CN106646407B - Radar Calibration equipment verification methods, devices and systems - Google Patents
Radar Calibration equipment verification methods, devices and systems Download PDFInfo
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- CN106646407B CN106646407B CN201611160979.4A CN201611160979A CN106646407B CN 106646407 B CN106646407 B CN 106646407B CN 201611160979 A CN201611160979 A CN 201611160979A CN 106646407 B CN106646407 B CN 106646407B
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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
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Abstract
The present invention relates to a kind of Radar Calibration equipment verification methods, devices and systems.The method includes the steps: the first image of the Radar Calibration equipment of camera system shooting is obtained, the first image is analyzed, obtains the second image of the Radar Calibration equipment in the first image；Position of second image in the first image is calculated, the physical location of the Radar Calibration equipment is obtained according to the product of the position and setting value；Rotation angle of second image in the first image is calculated, the practical rotation angle of the Radar Calibration equipment is obtained according to the product of the rotation angle and setting value；Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet corresponding preset condition respectively.The present invention substantially increases the measurement accuracy of Radar Calibration equipment, ensure that the high-precision requirement of Radar Calibration equipment.
Description
Technical field
The present invention relates to vehicle electric fields, more particularly to a kind of Radar Calibration equipment verification methods, devices and systems.
Background technique
Radar is the electronic equipment using electromagnetic wave detection target, it emits electromagnetic wave and is irradiated to target and receives it
Echo, thus to obtain information such as the distance of target to electromagnetic emission point, range rate (radial velocity), azels.
Radar has been widely used in technical field of automotive electronics at present, for example, it is vehicle-mounted in be used in away from radar system before collision it is pre-
In alert system and self-adaption cruise system.
Installation accuracy requirement of the radar on vehicle is very high, so being required before vehicle release using dedicated and high-precision
Radar Calibration equipment accuracy that radar is installed verify.Therefore, in order to guarantee 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 requiring, preceding collision warning systems and adaptive
The detecting distance of radar will be inaccurate in the systems such as cruise system, influences vehicle safety.
It is signed an undertaking the method for conjunction using level angle gauge and ruler in traditional technology the calibration maintenance of Radar Calibration equipment,
I.e. survey crew passes through level angle gauge and ruler has the installation dimension and angle of instrumentation radar calibration facility, to judge radar mark
Whether the installation dimension of locking equipment and the deviation of angle meet design requirement.Since there are error, this method measurements for manual measurement
Precision is not high, not can guarantee the high-precision requirement of Radar Calibration equipment.
Summary of the invention
Based on this, it is necessary in view of the above-mentioned problems, providing a kind of Radar Calibration equipment verification methods, devices and systems, have
Effect improves the measurement accuracy of Radar Calibration equipment.
A kind of Radar Calibration equipment verification method, comprising steps of
The first image for obtaining the Radar Calibration equipment of camera system shooting, analyzes the first image, obtains
Second image of the Radar Calibration equipment in the first image；
Position of second image in the 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；
Rotation angle of second image in the first image is calculated, according to multiplying for the rotation angle and setting value
Product obtains the practical rotation angle of the Radar Calibration equipment；
Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet corresponding preset condition respectively.
A kind of Radar Calibration equipment verification device, comprising:
Image obtains module, the first image of the Radar Calibration equipment for obtaining camera system shooting, to described first
Image is analyzed, and the second image of the Radar Calibration equipment in the first image is obtained；
Position obtains module, for calculating position of second image in the first image, according to the position
And the product of setting value obtains the physical location of the Radar Calibration equipment；
Rotation angle obtains module, for calculating rotation angle of second image in the first image, according to described
The product of rotation angle and setting value obtains the practical rotation angle of the Radar Calibration equipment；
Correction verification module, for verify the Radar Calibration equipment physical location and practical rotation angle whether respectively satisfaction pair
The preset condition answered.
A kind of Radar Calibration equipment verification system, comprising:
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, for obtain camera system shooting Radar Calibration equipment the first image, to the first image into
Row analysis, obtains the second image of the Radar Calibration equipment in the first image；Second image is calculated described first
Position in image obtains the physical location of the Radar Calibration equipment according to the product of the position and setting value；It calculates
Rotation angle of second image in the first image obtains the thunder according to the product of the rotation angle and setting value
The practical rotation angle of locking equipment up to standard；Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet respectively
Corresponding preset condition.
Above-mentioned Radar Calibration equipment verification methods, devices and systems obtain the image of Radar Calibration equipment, pass through image point
Analysis method obtains Radar Calibration equipment position in the picture and rotation angle, then the position by Radar Calibration equipment in the picture
It sets and rotation angle is converted, position and rotation angle of the Radar Calibration equipment in real space are obtained, then according to thunder
The deviation of position and rotation angle of the locking equipment up to standard in real space can carry out quantization maintenance to Radar Calibration equipment.
