CN109509231A - Panorama system calibration facility - Google Patents
Panorama system calibration facility Download PDFInfo
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- CN109509231A CN109509231A CN201710828992.0A CN201710828992A CN109509231A CN 109509231 A CN109509231 A CN 109509231A CN 201710828992 A CN201710828992 A CN 201710828992A CN 109509231 A CN109509231 A CN 109509231A
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- 238000010586 diagram Methods 0.000 description 6
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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Abstract
This disclosure relates to the panorama system calibration facility that a kind of embodiment of the present disclosure provides, it can be according to the position of Calibration Field ground vehicle vehicle to be calibrated, it determines the position of calibration object, and then controls projection arrangement, so that the pattern of projection device on the ground is identical as the calibration position of object.Using above equipment, can be according to the position of vehicle to be calibrated, then the position of calibration pattern is automatically determined, do not need the position for manually determining calibration object, the error generated when avoiding the artificial position for determining calibration object, therefore the accuracy of panorama system calibration facility can be improved.Furthermore, as long as vehicle parking to be calibrated can be collected the region of its position by driver to position acquisition device, driver is not necessarily to reduce the precision requirement for the stand for treating calibration vehicle to park vehicle to be calibrated according to the position for the calibration object manually placed.
Description
Technical field
This disclosure relates to automobile technical field, and in particular, to a kind of panorama system calibration facility.
Background technique
The vehicle vision auxiliary system reverse image from rearview camera after vehicle is developed to by before and after vehicle
The panorama system of the four camera observation vehicle's surroundings images in left and right.When nowadays purchasing vehicle, more and more people can consider to be configured with
The vehicle of panorama system, however the image of four cameras shooting, have reacted the scene on the single direction of non-overhead view respectively, have needed
The splicing that pass through automatic Calibration, could form a width panoramic view, so vehicle all can be to panorama before production line is offline
System is demarcated.Panorama system calibration, is image captured by the camera of all around installing vehicle, is spliced into a width
The process of the vehicle periphery image of seamless roof depression angle.
Summary of the invention
The disclosure provides a kind of panorama system calibration facility, to overcome the problems, such as present in the relevant technologies.
In order to achieve the above object, according to the first aspect of the embodiments of the present disclosure, a kind of panorama system calibration facility is provided,
Include:
Station acquisition device, the position of the vehicle to be calibrated for determining Calibration Field ground；
Controller is connected with the station acquisition device, for the position according to the vehicle to be calibrated, determines calibration object
Position；
Projection arrangement is connected with the controller, determines pattern for projecting bid on the position of the calibration object.
Optionally, the station acquisition device includes:
Camera is arranged in the plane apart from the calibration place predetermined altitude, for acquiring the vehicle to be calibrated
Image；
Image processor is connected with the camera, for according to described image, determine the Calibration Field on the ground it is described to
Demarcate the position of vehicle on the ground.
Optionally, the projection arrangement includes: N number of matrix headlight；Alternatively, the projection lamp is curved surface dot matrix headlight.
Optionally, when the projection arrangement includes N number of matrix headlight, the camera is fixed on apart from the Calibration Field
In the plane of ground predetermined altitude, and the spatial position of N number of matrix headlight is adjustable,
The controller is mobile for controlling N number of matrix headlight, and when N number of matrix headlight is moved to target empty
Between position when, control N number of matrix headlight and light, to form the calibration pattern, wherein the Target space position is root
It is determined according to the position of the calibration object.
Optionally, the panorama system calibration facility further include:
First motor is connected with the controller, by the controller control and rotate；
First guide rail, N number of matrix headlight are arranged on first guide rail, are connected with the first motor；
The controller is used to determine the Target space position according to the position of the calibration square object, and controls described the
The rotation of one motor, and then drive first guide rail mobile, so that N number of matrix headlight is moved to the target empty meta position
It sets.
Optionally, when the projection arrangement is curved surface dot matrix headlight, the spatial position of the curved surface dot matrix headlight
It is fixed.
Optionally, position of the camera in the plane apart from the calibration place predetermined altitude is adjustable, described complete
Scape system calibrating equipment further include:
Second guide rail, the camera are arranged on second guide rail；
Second motor is connected with the controller, in response to the sending of the controller the second rotation command and rotate,
And then drive second guide rail mobile, to change the position of the camera on the plane.
