CN109606273A - One kind looking around camera support and adjusting method - Google Patents
One kind looking around camera support and adjusting method Download PDFInfo
- Publication number
- CN109606273A CN109606273A CN201811378284.2A CN201811378284A CN109606273A CN 109606273 A CN109606273 A CN 109606273A CN 201811378284 A CN201811378284 A CN 201811378284A CN 109606273 A CN109606273 A CN 109606273A
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- China
- Prior art keywords
- hole
- camera
- movable support
- fastener
- fixing seat
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
The invention discloses one kind to look around camera support and adjusting method.The camera support includes fixing seat, movable support, looks around camera；Fixing seat realizes that the installation on automobile is fixed by the cooperation of screw and mounting hole, the through-hole of seat and the hole of movable support are connected and fixed by fastener, it is connected and fixed the annular through-hole of seat and the ring shaped movable hole of movable support by fastener, the through-hole in the rectangle cutting slot of movable support is connected by fastener and looks around the rotating hole of camera.When fastener is tightened, movable support and fixing seat Complete Bind, movable support are fixed in fixing seat, and when fastener unclamps, movable support can be pivoted centered on the through-hole of fixing seat.When fastener unclamps, looking around camera can be pivoted centered on the through-hole in the rectangle cutting slot on movable support.It realizes that camera is adjustable, lockable function, carries out angular adjustment when calibration, complete locked by screw means after calibration.In addition, the visual field of image collecting device can be automatically adjusted by the regulating device, prevent image collecting device from deviateing predeterminated position, reduces Image Acquisition error.
Description
Technical field
The present invention relates to a kind of unmanned automobile-used camera mounting bracket more particularly to a kind of automatic driving car look around it is adjustable
The lockable camera adjustable support of angle.
Background technique
The outer parameter of the camera calibration of unmanned vehicle needs to adjust the field-of-view angle of camera, guarantees that the visual field of camera can see institute
Some scaling boards, calibration need to rigidly fix in camera after terminating, and camera has occurred after offset will lead to once position
Continuous image procossing goes wrong.Camera due on the outside of vehicle body, it is daily it is inevitable scratch, so needing a kind of angle adjustable can
Locked camera support can carry out angular adjustment when calibration, adjust and arrive suitable angle, to complete to demarcate, complete
It is locked by screw means after calibration, to guarantee stability.
Summary of the invention
The purpose of the present invention is to provide a kind of vehicle, especially automatic driving car to look around camera angle adjustable lockable
Camera support can carry out angular adjustment when calibration, adjust and arrive suitable angle, to complete to demarcate, complete calibration
It is locked by screw means afterwards.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of automatic driving car looks around the lockable camera support of camera angle adjustable, by fixing seat, movable support, looks around phase
Machine composition；Fixing seat main body is a right angle frame, and having on one side for right angle frame is multiple for installing the mounting hole of screw, right angle frame
The corner location of frame has reinforcing rib, and the other of right angle frame has a through-hole for cooperating with movable support perpendicular to plane on one side
With an annular through-hole centered on through-hole；It is the rectangle other end is semicircular that the main body of movable support, which is an one end,
Shape component has a hole in the center location of semi-circular ends, in one end of rectangle, with semicircle in one end of semi-circular ends
The hole of one end is the center of circle, there is a ring shaped movable hole, there is rectangle cutting slot at the top of rectangle one end, the width of cutting groove with look around
The thickness of the rotating hole of camera is corresponding, is equipped with the through-hole of a horizontal direction in the centre bit of rectangle cutting slot, tight for installing
The assembly of camera is realized and looked around to firmware；Looking around camera includes a rotating hole and a camera；Fixing seat passes through screw and peace
The cooperation in dress hole realizes that the installation on automobile is fixed；It is connected and fixed the through-hole of seat and the hole of movable support by fastener, leads to
Realize the assembly of fixing seat and movable support in the ring shaped movable hole for crossing annular through-hole and movable support that fastener is connected and fixed seat；
The through-hole connected in the rectangle cutting slot of movable support by fastener realizes movable support and ring with the rotating hole for looking around camera
Depending on the assembly of camera.
Above-mentioned fastener can be the cooperation of threaded rod and nut.
Above-mentioned fastener is connected and fixed the through-hole of seat and the hole of movable support, and movable support can be with fixing seat after connection
Centered on through-hole, it is pivoted.