Since this method passes through the physical location and practical rotation angle that image analysis calculates Radar Calibration equipment automatically, do not need artificial
Measurement, therefore the measurement accuracy of Radar Calibration equipment is substantially increased, it ensure that the high-precision requirement of Radar Calibration equipment.
Detailed description of the invention
Fig. 1 is the flow diagram of the Radar Calibration equipment verification 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 be a specific embodiment slave image in obtain the schematic diagram of pyrometric cone image；
Fig. 5 is the signal of the coordinate system of the scaling board image of the foundation of a specific embodiment and the coordinate system of pyrometric cone image
Figure；
Fig. 6 is the structural schematic diagram of the Radar Calibration equipment verification device of an embodiment；
Fig. 7 is the structural schematic diagram of the Radar Calibration equipment verification system of an embodiment.
Specific embodiment
It is with reference to the accompanying drawing and preferably real for the effect for further illustrating technological means adopted by the present invention and acquirement
Example is applied, to technical solution of the present invention, carries out clear and complete description.
As shown in Figure 1, a kind of Radar Calibration equipment verification method, comprising steps of
S110, the first image for obtaining the Radar Calibration equipment that camera system is shot, analyze the first image,
Obtain the second image of the Radar Calibration equipment in the first image；
S120, the position of second image in the first image is calculated, according to the position and setting value
Product obtains the physical location of the Radar Calibration equipment；
S130, rotation angle of second image in the first image is calculated, according to the rotation angle and setting
The product of value obtains the practical rotation angle of the Radar Calibration equipment；
It is corresponding default whether S140, the physical location of the verification Radar Calibration equipment and practical rotation angle meet respectively
Condition.
Above-mentioned Radar Calibration equipment verification method calculates the freedom degree of Radar Calibration equipment automatically, does not need manually to survey
Amount, therefore the measurement accuracy of Radar Calibration equipment is substantially increased, it ensure 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 in the prior art to radar installation accuracy.For example, such as
Shown in Fig. 2, Radar Calibration equipment can be in the pyrometric cone calibration facility that is generally used away from radar system.Radar Calibration equipment is also
It can be other equipment that can be checked to radar installation accuracy, such as metal block etc., the present invention makes restriction not to this.
Before verifying to Radar Calibration equipment, first preliminary school can be carried out by the size dimension to Radar Calibration equipment
It tests, it is ensured that the size dimension of Radar Calibration equipment is met the requirements.By taking Radar Calibration equipment is pyrometric cone as an example, personnel are verified to three
The side length in pyramid section measures, it is ensured that the side length in pyrometric cone section is not too long or too short, i.e., side length is in normal length range
It is interior.
Camera system can be camera or camera etc..In order to further increase the measurement accuracy of Radar Calibration equipment,
Need to guarantee that camera system shoots the image of Radar Calibration equipment, i.e., in one embodiment, the camera shooting under horizontality
System is in horizontality.Camera system can also use this reality when shooting the image of Radar Calibration equipment under non-standard state
The freedom degree (physical location and practical rotation angle) that a method obtains Radar Calibration equipment is applied, and measuring accuracy is also above biography
The precision measured in system technology using modes such as ruler tools, but in order to further increase the measurement accuracy of Radar Calibration equipment,
Camera system needs take pictures to Radar Calibration equipment under horizontality, and then can be calculated according to the image of the shooting
More accurately freedom degree.
Ensure that camera system shoots implementation there are many images under horizontality, for example, camera system is placed in
In horizontal table top near Radar Calibration equipment, or camera system is placed on locating rack etc., the present invention is done not to this
It limits out.By taking camera system is placed on locating rack as an example, as shown in figure 3, locating rack is placed in one in front of Radar Calibration equipment
At set a distance L, the position of placement needs to have apparent inclination in level.There is level meter on locating rack, level meter can be with
The level condition for indicating locating rack, facilitates user of service for the holder on locating rack and is adjusted to horizontality, camera bracket
For plumbness.Angle of the holder for fixing camera and adjustment camera on locating rack.When tester will image
After head is adjusted to horizontality, so that it may be directed at Radar Calibration equipment and take pictures, obtain the image of Radar Calibration equipment.
After the image for obtaining Radar Calibration equipment, which is analyzed, identifies the Radar Calibration in described image
The image of equipment, the image for carrying out analysis Discrimination Radar calibration facility to image can be real according to existing mode in the prior art
It is existing.