Optionally, the curved surface dot matrix headlight includes multiple lamp beads, and the controller is according to the calibration square on ground
Position on face, the part lamp bead controlled in the multiple lamp bead are lighted, to form the calibration pattern.
Optionally, the panorama system calibration facility further include:
Communications module is connected with the controller, for obtaining the scheduled calibration specification；
The controller triggers the camera acquisition described image when getting the scheduled calibration specification.
Optionally, the panorama system calibration facility further include: display screen is connected with the controller,
The controller is used for after the projection device goes out the calibration pattern, and Xiang Suoshu display screen sends mark
Determine prompt information, the calibration prompt information includes the distance between the vehicle to be calibrated and the calibration pattern information；
The display screen is for showing the calibration prompt information.
According to the second aspect of an embodiment of the present disclosure, a kind of panorama system scaling method is provided, comprising:
Obtain the image of Calibration Field ground vehicle to be calibrated；
The position of calibration square object is determined according to the position of the vehicle to be calibrated；
Control projection arrangement projection bid on the position of the calibration object determines pattern.
Optionally, the projection lamp includes: N number of matrix headlight；
Control projection arrangement projection bid on the position of the calibration object determines pattern, comprising:
Target space position is determined according to the position of the calibration square object；
It controls N number of matrix headlight and is moved to the Target space position；
It controls N number of matrix headlight to light, to form the calibration pattern.
Optionally, the projection arrangement is curved surface dot matrix headlight, and the curved surface dot matrix headlight includes multiple lamp beads；
Control projection arrangement projection bid on the position of the calibration object determines pattern, comprising:
According to the position of the calibration object, the part lamp bead controlled in the multiple lamp bead is lighted, to form the calibration
Pattern.
The panorama system calibration facility that the embodiment of the present disclosure provides, can be according to the position of Calibration Field ground vehicle vehicle to be calibrated
It sets, determines the position of calibration object, and then control projection arrangement, so that the pattern of projection device on the ground and calibration object
Position is identical., can be according to the position of vehicle to be calibrated using above equipment, then the position of calibration pattern is automatically determined, it does not need
The artificial position for determining calibration object, the error generated when avoiding the artificial position for determining calibration object, therefore panorama system can be improved
The accuracy of system calibration facility.As long as in addition, vehicle parking to be calibrated can be collected its position to position acquisition device by driver
The region set, driver are not necessarily to park vehicle to be calibrated according to the position for the calibration object manually placed, reduce and treat
Demarcate the precision requirement of the stand of vehicle.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of schematic diagram for panorama system calibration facility that the embodiment of the present disclosure provides.
Fig. 2 is the schematic diagram of station acquisition device in a kind of panorama system calibration facility of embodiment of the present disclosure offer.
Fig. 3 is a kind of another schematic diagram for panorama system calibration facility that the embodiment of the present disclosure provides.
Fig. 4 is a kind of another schematic diagram for panorama system calibration facility that the embodiment of the present disclosure provides.
Fig. 5 is a kind of flow chart for panorama system scaling method that the embodiment of the present disclosure provides.
Fig. 6 is a kind of another flow chart for panorama system scaling method that the embodiment of the present disclosure provides.
Description of symbols
1000: panorama system calibration facility 101: camera
102: image processor 100: station acquisition device
200: controller 300: projection arrangement
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Vehicle configured with panorama system can all demarcate interior panorama system before production line is offline, lead to
In normal situation, the panorama system calibration facility that production line uses is mainly by N block scaling board and a vehicle location apparatus for correcting
Composition, wherein N is the integer more than or equal to 4.It is standardized by professional technician according to calibration, by above-mentioned N block scaling board and one
A vehicle location apparatus for correcting is manually arranged in one piece of place, forms a calibration place.Wherein, N block scaling board is fixedly
It is arranged in around the vehicle (vehicle hereinafter referred to as to be calibrated) for needing to demarcate, vehicle location apparatus for correcting is arranged in calibration place
Lower section.
In panorama system calibration process, calibration vehicle is driven into calibration place, is adjusted using vehicle location apparatus for correcting
The position for demarcating vehicle, makes it meet the requirement of calibration specification at a distance from calibration square, and calibration vehicle can open automatic mark
Determine function, completes calibration.