Above-mentioned fastener is connected and fixed the annular through-hole of seat and the ring shaped movable hole of movable support, when fastener is tightened,
Movable support and fixing seat Complete Bind, movable support are fixed in fixing seat, and when fastener unclamps, movable support can be with
Centered on the through-hole of fixing seat, it is pivoted.
After above-mentioned fastener connects the through-hole in the rectangle cutting slot of movable support and looks around the rotating hole of camera, fastening
When part is tightened, movable support and camera Complete Bind is looked around, look around camera and be fixed on movable support, unclamped in fastener
When, looking around camera can be pivoted centered on the through-hole in the rectangle cutting slot on movable support.
Another aspect of the present invention provides a kind of camera angle method of adjustment of camera support, comprising: in control processing
The heart sends control information to the regulating device by CAN bus, and the regulating device is adjusted according to the control information and installed
The visual field of image collecting device thereon；The wherein reference angle of the control processing center storage described image acquisition device
Degree；
The angular transducer determines the real-time angular of described image acquisition device, and the real-time angular is sent to institute
State control processing center；
The real-time angular is compared by the control processing center with the references angle of storage；When described real-time
When angle and the references angle have angular deviation, the control processing center determines target angle difference and target stepping
Value, and send the drive control information to the stepper motor, wherein the target angle difference be the real-time angular with
Difference between the references angle, the drive control information include the target step value；
The stepper motor adjusts the pitch angle of described image acquisition device according to the target step value.
Preferably, the target angle difference and the target step value are stored for establishing machine learning model.
Inventive point of the invention includes but is not limited to the following:
1) all vehicles can be adapted on camera support component and connection structure.It is rigidly connected by bolt in vehicle body, surely
Solidity can be good.Camera is adjustable, lockable, can carry out angular adjustment when calibration, adjust and arrive suitable angle, with complete
At calibration, complete to lock after calibration by screw means.Structure design considers cabling, so that cabling is convenient and efficient.
2) real-time angular of image collecting device is determined by regulating device and is compared with references angle, when the two is deposited
The pitch angle of image collecting device is adjusted in time in deviation, so as to avoid Image Acquisition from larger mistake occur
Difference promotes the working efficiency of image collecting device.In particular, the control processing center can be by the target angle difference and mesh of storage
Mark step value, which is input in machine learning model such as nerve network system, carries out learning training, reaches need to adjust to each in this way
The high speed of whole image collecting device, accurate reaction and adjustment, to meet the needs of vehicle Image Acquisition.This point is especially heavy
It wants, when generating the probability of error when vehicle driving and being greater than stationary vehicle, the adjustment of error is needed rapidly, to be just able to satisfy height at this time
The needs of Image Acquisition under fast driving status.It is used for it should be strongly noted that having in the prior art by recording angle-data
The nerve network system learning training in later period, but the speed and precision that the present invention requires the record of angle is and the prior art
Different.Mechanical structure of the invention and the control device to match can guarantee angular transducer to the fast recording of angle
And adjusting, and the angle of record is corresponding with image, it in this way could be that the nerve network system study in later period provides safeguard.
It should be noted that camera support of the invention is equipped in angular transducer, the selection of the angular transducer is and acquisition environment
It is relevant.Acquisition data of the invention are absorbed in the real time data of image, and need mutually to remember the current angular of image data
Record, this needs to carry out special design treatment to angular transducer.In a kind of embodiment, it is capable of the variation of real-time response image,
And record the variation of lower angle.
Detailed description of the invention
Fig. 1 is that a kind of automatic driving car of the present invention looks around the explosive view of the lockable camera support of camera angle adjustable (slightly
Remove fastener).
Fig. 2 is the dress for the state that a kind of automatic driving car of the present invention looks around the lockable camera support of camera angle adjustable
Figure (omits fastener).
Fig. 3 is another state that a kind of automatic driving car of the present invention looks around the lockable camera support of camera angle adjustable
Installation diagram (omits fastener).
Fig. 4 is a kind of schematic diagram of image capturing system provided by the invention.