In step S120 and step S130, image coordinate system: the digital picture of video camera acquisition can be in computer
It is stored as array, the value of each of array element (pixel, pixel) is the brightness (gray scale) of picture point.To radar mark
The image of locking equipment carries out image analysis, establishes the image coordinate system of described image, it can the solid projected using coordinate system
Geometry teaching principle calculates position and rotation angle of the Radar Calibration equipment in image coordinate system.
The device that Radar Calibration equipment includes is different, and the calculation of freedom degree is also different.Below with reference to two realities
Example is applied to be illustrated.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of object；In one embodiment, the step of calculating the position of second image in the first image include:
Relative position of the image of S121, the image for calculating scaling board and object in the first image.No matter scaling board and mesh
Whether mark object is fixedly mounted, and can check to scaling board and object.When being checked, object is generally only focused on
Relative position between scaling board, i.e. Radar Calibration equipment need to guarantee that the relative position of object and scaling board is accurate.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of object；The rotation angle includes angle of heel, yaw angle and pitch angle；In one embodiment, second image is calculated
The step of rotation angle in the first image may include:
S131, angle of heel, yaw angle and pitch angle of the image of scaling board in the first image are calculated；
Scaling board is the plate of drop target object, 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 on scaling board.XYZ coordinate system is constructed with right, preceding, upper three directions, angle of heel refers to vehicle
The angle rotated around X-axis, pitch angle refer to that the angle that vehicle is rotated around Y-axis, yaw angle refer to the angle that vehicle rotates about the z axis
Degree, that is, the angle to swing.It can be with when calculating angle of heel, pitch angle and yaw angle of the scaling board in image coordinate system
The solid geometry mathematical principle projected using coordinate system.
S132, angle of heel, yaw angle and pitch angle of the image of object in the first image are calculated；
Object is the object for receiving radar emission signal, such as pyrometric cone or metal block etc..Such as Fig. 2 Fig. 3 institute
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
It can use the solid geometry mathematical principle of coordinate system projection when inclination angle, pitch angle and yaw angle.
It should be noted that above-mentioned steps S121, step S131 and step S132 have no sequencing, can simultaneously into
Row, the sequence that can also be arranged according to user oneself carry out, and the present invention makes restriction not to this.
The Radar Calibration equipment includes the calculation of scaling board and object freedom degree in order to better understand, below
It is described in detail in conjunction with specific implementation.
It should be noted that in order to reduce calculation amount, following methods establish the first coordinate of the image of scaling board respectively
Second coordinate system of the image of system and the object.It can also be calculated based on whole figure coordinate system, equally
The length on each side of scaling board and the bottom edge of triangle and high length in image can be calculated, and then calculates scaling board
With the freedom degree of pyrometric cone, the present invention makes restriction not to this.
After establishing the first coordinate system of scaling board image and the second coordinate system of target object image, it can utilize coordinate
The solid geometry mathematical principle of system's projection calculates the freedom degree of Radar Calibration equipment.It is said below with reference to pyrometric cone and scaling board
It is bright.It should be noted that when other equipment except Radar Calibration equipment is pyrometric cone and scaling board, such as object is gold
Belong to block or scaling board is the other shapes except rectangle, the solid geometry mathematics that equally also can use coordinate system projection is former
Reason calculate freedom degree, therefore, although below be illustrated with scaling board and pyrometric cone, those skilled in the art should manage
The solution present invention is not merely suitable for triangle using the method that the solid geometry mathematical principle of coordinate system projection calculates freedom degree
Cone and scaling board.
In one embodiment, opposite position of the image of the image and object that calculate scaling board in the first image
The step of setting may include:
S1211, establish respectively the scaling board image the first coordinate system and the object image second sit
Mark system；
For the calibration facility used in away from Radar Calibration system, the scaling board of the calibration facility is parallelogram mark
Fixed board, object are pyrometric cone.After the image for getting the Radar Calibration equipment, figure is analyzed, is obtained in image
The image of scaling board and the image of pyrometric cone, as shown in Figure 4.Analysis is carried out to image and obtains scaling board image and pyrometric cone image
It can be realized using existing mode in the prior art.Then the image coordinate system of scaling board image is established for scaling board image
A (i.e. XOY) establishes the image coordinate system A ' (i.e. X ' O ' Y ') of pyrometric cone for pyrometric cone image, such as shown in left in Figure 5
In Fig. 5 shown in right figure.
S1212, position of the origin of second coordinate system in first coordinate system is calculated, obtains the figure of scaling board
Relative position of the image of picture and object in the first image.
No matter whether it is fixedly mounted between pyrometric cone and scaling board, Radar Calibration equipment need to only guarantee pyrometric cone and scaling board
Relative position it is accurate.Therefore it also needs the position dimension to pyrometric cone in whole coordinate system to check, that is, judges
Position of the origin O ' of X ' O ' Y ' in the coordinate system XOY of scaling board.