As it can be seen that needing elder generation when the panorama system calibration facility used using above-mentioned production line demarcates calibration vehicle
The artificial position for determining calibration square arrangement, and after manually adjusting calibration vehicle at a distance from the calibration square, calibration vehicle
Automatic Calibration function could be opened, and then completes calibration.The position manually determined due to being influenced by human factor and distance
It is easy inaccuracy, meanwhile, during calibration vehicle drives into calibration place and is driven out to calibration place, wheel may be to being arranged in
The panorama system calibration facility of Calibration Field ground causes to wear, and keeps calibration cost higher.
In order to improve the accuracy of vehicle panoramic system calibrating, and reduce calibration cost, the embodiment of the present disclosure proposes one kind
Panorama system calibration facility, referring to FIG. 1, Fig. 1 is a kind of signal for panorama system calibration facility that the embodiment of the present disclosure provides
Figure.As shown in Figure 1, the panorama system calibration facility 1000, comprising:
Station acquisition device 100, the position of the vehicle to be calibrated for determining Calibration Field ground；
Controller 200 is connected with the station acquisition device, for the position according to the vehicle to be calibrated, determines mark
The position of earnest；
Projection arrangement 300 is connected with the controller, determines pattern for projecting bid on the position of the calibration object.
Optionally, which is arranged in the plane of calibration place predetermined altitude, which is not one solid
Fixed numerical value can artificially change according to vehicle to be calibrated.All parts do not require same flat in the panorama system calibration facility
On face.
In the embodiment of the present disclosure, the position to vehicle of Calibration Field ground is determined by station acquisition device 100 first.It is a kind of
Possible situation is: the 100 collected region of institute's energy of station acquisition device can be used as calibration place, as long as at this point, driver
Vehicle parking to be calibrated can be collected to the region of its position to position acquisition device 100, driver is not necessarily to according to artificial
The position of the calibration object of placement reduces the precision requirement for treating the stand of calibration vehicle to park vehicle to be calibrated.
In position acquisition device 100 determine Calibration Field ground to the position of vehicle and then by controller 200 according to mark
Determine the position of vehicle vehicle to be calibrated on place, the position of calibration object is determined, and then control projection arrangement 300, so that projection arrangement
300, which project bid on the position of calibration object, determines pattern.Due to the pattern of the projection of projection arrangement 300 on the ground and calibration object
Position is identical, thus using above equipment, it can be according to the position of vehicle to be calibrated, then the position of calibration pattern is automatically determined, no
The position for needing manually to determine calibration object, the error generated when avoiding the artificial position for determining calibration object, therefore can be improved complete
The accuracy of scape system calibrating equipment.
In the embodiment of the present disclosure, station acquisition device 100 is the device for acquiring the position of vehicle to be calibrated.Such as:
Station acquisition device 100 can be laser radar system, bluetooth positioning system etc..
Optionally, Fig. 2 is that station acquisition device shows in a kind of panorama system calibration facility that the embodiment of the present disclosure provides
It is intended to.As shown in Fig. 2, station acquisition device 100 includes:
Camera 101 is arranged in the plane apart from the calibration place predetermined altitude, for acquiring the vehicle to be calibrated
Image；
Image processor 102 is connected with the camera 101, for determining the Calibration Field on the ground according to described image
The position of the vehicle to be calibrated.
Wherein, camera 101 is not the camera of vehicle to be calibrated itself, which is arranged on apart from ground
In the plane of predetermined altitude, when vehicle to be calibrated drive into the camera 101 within sweep of the eye when, which can be with
Completely collect the overhead view image of the vehicle.
Image processor 102 is connected with camera 101, firstly, the top view for the vehicle that can be acquired according to camera 101
Picture determines the position of the vehicle on the ground, then, standardizes according to the position of vehicle to be calibrated, and with reference to scheduled calibration, really
Calibrate the position of earnest.
Projection arrangement 300 is by the control of controller 200, and after the position of known calibration object, controller 200 triggers the throwing
Image device 300 is opened, so that projection arrangement 300 is projected out calibration pattern in Calibration Field on the ground.Since calibration pattern is in Calibration Field
The position on ground and calibration object are identical in the position of Calibration Field ground, so calibration of the projection arrangement 300 in Calibration Field projection on the ground
Pattern can replace calibration object, avoid wheel of vehicle to be calibrated and cause to wear to the calibration object of arrangement on the ground, reduce mark
Determine cost.
