaw angle and the angle of pitch that module 130 calculates scaling board；Calculate object
Angle of heel of the image in described first image, yaw angle and the angle of pitch.
In another embodiment, the Radar Calibration equipment includes object, i.e., described second image includes object
Image；The anglec of rotation includes angle of heel, yaw angle and the angle of pitch；Position obtains the image of the calculating object of module 120 and exists
Position in described first image；The anglec of rotation obtains module 130 and calculates inclination of the image of object in described first image
Angle, yaw angle and the angle of pitch.
Due to it is obtained above be the position in image coordinate system and the anglec of rotation, tester cannot judge radar mark
Whether the free degree of locking equipment meets requirement, therefore also needs to carry out the position in image coordinate system and the anglec of rotation coordinate system turn
Change, obtain position and the anglec of rotation of world coordinate system.
After obtaining position and the anglec of rotation in world coordinate system, can be respectively provided with and judge whether position and the anglec of rotation are full
The pre-conditioned program of foot, whether the position and the anglec of rotation in the automatic detection world coordinate system of correction verification module 140 meets corresponding
It is pre-conditioned, calculate automatically and deviate, tester carries out quantization maintenance according to the deviation to calibration facility.Obtain and sat in the world
Behind position and the anglec of rotation in mark system, directly position and the anglec of rotation can be shown, tester judges that position and the anglec of rotation are
It is no to meet corresponding pre-conditioned, then quantization maintenance is carried out to calibration facility.
Pre-conditioned is the requirement that each car load factory proposes to equipment.Calibration facility before processing and fabricating, depot
A set of making standard can be clearly proposed to equipment supplier, quantifies the requirement to each physical dimension and angle, this is just formed
Depot is required the standard of equipment.The effect of check equipment is exactly these that check calibration facility whether to meet required for depot
Geometric standard.
The other technical characteristics of above-mentioned Radar Calibration UC device are identical with above-mentioned Radar Calibration UC method,
Will not be described here.
As shown in fig. 7, the present invention also provides a kind of Radar Calibration UC system, the system includes：
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, for obtaining the first image of the Radar Calibration equipment of camera system shooting, enters to described first image
Row analysis, obtains the second image of the Radar Calibration equipment in described first image；Second image is calculated described first
Position in image, according to the product of the position and setting value the physical location of the Radar Calibration equipment is obtained；Calculate
The anglec of rotation of second image in described first image, according to the product of the anglec of rotation and setting value the thunder is obtained
The actual anglec of rotation of locking equipment up to standard；Whether the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively
It is corresponding pre-conditioned.
Camera system includes one or more cameras, for gathering the image of Radar Calibration equipment.Host computer and shooting
There is data transmission link between head system, host computer can obtain camera system acquired image, and carry out image procossing
Analysis, calculates the physical dimension numerical value of Radar Calibration equipment.The positioning precision of check system is higher, measurement result reliability
It is higher.
In order to ensure camera system shooting image under horizontality, the certainty of measurement of Radar Calibration equipment is improved, one
In individual embodiment, as shown in fig. 7, the check system can also include locating rack, head and the water on locating rack
Level；Described head one end connects the locating rack, and the other end connects the camera system.Locating rack is positioned on level land, frame
On have level meter, the level condition of locating rack can be indicated, contribute to user of service and head be adjusted to into horizontality, camera
Support is plumbness.Head support is used for the angle for fixing camera system and adjustment camera.Alternate manner can also be adopted
Ensure camera system shooting image under horizontality, for example, camera system is placed in horizontal table top, the present invention is not right
This makes restriction.
The skill of other technical characteristics of above-mentioned Radar Calibration UC system and above-mentioned Radar Calibration UC device
Art feature is identical, will not be described here.
Above-mentioned Radar Calibration UC methods, devices and systems, when being compared to each other with conventional art, possess following excellent
Point：
1st, had using level angle gauge (or plumb line), chi when the check of Radar Calibration equipment is carried out in conventional art etc.