In one embodiment, angle of heel, yaw angle and pitching of the image of scaling board in the first image are calculated
The step of angle may include:
S1311, establish 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 established for scaling board image, as shown in left in Figure 5.Calibration
Plate can be the scaling board of rectangle, perhaps square scaling board or the scaling board of other parallelogram etc..
S1312, the bottom edge according to parallelogram and the angle of the first coordinate system X-axis, obtain the image of scaling board
Angle of heel in the first image；
By taking scaling board is rectangular slab as an example, the pattern of scaling board should normally be rectangle.But the calibration of actual imaging in picture
Plate as shown in figure 5, this is because scaling board there are caused by pitch angle, angle of heel and sideway angular displacement.As shown in figure 5, in picture
The angle γ be parallelogram bottom edge and X-coordinate axle angle, i.e. angle of heel of the scaling board in A coordinate system.Parallelogram bottom
While nethermost for parallelogram, it can be determined according to mode in the prior art.The folder on parallelogram bottom edge and X-axis
There are many kinds of the methods of determination at angle, such as determining etc. according to the projection of bottom edge and bottom edge in X-axis.
S1313, the anticosine according to the ratio on the practical bottom edge on the bottom edge and scaling board of parallelogram, are marked
Yaw angle of the image of fixed board in the first image；
Parallelogram bottom edge h2 is the projection of the practical bottom edge H2 vertical plane in A coordinate system of scaling board, relationship are as follows:
h2=H2× cos β, β are yaw angle (1)
Practical bottom edge is side corresponding with parallelogram bottom edge, and the length of practical bottom edge H2 can have according to ruler to be measured
It arrives.It is available according to formula (1):
S1314, according to the ratio of the adjacent edge of the adjacent edge and practical bottom edge on the bottom edge of parallelogram it is anti-more than
String obtains pitch angle of the image of scaling board in the first image；
The adjacent edge on parallelogram bottom edge is parallelogram side h1, and the adjacent edge on practical bottom edge is side length H1.In parallel
Quadrangle side h1 is the projection of the practical side length H1 vertical plane in A coordinate system of scaling board, relationship are as follows:
h1=H1× cos α, α are pitch angle (2)
Practical side length H1 is that the length of practical bottom edge H1 can have according to ruler to be measured with parallelogram when h1 is corresponding
It obtains.It is available according to formula (2):
In one embodiment, angle of heel, yaw angle and pitching of the image of object in the first image are calculated
The step of angle includes:
S1321, establish 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 established for pyrometric cone image, as shown in right in Figure 5.
S1322, the bottom edge 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 bottom edge 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 determined according to mode in the prior art.Triangle base and X ' are sat
There are many kinds of the methods of determination of the angle of parameter, such as the throwing according to triangle base and triangle base in X ' reference axis
Shadow determination etc..
S1323, the anticosine according to the ratio on the bottom edge of the actual cross-section on the bottom edge and pyrometric cone of triangle, obtain target
Yaw angle of the image of object in the first image, the actual cross-section are that triangle conical point is cut to the vertical of pyrometric cone bottom surface
Face；
The projection of bottom edge O'B and pyrometric cone actual cross-section bottom edge vertical plane in A ' coordinate system in pyrometric cone image, are closed
System are as follows:
dO'B=d0× cos β, β are yaw angle (3)
Wherein, dO'BFor the length of bottom edge O'B, d0For the practical side length of pyrometric cone, pyrometric cone actual cross-section bottom edge that is to say
Length, can according to ruler have measurement obtain.It is available according to formula (3)
S1324, according to the anticosine of height and the high ratio on the bottom edge of the actual cross-section on the bottom edge of triangle,
Obtain pitch angle of the image of object in the first image；
The high h' on the side O'B of bottom edge in pyrometric cone imageO'BIt can be released by Heron's formula, h'O'BWith practical section of pyrometric cone
High h on the bottom edge of facePyrometric coneThe projection of vertical plane, relationship in A ' coordinate system are as follows:
h'O'B=hPyrometric cone× cos α, α are pitch angle (4)
Wherein, dO'AFor the length of side length O'A, dABFor the length of side length AB.It is available according to formula (4):
In another embodiment, the Radar Calibration equipment includes object, i.e., described second image includes object
Image；The rotation angle includes angle of heel, yaw angle and pitch angle.Second image is calculated in the first image
The step of position, includes: S12-1, calculates position of the image of object in the first image.Calculate second image
The step of rotation angle in the first image, includes: S13-1, calculates side of the image of object in the first image
Inclination angle, yaw angle and pitch angle.