The panorama system calibration facility that the embodiment of the present disclosure provides, what image processor 102 can be shot according to camera 101
The image of vehicle determines that the vehicle in the position of Calibration Field ground, and determines that calibration object in the position of Calibration Field ground, and then is controlled
Projection arrangement 300 processed so that be projected in Calibration Field ground pattern and calibration object it is identical in the position of Calibration Field ground.Using upper
Equipment is stated, can be according to the position of vehicle on the ground, then the position of calibration pattern is automatically determined, it does not need manually to calculate calibration object
Position, the error generated when avoiding the artificial position for determining calibration object, therefore the standard of panorama system calibration facility can be improved
Exactness, while the equipment is arranged in the plane apart from ground predetermined altitude, avoids vehicle in the process entered and exited
In the equipment is caused to wear, saved calibration cost.
Optionally, which includes: N number of matrix headlight；Alternatively, the projection arrangement 300 is curved surface dot matrix
Headlight.Optionally, N is the integer more than or equal to 4.
In the embodiment of the present disclosure, projection arrangement 300 is the device with projecting function, including but not limited to two kinds implementations
Example: in one embodiment, projection arrangement 300 includes N number of matrix headlight；In another embodiment, projection arrangement 300 is song
Millet cake configuration headlight.
Matrix headlight and curved surface dot matrix headlight are by multiple LED (Light Emitting Diode；Light-emitting diodes
Pipe) lamp bead composition, each of multiple LED lamp beads lamp bead has the switch for controlling the lamp bead, which can control lamp
Pearl lights and extinguishes, and when lighting each lamp bead, all can be projected out a pattern by different location on the ground.Referring to FIG. 3, figure
3 be a kind of another schematic diagram for panorama system calibration facility that the embodiment of the present disclosure provides.As shown in figure 3, the projection arrangement
300 include: N number of matrix headlight, and N is the integer more than or equal to 4.Fig. 3 is by taking 4 matrix headlights as an example.
In the case where projection arrangement 300 includes N number of matrix headlight, camera 101 is fixed on apart from ground predetermined altitude
Plane on, and the spatial position of N number of matrix headlight is adjustable, that is to say, that the spatial position of N number of matrix headlight is relative to camera shooting
First 101 spatial position is adjustable.
The spatial position of N number of matrix headlight is adjusted by controller 200, and controller 200 is according to calibration object in Calibration Field ground
Position and N number of matrix headlight distance calibration place height, determine Target space position, it is mobile to control N number of matrix headlight,
And when N number of matrix headlight is moved to Target space position, controls N number of matrix headlight and light, to form calibration pattern.
It is adjusted for the ease of spatial position of the controller 200 to N number of matrix headlight, as shown in figure 3, in projection arrangement
300 include N number of matrix headlight when, panorama system calibration facility further include: first motor and the first guide rail.
Wherein, first motor is connected with controller 200, and is connected with first motor, control of the first motor by controller 200
It makes and rotates, and then drive the first guide rail mobile.
For first guide rail for carrying N number of matrix headlight, the quantity of the first guide rail is at least 4.Every guide rail and an electricity
Machine is connected, and each motor drives coupled guide rail mobile in rotation.
First guide rail includes at least 2 cross slide ways and at least 2 longitudinal rails, cross slide way intersect with longitudinal rail, N
Each matrix headlight in a matrix headlight can be arranged in the point of intersection of cross slide way and longitudinal rail, in calibration vehicle
Left front, left back, right front, right back are projected out calibration pattern, alternatively, the part matrix headlight cloth in N number of matrix headlight
It sets on cross slide way, calibration pattern is projected out with the left and right side in vehicle to be calibrated, alternatively, in N number of matrix headlight
Part matrix headlight is arranged on longitudinal rail, to go out to demarcate pattern in the front side of vehicle to be calibrated and rear projected.By first
The driving of motor, Ren Lianggen cross slide way (or longitudinal rail) can relatively move, and be led with adjusting two mobile transverse directions of generation
The distance between rail (or longitudinal rail).
Illustratively, as shown in figure 3, being 4 with the quantity of the first guide rail, and the quantity of matrix headlight is for 4.First
Guide rail includes: guide rail 1, guide rail 2, guide rail 3 and guide rail 4, wherein guide rail 1 and guide rail 2 are cross slide way, guide rail 3 and guide rail 4
It is longitudinal rail.Guide rail 1 is connected with motor 1, and guide rail 2 is connected with motor 2, and guide rail 3 is connected with motor 3, guide rail 4 and motor 4
It is connected.