Survey tool, level angle gauge (or plumb line) is used to measure the angle of pitch, angle of heel, and chi has for measuring yaw angle and XYZ
, there is the defects such as survey tool disunity, the precision disunity of various survey tools in the position on three directions.And the present invention is logical
Camera shooting, the mode of graphical analysis are crossed, the free degree numerical value of Radar Calibration equipment is quickly and easily parsed, has unified to survey
Amount instrument and certainty of measurement error, it is ensured that the quality conformance and standard consistency of equipment.
2nd, pendulous frequency and measurement gimmick are very big for end value impact in conventional art, and verification efficiency is low.And it is of the invention
By way of camera shooting, graphical analysis, certainty of measurement is improve, simplify measuring method, substantially increase measurement effect
Rate.
3rd, the present invention does not need tester to carry the survey tool such as level angle gauge and chi tool, can directly using intelligence
Mobile phone etc. is verified to Radar Calibration equipment, reduces the quantity of survey tool, greatly reduce the maintenance of calibration facility into
This.
One of ordinary skill in the art will appreciate that realizing all or part of flow process in above-described embodiment method, can be
Related hardware is instructed to complete by computer program, described program can be stored in a computer read/write memory medium
In, the program is upon execution, it may include such as the flow process of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic
Dish, CD, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access
Memory, RAM) etc..
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
Apply all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope of this specification record is all considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and its description is more concrete and detailed, but and
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that for one of ordinary skill in the art comes
Say, without departing from the inventive concept of the premise, some deformations and improvement can also be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (11)
1. a kind of Radar Calibration UC method, it is characterised in that including step：
The first image of the Radar Calibration equipment that camera system shoots is obtained, described first image is analyzed, obtain described
Second image of the Radar Calibration equipment in the first image；
Position of second image in described first image is calculated, institute is obtained according to the product of the position and setting value
State the physical location of Radar Calibration equipment；
The anglec of rotation of second image in described first image is calculated, is obtained according to the product of the anglec of rotation and setting value
Obtain the actual anglec of rotation of the Radar Calibration equipment；
Whether the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively corresponding pre-conditioned.
2. Radar Calibration UC method according to claim 1, it is characterised in that
The Radar Calibration equipment includes scaling board and object, and second image includes the image of scaling board and object
Image；The anglec of rotation includes angle of heel, yaw angle and the angle of pitch；
The step of calculating position of second image in described first image includes：Calculate the image and object of scaling board
Relative position of the image in described first image；
The step of calculating the anglec of rotation of second image in described first image includes：The image of scaling board is calculated described
Angle of heel, yaw angle and the angle of pitch in first image；Calculate angle of heel, horizontal stroke of the image of object in described first image
Pivot angle and the angle of pitch.
3. Radar Calibration UC method according to claim 2, it is characterised in that calculate the image and mesh of scaling board
The step of marking relative position of the image of thing in described first image includes：
The second coordinate system of the first coordinate system of the image of the scaling board and the image of the object is set up respectively；
Position of the origin of second coordinate system in first coordinate system is calculated, the image and object of scaling board is obtained
Relative position of the image in described first image.
4. Radar Calibration UC method according to claim 2, it is characterised in that calculate the image of scaling board in institute
The step of stating the angle of heel in the first image, yaw angle and the angle of pitch includes：
The first coordinate system of the image of the scaling board is set up, the image of the scaling board is parallelogram；
Base and the angle of the first coordinate system X-axis according to parallelogram, obtains the image of scaling board described first
Angle of heel in image；
Base and the anticosine of the ratio on the actual base of the scaling board according to parallelogram, obtains the image of scaling board
Yaw angle in described first image；
According to the adjacent edge and the anticosine of the ratio of the adjacent edge on the actual base on the base of parallelogram, demarcated
The angle of pitch of the image of plate in described first image.