In one embodiment, the step of calculating position of the image of object in the first image includes: S12-
11, the second coordinate system of the image of the object is established, calculates the origin of second coordinate system in the first image
Position obtains position of the image of object in the first image.
It should be noted that the position for calculating object is not limited to aforesaid way, can also with the image of object its
It, which puts, calculates object in the position of image.By taking object is pyrometric cone as an example, the image of pyrometric cone is triangle, such as Fig. 5
Shown in right figure, when determining the position of object in the picture, the position of O ' can be calculated, the position of A can also be calculated, it can also be with
The position for calculating B, can also calculate the position etc. at triangle midpoint.
In one embodiment, angle of heel, yaw angle and pitching of the image of object in the first image are calculated
The step of angle includes:
S13-11, establish the object image the second coordinate system, the object be pyrometric cone, the object
Image be triangle；
S13-12, the bottom edge 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；
S13-13, the anticosine according to the ratio on the bottom edge of the actual cross-section on the bottom edge and pyrometric cone of triangle, obtain mesh
Yaw angle of the image of object in the first image is marked, the actual cross-section is that triangle conical point is cut to the vertical of pyrometric cone bottom surface
Face；
S13-14, according to the anticosine of height and the high ratio on the bottom edge of actual cross-section on the bottom edge of triangle, obtain
Obtain pitch angle of the image of object in the first image.
The specific embodiment of above-mentioned steps S13-11~S13-14 is with step S1321~S1324, and it will not be described here.
Since the position obtained above in image coordinate system and rotation angle, tester can not judge radar mark
Whether the freedom degree of locking equipment meets the requirements, thus also need in step image coordinate system position and rotation angle carry out coordinate system
Conversion, obtains the freedom degree of world coordinate system.According to the freedom degree in world coordinate system, tester is known that Radar Calibration
The deviation of equipment guarantees Radar Calibration equipment to carry out quantization maintenance to calibration facility when deviation is unsatisfactory for standard requirements
High-precision requirement.
In one embodiment, the setting value is the product of distance and preset proportionality coefficient, and the distance is institute
State the distance between camera system and the Radar Calibration equipment.
There is relational expressions between image coordinate system A and world coordinate system W:
K=a × L (9)
A is preset proportionality coefficient, related with camera system, by actual measurement gained.L is the camera system and the radar
The distance between calibration facility.From relational expression it is found that distance L is bigger, the size that real world object size is imaged in picture is smaller.
By taking angle of heel, yaw angle and pitch angle of the image of scaling board in the first image as an example, according to formula (8) and
Formula (9) carries out coordinate system conversion to angle of heel, yaw angle and pitch angle respectively, obtains the corresponding numerical value in world coordinate system,
That is angle of heel, yaw angle and pitch angle of the scaling board in real space.
In step S140, after obtaining the freedom degree in world coordinate system, it is default that setting judges whether freedom degree meets
The program of condition, automatic to detect whether freedom degree meets corresponding preset condition, automatic calculate deviates, and tester is according to this
Deviation carries out quantization maintenance to calibration facility.After obtaining the freedom degree in world coordinate system, directly freedom degree can also be shown
Show, tester judges whether freedom degree meets corresponding preset condition, then carries out quantization maintenance to calibration facility.
Preset condition is the requirement that each vehicle factor proposes equipment.Calibration facility is before processing and fabricating, depot
A set of production standard can be clearly proposed to equipment supplier, the requirement of each geometric dimension and angle is arrived in quantization, this is just formed
Standard requirements of the depot to equipment.The effect for checking equipment is exactly to examine whether calibration facility meets required for depot these
Geometric standard.For example, whether pitch angle, yaw angle, the angle of heel of the scaling board after verification coordinate system conversion meet depot to mark
Whether the relative position of the standard requirements of fixed board, pyrometric cone and scaling board after verification coordinate system conversion meets standard requirements, school
Whether the yaw angle of the pyrometric cone after testing coordinate system conversion, pitch angle, angle of heel meet depot to the standard requirements of pyrometric cone.
Based on the same inventive concept, right with reference to the accompanying drawing the present invention also provides a kind of Radar Calibration equipment verification device
The specific embodiment of apparatus of the present invention is described in detail.
As shown in fig. 6, a kind of Radar Calibration equipment verification device, comprising:
Image obtains module 110, the first image of the Radar Calibration equipment for obtaining camera system shooting, to described the
One image is analyzed, and the second image of the Radar Calibration equipment in the first image is obtained；
Position obtains module 120, for calculating position of second image in the first image, according to institute's rheme
It sets and the product of setting value obtains the physical location of the Radar Calibration equipment；
Rotation angle obtains module 130, for calculating rotation angle of second image in the first image, according to institute
The product for stating rotation angle and setting value obtains the practical rotation angle of the Radar Calibration equipment；
Whether correction verification module 140, the physical location and practical rotation angle for verifying the Radar Calibration equipment are full respectively
The corresponding preset condition of foot.