4 matrix headlights include matrix headlight 1, matrix headlight 2, matrix headlight 3 and matrix headlight 4, and matrix headlight 1 is arranged
In the point of intersection of guide rail 1 and guide rail 3, calibration pattern is projected out with the left back in vehicle to be calibrated；Matrix headlight 2, which is arranged in, leads
The point of intersection of rail 1 and guide rail 4 is projected out calibration pattern with the left front in vehicle to be calibrated；Matrix headlight 3 is arranged in guide rail 2
With the point of intersection of guide rail 3, calibration pattern is projected out with the right back in vehicle to be calibrated；Matrix headlight 4 is arranged in guide rail 2 and leads
The point of intersection of rail 4 is projected out calibration pattern with the right front in vehicle to be calibrated.
For each matrix headlight in N number of matrix headlight, the corresponding calibration object of the matrix headlight, matrix headlight projection
Calibration pattern out can represent the calibration object.Controller 200 is according to each calibration object in multiple calibration objects in Calibration Field ground
Position and matrix headlight distance calibration place height, determine the object space of corresponding with calibration object matrix headlight
Position.Controller 200 is again by the initial spatial location of each matrix headlight compared with the Target space position of the matrix headlight, really
Determine for carrying the cross slide way of the matrix headlight and the moving distance and moving direction of at least one of longitudinal rail.Control
Device 200 controls the electricity that the guide rail mobile with the needs is connected further according to the moving distance and moving direction for needing mobile guide rail
Matrix headlight, is finally moved on its Target space position by machine rotation.Wherein, the initial spatial location of a matrix headlight is
Spatial position before controller 200 controls its movement, where the matrix headlight.
Below by taking Fig. 3 as an example, illustrate the working principle for the panorama system calibration facility that the embodiment of the present disclosure provides.
Camera 101 is fixed in the predetermined altitude plane of distance calibration place, is collected in camera 101 and is parked in its view
After vehicle (vehicle i.e. to be calibrated) in wild range, controller 200 determine the vehicle to be calibrated in the position of Calibration Field ground, with
And calibration object is determined after the position in calibration place, need the position of mobile 4 matrix headlights to Target space position.
Illustratively, for matrix headlight 1 to be moved on its Target space position, controller 200 is by matrix headlight 1
For initial spatial location compared with the Target space position of the matrix headlight, control guide rail 1 moves down 5 centimetres, and controls guide rail 3
It moves right 8 centimetres.After matrix headlight 1 is moved to its Target space position, control matrix headlight 1 is opened, so that
Matrix headlight 1 is projected out calibration pattern in the left front of vehicle to be calibrated, which can replace being manually placed at wait mark
Determine the calibration object of vehicle left front.
Referring to FIG. 4, Fig. 4 is a kind of another schematic diagram for panorama system calibration facility that the embodiment of the present disclosure provides.Such as
Shown in Fig. 4, which includes: curved surface dot matrix headlight, and the spatial position of curved surface dot matrix headlight is fixed.
When the spatial position of curved surface dot matrix headlight is fixed, the pattern being projected out when it is lighted covers on the ground
Region fix, the region be demarcate place.That is, calibration place is determined by the spatial position of curved surface dot matrix headlight
Fixed.And only can just treat calibration vehicle in the case where vehicle to be calibrated is located at calibration place and be demarcated, if wait mark
The stand of vehicle is determined not in calibration place, then the vehicle to be calibrated can not be demarcated.Therefore, projection dress is being used
Before setting the panorama system calibration facility that 300 are curved surface dot matrix headlight, user needs vehicle parking to be calibrated in Calibration Field
In ground, that is to say, that the stand of vehicle to be calibrated is the position demarcated in place.
Optionally, curved surface dot matrix headlight includes multiple lamp beads, controller 200 according to calibration object Calibration Field ground position
It sets, the part lamp bead controlled in multiple lamp beads is lighted, to form calibration pattern.