5. Radar Calibration UC method according to claim 2, it is characterised in that calculate the image of object in institute
The step of stating the angle of heel in the first image, yaw angle and the angle of pitch includes：
The second coordinate system of the image of the object is set up, the object is pyrometric cone, and the image of the object is three
It is angular；
Base and the angle of the second coordinate system X-axis according to triangle, obtains the image of object in described first image
In angle of heel；
According to the anticosine of the ratio on the base of the actual cross-section on the base and pyrometric cone of triangle, the image for obtaining object exists
Yaw angle in described first image, the actual cross-section is longitudinal section of the triangle conical point to pyrometric cone bottom surface；
According to the anticosine of the high ratio on the high base with the actual cross-section on the base of triangle, object is obtained
The angle of pitch of the image in described first image.
6. Radar Calibration UC method according to claim 1, it is characterised in that
The Radar Calibration equipment includes object, and second image includes the image of object；The anglec of rotation includes side
Inclination angle, yaw angle and the angle of pitch；
The step of calculating position of second image in described first image includes：The image of object is calculated described the
Position in one image；
The step of calculating the anglec of rotation of second image in described first image includes：The image of object is calculated described
Angle of heel, yaw angle and the angle of pitch in first image.
7. Radar Calibration UC method according to claim 6, it is characterised in that
The step of calculating position of the image of object in described first image includes：Set up the object image
Two coordinate systems, calculate the origin of second coordinate system in the position of described first image, obtain the image of object described
Position in first image；
The step of angle of heel of the image in described first image, yaw angle and angle of pitch for calculating object, includes：Set up institute
The second coordinate system of the image of object is stated, the object is pyrometric cone, and the image of the object is triangle；According to three
Angular base and the angle of the second coordinate system X-axis, obtain angle of heel of the image of object in described first image；
Base and the anticosine of the ratio on the base of the actual cross-section of pyrometric cone according to triangle, obtains the image of object described
Yaw angle in first image, the actual cross-section is longitudinal section of the triangle conical point to pyrometric cone bottom surface；According to triangle
The anticosine of the height on base and the high ratio on the base of actual cross-section, obtains the image of object in described first image
In the angle of pitch.
8. the Radar Calibration UC method according to claim 1 to 7 any one, it is characterised in that the shooting
System is in horizontality；The setting value is the product of distance and default proportionality coefficient, and the distance is the shooting
The distance between system and described Radar Calibration equipment.
9. a kind of Radar Calibration UC device, it is characterised in that include：
Image obtains module, for obtaining the first image of the Radar Calibration equipment of camera system shooting, to described first image
It is analyzed, obtains the second image of the Radar Calibration equipment in described first image；
Position obtains module, for calculating position of second image in described first image, according to the position and
The product of setting value obtains the physical location of the Radar Calibration equipment；
The anglec of rotation obtains module, for calculating the anglec of rotation of second image in described first image, according to the rotation
The product of angle and setting value obtains the actual anglec of rotation of the Radar Calibration equipment；
Whether correction verification module, the physical location and the actual anglec of rotation for verifying the Radar Calibration equipment meets respectively corresponding
It is pre-conditioned.
10. a kind of Radar Calibration UC system, it is characterised in that include：
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, for obtaining the first image of the Radar Calibration equipment of camera system shooting, is carried out point to described first image
Analysis, obtains the second image of the Radar Calibration equipment in described first image；Second image is calculated in described first image
In position, the physical location of the Radar Calibration equipment is obtained according to the product of the position and setting value；Calculate described
The anglec of rotation of second image in described first image, according to the product of the anglec of rotation and setting value the radar mark is obtained
The actual anglec of rotation of locking equipment；Respectively whether satisfaction is corresponding with the actual anglec of rotation to verify the physical location of the Radar Calibration equipment
It is pre-conditioned.
11. Radar Calibration UC systems according to claim 10, it is characterised in that also including locating rack, head
And the level meter on locating rack；Described head one end connects the locating rack, and the other end connects the camera system.
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| CN201611160979.4A CN106646407B (en) | 2016-12-15 | 2016-12-15 | Radar Calibration equipment verification methods, devices and systems |
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| CN201611160979.4A CN106646407B (en) | 2016-12-15 | 2016-12-15 | Radar Calibration equipment verification methods, devices and systems |
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