Above-mentioned Radar Calibration equipment verification device passes through the freedom degree for calculating Radar Calibration equipment automatically, does not need artificial
Measurement, is not only restricted to the precision of measuring tool, therefore substantially increase the measurement accuracy of Radar Calibration equipment, ensure 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 by the size dimension to Radar Calibration equipment
It tests, it is ensured that the size dimension of Radar Calibration equipment is met the requirements.The acquisition of Radar Calibration equipment image can be according to the prior art
In existing camera system realize that camera system can be camera or camera etc..It is set to further increase Radar Calibration
Standby measurement accuracy needs to guarantee that camera system shoots the image of Radar Calibration equipment under horizontality, i.e., implements at one
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, which is analyzed, the image of the Radar Calibration equipment in described image is identified, to image
The image for carrying out analysis Discrimination Radar calibration facility can be realized according to existing mode in the prior art.
The device that Radar Calibration equipment includes is different, and the calculation of freedom degree is also different.Below with reference to two realities
Example is applied to be illustrated.
The Radar Calibration equipment includes scaling board and object, and second image includes the image and target of scaling board
The image of object；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 rotation angle includes angle of heel, yaw angle and pitch angle；In one embodiment, rotation angle
It obtains module 130 and calculates angle of heel, yaw angle and pitch angle of the image of scaling board in the first image；Calculate object
Angle of heel, yaw angle and pitch angle of the image in the first image.
In another embodiment, the Radar Calibration equipment includes object, i.e., described second image includes object
Image；The rotation angle includes angle of heel, yaw angle and pitch angle；The image that position obtains the calculating object of module 120 exists
Position in the first image；Rotation angle obtains module 130 and calculates inclination of the image of object in the first image
Angle, yaw angle and pitch angle.
Since the position obtained above in image coordinate system and rotation angle, tester can not judge radar mark
Whether the freedom degree of locking equipment meets the requirements, thus also need in image coordinate system position and rotation angle carry out coordinate system turn
It changes, obtains position and the rotation angle of world coordinate system.
After obtaining position and the rotation angle in world coordinate system, it can be respectively set and judge whether position and rotation angle are full
It is corresponding whether the program of sufficient preset condition, the automatic position detected in world coordinate system of correction verification module 140 and rotation angle meet
Preset condition, automatic calculate deviate, and tester carries out quantization maintenance to calibration facility according to the deviation.It obtains and is sat in the world
Behind position and rotation angle in mark system, directly position and rotation angle can be shown, tester judges position and rotation angle is
It is no to meet corresponding preset condition, quantization maintenance then is carried out to calibration facility.
Preset condition is the requirement that each vehicle factor proposes equipment.Calibration facility is before processing and fabricating, depot
A set of production standard can be clearly proposed to equipment supplier, the requirement of each geometric dimension and angle is arrived in quantization, this is just formed
Standard requirements of the depot to equipment.The effect for checking equipment is exactly to examine whether calibration facility meets required for depot these
Geometric standard.
The other technical characteristics of above-mentioned Radar Calibration equipment verification device are identical as above-mentioned Radar Calibration equipment verification method,
It will not be described here.
As shown in fig. 7, the present invention also provides a kind of Radar Calibration equipment verification system, which includes:
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, for obtain camera system shooting Radar Calibration equipment the first image, to the first image into
Row analysis, obtains the second image of the Radar Calibration equipment in the first image；Second image is calculated described first
Position in image obtains the physical location of the Radar Calibration equipment according to the product of the position and setting value；It calculates
Rotation angle of second image in the first image obtains the thunder according to the product of the rotation angle and setting value
The practical rotation angle of locking equipment up to standard；Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet respectively
Corresponding preset condition.
Camera system includes one or more cameras, for acquiring the image of Radar Calibration equipment.Host computer and camera shooting
There are data transmission link between head system, host computer can obtain camera system acquired image, and carry out image procossing
Analysis, is calculated the geometric dimension numerical value of Radar Calibration equipment.The positioning accuracy of check system is higher, measurement result reliability
It is higher.