Corresponding component title represented by number in figure: 1, fixing seat；2, movable support；3, camera is looked around；4, mounting hole；
5, reinforcing rib；6, through-hole；7, annular through-hole；8, one side of right angle frame；9, the another side of right angle frame；10, hole；11, annular
Movable span；12, annular cutting groove；13, rotating hole；14, the through-hole in rectangle cutting slot；100, image capturing system；101, it controls
Processing center processed；102, controller local area network (Controller Area Network, CAN) bus；200, regulating device；
103, image collecting device.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", " left side ", the right side in this specification ", the term of " centre ", be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
Embodiment 1
Referring to figures 1-3, a kind of automatic driving car of the present invention looks around the lockable camera support of camera angle adjustable, by fixing
Seat 1, movable support 2 look around the composition of camera 3；1 main body of fixing seat is a right angle frame, and there is multiple be used on one side 8 of right angle frame
The mounting hole 4 of screw is installed, the corner location of right angle frame has reinforcing rib 5, and other one side 9 of right angle frame has perpendicular to plane
One through-hole 6 and an annular through-hole 7 centered on through-hole 6 for cooperating with movable support 2；The main body of movable support 2 is
One one end is that the rectangle other end is semicircular sheet component, in one end of semi-circular ends, in the center of circle of semi-circular ends
There is a hole 10 in position, is the center of circle with the hole 10 of semicircle one end in one end of rectangle, has a ring shaped movable hole 11, in rectangle one
There is rectangle cutting slot 12 at the top of end, the width of cutting groove 12 is corresponding with the thickness of rotating hole 13 of camera 3 is looked around, in rectangle
The centre bit of cutting groove 12 is equipped with the through-hole 14 of a horizontal direction, for installing fastener, realizes and look around the assembly of camera 3；
Looking around camera 3 includes a rotating hole 13 and a camera 15；Fixing seat 1 is realized by the cooperation of screw and mounting hole 4 in vapour
Installation on vehicle is fixed；It is connected and fixed the through-hole 6 of seat 1 and the hole 10 of movable support 2 by fastener, is connected by fastener solid
The assembly of fixing seat 1 and movable support 2 is realized in the annular through-hole 7 of reservation 1 and the ring shaped movable hole 11 of movable support 2, by tight
Firmware connection movable support 2 rectangle cutting slot 12 in through-hole 14 with look around camera 3 rotating hole 13 realize movable support 2 with
Look around the assembly of camera 3.
Above-mentioned fastener can be the cooperation of threaded rod and nut.
Above-mentioned fastener is connected and fixed the through-hole 6 of seat 1 and the hole 10 of movable support 2, and movable support 2 can be with solid after connection
Centered on the through-hole 6 of reservation 1, it is pivoted.
Above-mentioned fastener is connected and fixed the annular through-hole 7 of seat 1 and the ring shaped movable hole 11 of movable support 2, twists in fastener
When tight, movable support 2 and 1 Complete Bind of fixing seat, movable support 2 are fixed in fixing seat 1, living when fastener unclamps
Dynamic bracket 2 can be pivoted centered on the through-hole 6 of fixing seat 1.
Above-mentioned fastener connects the through-hole 14 in the rectangle cutting slot 12 of movable support 2 and looks around the rotating hole 13 of camera 3
Afterwards, when fastener is tightened, movable support 2 and 3 Complete Bind of camera is looked around, looks around camera 3 and is fixed on movable support 2,
When fastener unclamps, looking around camera 3 can be centered on the through-hole 14 in the rectangle cutting slot 12 on movable support 2, around axis
Rotation.Above-mentioned technical proposal is ingenious to have used the structures such as cutting groove, through-hole to realize constraint and adjust, be innovative point of the invention it
One.
Embodiment 2
In order to accurately and fast adjust camera to adapt to the needs of vehicle acquisition data subsequent processing, on the one hand to solid
Pedestal is determined, substantially to positioned at mutually confidential quick adjustment therein；On the other hand high-precision accurately adjustment is also needed.And it adopts
The needs of this respect are obviously no longer satisfied with manually adjustment mode.In the appropriate location of the universal mount in the present embodiment
(it is not shown in the figure, but it will be appreciated by those skilled in the art that for conventional position, such as hide, do not interfere Image Acquisition
Position) it increases angular transducer, regulating device and is for example driven motor etc. camera is adjusted；And it is attached to above-mentioned biography
Sense data and device carry out the processing system of processing control.Its purpose is to meet on vehicle for data acquisition
It needs, and these devices minimize, if it is possible, having no effect on manual adjustment needs.