Since curved surface dot matrix headlight includes multiple lamp beads, and the spatial position of curved surface dot matrix headlight is fixed, so
The spatial position of its each lamp bead for being included is fixed, thus is lighted different lamp beads and different location can be projected out on the ground
Pattern, so position and curved surface dot matrix headlight height apart from ground of the controller 200 according to calibration object on the ground, really
The position of the pattern which lamp bead is projected out in fixed multiple lamp beads on the ground is identical as the position of calibration object on the ground, and institute is really
The lamp bead that the lamp bead made as needs to light, then controller 200 opens the lamp bead for needing to light, so that multiple needs are bright
The pattern that lamp bead is projected out forms calibration maps case, and then replaces calibration object.
Optionally, position of the camera 101 in the plane of distance calibration place predetermined altitude is adjustable.That is, taking the photograph
As first 101 spatial position is adjustable relative to the spatial position of curved surface dot matrix headlight.
In view of user may by vehicle parking to be calibrated calibration place in any position at namely vehicle to be calibrated
Stand be demarcate place in any position, the position not camera 101 within sweep of the eye, thus exist camera shooting
First 101 capture the plan view less than vehicle to be calibrated or are only capable of capturing a part of the plan view of vehicle to be calibrated
Situation.The vertical view view for demarcating the vehicle to be calibrated of any position in place is parked in order to guarantee that camera 101 can collect
Figure, needs to adjust the spatial position of camera 101, so that the stand of vehicle to be calibrated is always in the view of camera 101
In wild range, and then pass through the plan view that camera 101 completely collects vehicle to be calibrated.
Optionally, as shown in figure 4, camera 101 is in the plane when projection arrangement 300 is curved surface dot matrix headlight
On position it is adjustable, panorama system calibration facility further include: the second guide rail, the camera 101 are arranged in second guide rail
On；Second motor is connected with the controller 200, in response to the sending of the controller 200 the second rotation command and turn
It is dynamic, and then drive second guide rail mobile, to change the position of the camera 101 on the plane.
For the ease of dollying head 101, which can be arranged on the second guide rail, and by the second guide rail
Be connected with the second motor, the second motor by controller 200 control and rotate, and then drive the second guide rail mobile, taken the photograph with changing
As first 101 spatial position.
Before changing to the spatial position of camera 101, the spatial position where camera 101 is its initial space position
It sets.When camera is located at its initial spatial location, whether controller 200 detects the stand of vehicle to be calibrated in camera
101 within sweep of the eye, if the stand of vehicle to be calibrated not camera 101 within sweep of the eye, need to move
Camera 101, until camera 101 within sweep of the eye include the stand to vehicle to be calibrated until.
In view of different automobile types are adapted to different panorama systems, scheduled calibrating parameters based on controller 200 are roots
Determined according to the vehicle of vehicle to be calibrated, thus user will need the vehicle parking demarcated camera 101 within sweep of the eye
Ground location when, need the calibration specification that the vehicle of the vehicle is adapted to being sent to panorama system calibration facility 100, make this
Controller 200 can refer to the calibration specification, and determining calibration object is in the position of Calibration Field ground, to control projection arrangement 300,
So that projection arrangement 300 projects calibration pattern.Therefore, the equipment further include: communications module, with 200 phase of controller
Even, for obtaining the scheduled calibration specification；The controller 200 is when getting the scheduled calibration specification, triggering
The camera 101 acquires described image.
The vehicle (vehicle i.e. to be calibrated) demarcated will be needed to be parked in the ground within the vision of camera 101 position in user
When setting, communications module gets scheduled calibration specification in panorama system or user terminal in the calibration vehicle, and will obtain
The scheduled calibration specification got is sent to controller 200, and then controller 200 triggers the camera 101 and acquires the vehicle
Image.
Optionally, the panorama system calibration facility further include: memory is connected, for storing with the controller
State scheduled calibration specification.
When panorama system calibration facility correspondence with foreign country interrupts, controller 200 can obtain scheduled mark from memory
Then set pattern model triggers the image that the camera 101 acquires the vehicle.
Optionally, described device further include: display screen is connected with the controller 200, and the controller 200 is used for
The projection arrangement 300 is projected out after the calibration pattern, and Xiang Suoshu display screen sends calibration prompt information, and the calibration mentions
Show that information includes the distance between the vehicle to be calibrated and the calibration pattern information, the display screen is for showing the mark
Determine prompt information.
After calibration preparation is completed, namely after projection arrangement 300 is projected out calibration pattern, controller 200
Calibration prompt information is shown in display screen, for prompting the panorama system of the vehicle that can start automatic Calibration.Wherein, it marks
Determining prompt information includes that the distance between vehicle to be calibrated and calibration pattern information namely aforementioned calibration standardize.