In order to guarantee that camera system shoots image under horizontality, the measurement accuracy of Radar Calibration equipment is improved, one
In a embodiment, as shown in fig. 7, the check system can also include locating rack, holder and the water being mounted on locating rack
Level；Described holder one end connects the locating rack, and the other end connects the camera system.Locating rack is placed on level land, frame
On have level meter, can indicate the level condition of locating rack, facilitate user of service for holder and be adjusted to horizontality, camera
Bracket is plumbness.Holder bracket is used to fix camera system and adjust the angle of camera.Other way can also be used
Guarantee that camera system shoots image under horizontality, such as 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 equipment verification system and above-mentioned Radar Calibration equipment verification device
Art feature is identical, and it will not be described here.
Above-mentioned Radar Calibration equipment verification methods, devices and systems when being compared to each other with traditional technology, have following excellent
Point:
1, had when carrying out the check of Radar Calibration equipment using level angle gauge (or plumb line), ruler in traditional technology etc.
Measuring tool, level angle gauge (or plumb line) have for measuring pitch angle, angle of heel, ruler for measuring yaw angle and XYZ
Position on three directions, there are measuring tool disunity, the defects of the precision disunity of various measuring tools.And the present invention is logical
The mode for crossing camera shooting, image analysis, quickly and easily parses the freedom degree numerical value of Radar Calibration equipment, has unified to survey
Amount tool and measurement accuracy error, it is ensured that the quality conformance and standard consistency of equipment.
2, pendulous frequency and measurement gimmick influence end value very big, verification low efficiency in traditional technology.And it is of the invention
By way of camera shooting, image analysis, measurement accuracy is improved, measurement method is simplified, substantially increases measurement effect
Rate.
3, the present invention does not need tester and carries the measuring tools such as level angle gauge and ruler tool, and intelligence can be directly used
Mobile phone etc. verifies Radar Calibration equipment, reduces the quantity of measuring tool, greatly reduce the maintenance of calibration facility at
This.
Those of ordinary skill in the art will appreciate that realizing all or part of the process in above-described embodiment method, being can be with
Relevant hardware is instructed to complete by computer program, the program can be stored in a computer-readable storage medium
In, the program is when being executed, it may include such as the process of the embodiment of above-mentioned each method.Wherein, the 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, for simplicity of description, not to above-mentioned reality
It applies 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, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (11)
1. a kind of Radar Calibration equipment verification method, which is characterized in that comprising steps of
The first image for obtaining the Radar Calibration equipment of camera system shooting, analyzes the first image, described in acquisition
Second image of the Radar Calibration equipment in the first image；
Position of second image in the first image is calculated, the position is multiplied with setting value, obtains the thunder
The physical location of locking equipment up to standard；
Rotation angle of second image in the first image is calculated, the rotation angle is multiplied with setting value, obtains institute
State the practical rotation angle of Radar Calibration equipment；
Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet corresponding preset condition respectively.
2. Radar Calibration equipment verification method according to claim 1, which is characterized in that
The Radar Calibration equipment includes scaling board and object, and second image includes the image and object of scaling board
Image；The rotation angle includes angle of heel, yaw angle and pitch angle；
The step of calculating position of second image in the first image includes: the image and object for calculating scaling board
Relative position of the image in the first image；
The step of calculating rotation angle of second image in the first image includes: to calculate the image of scaling board described
Angle of heel, yaw angle and pitch angle in first image；Calculate angle of heel, cross of the image of object in the first image
Pivot angle and pitch angle.
3. Radar Calibration equipment verification method according to claim 2, which is characterized in that calculate the image and mesh of scaling board
The step of marking relative position of the image in the first image of object include:
The second coordinate system of the first coordinate system of the image of the scaling board and the image of the object is established respectively；
Position of the origin of second coordinate system in first coordinate system is calculated, the image and object of scaling board are obtained
Relative position of the image in the first image.
4. Radar Calibration equipment verification method according to claim 2, which is characterized 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 pitch angle include:
The first coordinate system of the image of the scaling board is established, the image of the scaling board is parallelogram；
According to the angle on the bottom edge of parallelogram and the first coordinate system X-axis, the image of scaling board is obtained described first
Angle of heel in image；
According to the anticosine on the bottom edge of parallelogram and the ratio on the practical bottom edge of the scaling board, the image of scaling board is obtained
Yaw angle in the first image；
According to the anticosine of the adjacent edge on the bottom edge of parallelogram and the ratio of the adjacent edge on the practical bottom edge, demarcated
Pitch angle of the image of plate in the first image.
5. Radar Calibration equipment verification method according to claim 2, which is characterized in that calculate the image of object in institute
The step of stating the angle of heel in the first image, yaw angle and pitch angle include:
The second coordinate system of the image of the object is established, the object is pyrometric cone, and the image of the object is three
It is angular；
According to the angle on the bottom edge of triangle and the second coordinate system X-axis, the image of object is obtained in the first image
In angle of heel；
According to the anticosine of the ratio on the bottom edge of triangle and the bottom edge of the actual cross-section of pyrometric cone, the image for obtaining object exists
Yaw angle in the first image, the actual cross-section are longitudinal section of the triangle conical point to pyrometric cone bottom surface；
According to the anticosine of height and the high ratio on the bottom edge of the actual cross-section on the bottom edge of triangle, object is obtained
Pitch angle of the image in the first image.
6. Radar Calibration equipment verification method according to claim 1, which is characterized in that
The Radar Calibration equipment includes object, and second image includes the image of object；The rotation angle includes side
Inclination angle, yaw angle and pitch angle；
The step of calculating position of second image in the first image includes: to calculate the image of object described the
Position in one image；
The step of calculating rotation angle of second image in the first image includes: to calculate the image of object described
Angle of heel, yaw angle and pitch angle in first image.
7. Radar Calibration equipment verification method according to claim 6, which is characterized in that
The step of calculating position of the image in the first image of object include: establish the object image the
Two coordinate systems calculate the origin of second coordinate system in the position of the first image, obtain the image of object described
Position in first image；
The step of calculating angle of heel of the image in the first image, yaw angle and the pitch angle of object includes: to establish 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
The angle on angular bottom edge and the second coordinate system X-axis, obtains angle of heel of the image of object in the first image；
According to the anticosine of the ratio on the bottom edge of triangle and the bottom edge of the actual cross-section of pyrometric cone, the image of object is obtained described
Yaw angle in first image, the actual cross-section are longitudinal section of the triangle conical point to pyrometric cone bottom surface；According to triangle
The anticosine of height and the high ratio on the bottom edge of actual cross-section on bottom edge, obtains the image of object in the first image
In pitch angle.
8. according to claim 1 to Radar Calibration equipment verification method described in 7 any one, which is characterized in that the camera shooting
System is in horizontality；The setting value is the product of distance and preset proportionality coefficient, and the distance is the camera shooting
The distance between system and the Radar Calibration equipment；The proportionality coefficient is the shooting coefficient of the camera system.
9. a kind of Radar Calibration equipment verification device characterized by comprising
Image obtains module, the first image of the Radar Calibration equipment for obtaining camera system shooting, to the first image
It is analyzed, obtains the second image of the Radar Calibration equipment in the first image；
Position obtains module, for calculating position of second image in the first image, by the position and setting
Value is multiplied, and obtains the physical location of the Radar Calibration equipment；
Rotation angle obtains module, for calculating rotation angle of second image in the first image, by the rotation angle
It is multiplied with setting value, obtains the practical rotation angle of the Radar Calibration equipment；
Correction verification module, it is corresponding whether physical location and practical rotation angle for verifying the Radar Calibration equipment meet respectively
Preset condition.
10. a kind of Radar Calibration equipment verification system characterized by comprising
Camera system, for shooting the first image of Radar Calibration equipment；
Host computer, the first image of the Radar Calibration equipment for obtaining camera system shooting, divides the first image
Analysis obtains the second image of the Radar Calibration equipment in the first image；Second image is calculated in the first image
In position, the position is multiplied with setting value, obtains the physical location of the Radar Calibration equipment；Calculate second figure
As the rotation angle in the first image, the rotation angle is multiplied with setting value, obtains the reality of the Radar Calibration equipment
Border rotation angle；Whether the physical location and practical rotation angle for verifying the Radar Calibration equipment meet corresponding default item respectively
Part.
11. Radar Calibration equipment verification system according to claim 10, which is characterized in that further include locating rack, holder
And it is mounted on the level meter on locating rack；Described holder one end connects the locating rack, and the other end connects the camera system.
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| CN108153308A (en) * | 2017-12-21 | 2018-06-12 | 李华 | For the composite vision Laser navigation system and its control method of robotic vehicle automatic Pilot |
| CN108663681B (en) * | 2018-05-16 | 2021-01-19 | 华南理工大学 | Mobile robot navigation method based on binocular camera and two-dimensional laser radar |
| JP7057261B2 (en) * | 2018-09-25 | 2022-04-19 | 本田技研工業株式会社 | Vehicle inspection system and vehicle inspection method |
| CN109901123B (en) * | 2018-12-24 | 2023-12-01 | 文远知行有限公司 | Sensor calibration method, device, computer equipment and storage medium |
| CN109828250B (en) * | 2019-03-28 | 2020-07-21 | 森思泰克河北科技有限公司 | Radar calibration method, calibration device and terminal equipment |
| CN110376840B (en) * | 2019-06-13 | 2021-08-24 | 大亚湾核电运营管理有限责任公司 | Imaging equipment calibration method, device and system and terminal equipment |
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