Using above-mentioned panorama system calibration facility, different calibration specifications can be selected, for marking according to different vehicles
Determine the vehicle of different automobile types.
Based on the same inventive concept, the disclosure additionally provides a kind of panorama system scaling method, referring to FIG. 5, Fig. 5 is this
A kind of flow chart for panorama system scaling method that open embodiment provides.As shown in figure 5, method includes the following steps:
Step S11: the position of Calibration Field ground vehicle to be calibrated is obtained；
Step S12: according to the position of the vehicle to be calibrated, the position of calibration object is determined；
Step S13: control projection arrangement projection bid on the position of the calibration object determines pattern.
Fig. 1 is please referred to, panorama system calibration facility needed for realizing this method includes: station acquisition device 100, controller
200 and projection arrangement 300.
Firstly, controller 200 exists when vehicle parking to be calibrated is at 100 institute energy collected region of position acquisition device
After the calibration request for receiving user's transmission, trigger position acquisition device 100 determines the vehicle to be calibrated of Calibration Field ground
Position.Wherein, calibration requests to include that scheduled calibration standardizes, which can be calibration object on the ground and should
The distance of vehicle to be calibrated is the foundation of arrangement calibration object.Wherein, different automobile types are adapted to different panorama systems, controller 200
Based on it is scheduled calibration specification be according to the vehicle of vehicle to be calibrated determine.
Illustratively, station acquisition device includes: camera 101 and image processor 102.Camera 101 acquires the vehicle
Plan view, image processor 102 handles the plan view of the vehicle collected of camera 101, determines wait mark
Determine the position of vehicle.
Then it is standardized according to the vehicle to be calibrated in the position of Calibration Field ground and preset calibration, determines that calibration object is being marked
The position on place is determined, finally, according to the calibration object in the position of Calibration Field ground, so that projection arrangement 300 is in Calibration Field
It is projected out calibration pattern on the ground, calibration pattern can replace calibration object.
By adopting the above technical scheme, it behind the position of Calibration Field ground, then can be automatically determined determining vehicle to be calibrated
The position for demarcating pattern does not need manually to calculate the position of calibration object and manually puts calibration object, therefore panorama system can be improved
The accuracy of system calibration facility keeps calibration process intelligent.
Optionally, referring to FIG. 6, Fig. 6 is a kind of another stream for panorama system scaling method that the embodiment of the present disclosure provides
Cheng Tu.As shown in fig. 6, N is the integer more than or equal to 4, step in this method when the projection lamp includes N number of matrix headlight
S13 the following steps are included:
Step S1311: Target space position is determined according to the position of the calibration object；
Step S1312: control N number of matrix headlight is moved to the Target space position；
Step S1313: control N number of matrix headlight is lighted, to form the calibration pattern.
Referring to FIG. 3, panorama system calibration facility needed for realizing this method includes: camera 101, image processor
102, controller 200, N number of matrix headlight, first motor, the first guide rail are specifically illustrated with N=4.
The method for determining the position of calibration square object, as it was noted above, details are not described herein again.In the position of known calibration square object
Later, controller 200 can calculate Target space position, while the initial space position of 4 matrix headlights known to controller 200
Set, according to the initial spatial location of matrix headlight and Target space position can determine that each matrix headlight moving direction and
Distance, controller 200 controls the rotation of 4 first motors respectively, and then drives the movement of 4 first guide rails, by each matrix
Headlight is moved to the Target space position corresponding to it.Since 4 matrix headlights need mobile distance and direction not necessarily
Identical, then accordingly, the revolving speed and rotation direction of the rotation of 4 first motors are also not quite similar.
After 4 matrix headlights are moved to the Target space position corresponding to it, controller 200 triggers matrix headlight
It lights, it is made to be projected out calibration pattern on the ground in Calibration Field, to replace demarcating object.
Optionally, as shown in fig. 6, when the projection lamp includes curved surface dot matrix headlight, step S13 packet in this method
It includes:
Step S1321: according to the position of the calibration object, the part lamp bead controlled in the multiple lamp bead is lighted, with shape
At the calibration pattern.
The curved surface dot matrix headlight includes multiple lamp beads, wherein when each lamp bead is lighted, it can be different on the ground in Calibration Field
Position is projected out pattern, according to the position of calibration object, part lamp in multiple lamp beads of 200 Control curve dot matrix headlight of controller
Pearl is lighted, and when which lights, calibration maps case is formed in the pattern that Calibration Field is projected out on the ground, to replace demarcating object.
By adopting the above technical scheme, control projection device goes out to demarcate pattern, instead of demarcating object, avoids vehicle to be calibrated
During entering and exiting, is worn caused by calibration facility, reduce calibration cost.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.
It is further to note that specific technical features described in the above specific embodiments, in not lance
In the case where shield, can be combined in any appropriate way, in order to avoid unnecessary repetition, the disclosure to it is various can
No further explanation will be given for the combination of energy.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (10)
1. a kind of panorama system calibration facility characterized by comprising
Station acquisition device, the position of the vehicle to be calibrated for determining Calibration Field ground；
Controller is connected with the station acquisition device, for the position according to the vehicle to be calibrated, determines the position of calibration object
It sets；
Projection arrangement is connected with the controller, determines pattern for projecting bid on the position of the calibration object.
2. panorama system calibration facility according to claim 1, which is characterized in that the station acquisition device includes:
Camera is arranged in the plane apart from the calibration place predetermined altitude, for acquiring the figure of the vehicle to be calibrated
Picture；
Image processor is connected with the camera, for determining that the Calibration Field is described to be calibrated on the ground according to described image
The position of vehicle.
3. panorama system calibration facility according to claim 1, which is characterized in that the projection arrangement includes: N number of matrix
Headlight；Alternatively, the projection lamp is curved surface dot matrix headlight.
4. panorama system calibration facility according to claim 3, which is characterized in that in the projection arrangement include N number of square
When battle array headlight, the camera is fixed in the plane apart from the calibration place predetermined altitude, and N number of matrix headlight
Spatial position is adjustable,
The controller is mobile for controlling N number of matrix headlight, and when N number of matrix headlight is moved to target empty meta position
When setting, controls N number of matrix headlight and light, to form the calibration pattern, wherein the Target space position is according to institute
State the position determination of calibration object.
5. panorama system calibration facility according to claim 4, which is characterized in that the panorama system calibration facility also wraps
It includes:
First motor is connected with the controller, by the controller control and rotate；
First guide rail, N number of matrix headlight are arranged on first guide rail, are connected with the first motor；
The controller is used to determine the Target space position according to the position of the calibration object, and controls the first motor
Rotation, and then drive first guide rail mobile, so that N number of matrix headlight is moved to the Target space position.
6. panorama system calibration facility according to claim 3, which is characterized in that the projection arrangement be curved surface dot matrix
When formula headlight, the spatial position of the curved surface dot matrix headlight is fixed.
7. panorama system calibration facility according to claim 6, which is characterized in that the camera is apart from the calibration
Position in the plane of place predetermined altitude is adjustable, the panorama system calibration facility further include:
Second guide rail, the camera are arranged on second guide rail；
Second motor is connected with the controller, in response to the sending of the controller the second rotation command and rotate, in turn
Drive second guide rail mobile, to change the position of the camera on the plane.
8. panorama system calibration facility according to claim 7, which is characterized in that the curved surface dot matrix headlight includes more
A lamp bead, the controller is according to the position of the calibration object, and the part lamp bead controlled in the multiple lamp bead is lighted, to be formed
The calibration pattern.
9. panorama system calibration facility according to claim 1, which is characterized in that further include:
Communications module is connected with the controller, for obtaining scheduled calibration specification；
The controller triggers the camera acquisition described image when getting the scheduled calibration specification.
10. panorama system calibration facility according to claim 1, which is characterized in that further include: display screen, with the control
Device processed is connected,
The controller is used for after the projection device goes out the calibration pattern, and Xiang Suoshu display screen sends calibration and mentions
Show that information, the calibration prompt information include the distance between the vehicle to be calibrated and the calibration pattern information；
The display screen is for showing the calibration prompt information.
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| CN201710828992.0A CN109509231A (en) | 2017-09-14 | 2017-09-14 | Panorama system calibration facility |
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| CN113459948A (en) * | 2021-05-31 | 2021-10-01 | 广汽菲亚特克莱斯勒汽车有限公司广州分公司 | Panoramic calibration device for vehicle |
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