In optional embodiment, an above-mentioned solution is image capturing system 100 based on shown in Fig. 4.It is described
Image capturing system 100 can also be used as semi-automatic for onboard system as the component part of Vehicular automatic driving system
Or the component part of non-automatic control loop, the embodiment of the present invention are not specifically limited.Described image acquisition system 100 can also be with
For offboard system.Described image acquisition system 100 includes control processing center 101, controller local area network (Controller
Area Network, CAN) bus 102, regulating device 200 and image collecting device 103.
Described image acquisition device 103 may include the equipment that camera, video camera etc. have image capturing functionality, for obtaining
Road in vehicle travel process, ambient image are taken, these images for example can be used for the production of later period map, in each of shooting
Angle is corresponding with parts of images, then splices the corresponding image of each angle in subsequent computation model, depending on
The panoramic picture of moment position in wild.The regulating device 200 can be mounted to the car-mounted device on vehicle, the control
Processing center 101 processed sends control information, 200 basis of regulating device to the regulating device 200 by CAN bus 102
The visual field for the image collecting device 103 that the control information adjustment is mounted thereon.The control processing center 101 also passes through
CAN bus 102 receives the acquisition image that described image acquisition device 103 is sent and is handled, determining to travel with vehicle dynamic
Relevant characteristic information in some embodiments, is used for such as accident, road construction, traffic in addition to for the effect of later period map
Facility failure, lane line, fore-aft vehicle etc., to calculate the traveling strategy for determining vehicle by decision.
It is appreciated that the control processing center 101 can be processor, the processor can be central processing unit
(CPU), general processor, digital signal processor (DSP), specific integrated circuit (ASIC), field programmable gate array
(FPGA) perhaps other programmable logic device, transistor logic hardware component or any combination thereof.It may be implemented
Or it executes and combines various illustrative logic blocks, module and circuit described in the disclosure of invention.The processor
It can be the combination for realizing computing function, such as combined comprising one or more microprocessors, DSP and the combination of microprocessor etc.
Deng.
Use angular transducer that can accurately record imaging sensor in technical solution provided in an embodiment of the present invention
Real-time angular, and target angle angle value can also be recorded, it is corresponding with corresponding image in this way, also the study for carrying out the later period is instructed
Experienced accuracy raising produces important function.This is also innovative point of the invention.
It should be noted that the quantity of image collecting device 103 included in image capturing system 100 shown in Fig. 4
Only one kind enumerates, and the embodiment of the present invention is also not restricted to this.For example, it is also possible to according to decision calculating needs and including more
More image collecting devices, it is concise to ask, it does not describe one by one in the accompanying drawings.
In the prior art, the jolting of vehicle, emergency braking, turning etc. will cause image collecting device and deviate pre-determined bit
It sets, especially the predetermined angular of image collecting device, influences Driving Decision-making so as to cause acquisition precision of images error.Therefore it needs
The field-of-view angle for wanting real-time monitoring images acquisition device is adjusted in time when predetermined angle is deviateed in the visual field of image collecting device
The visual field of image collecting device, to guarantee the accuracy of Image Acquisition.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (9)
1. a kind of vehicle is with looking around the lockable camera support of camera angle adjustable, it is characterised in that: the bracket includes fixing seat
(1), movable support (2), look around camera (3)；Described look around camera (3) include a rotating hole (13) and a camera；It is described
Fixing seat (1) realizes that the installation on vehicle is fixed by the cooperation of screw and mounting hole (4)；The fixing seat (1) passes through tight
Firmware connects the through-hole (6) of the fixing seat (1) and the hole (10) of the movable support (2), is connected by fastener described solid
The annular through-hole (7) of reservation (1) and the ring shaped movable hole (11) of the movable support (2), to realize fixing seat (1) and activity
The assembly of bracket (2)；The movable support (2) looks around camera (3) and connect the movable support (2) by fastener with described
Through-hole (14) and the rotating hole (13) for looking around camera (3) in rectangle cutting slot (12) are realized and are assembled.The bracket further includes
One angular transducer is for measuring the angle that camera is fixed on behind certain position；The angle is that the camera acquires the real-time of image
Angle.
2. camera support as described in claim 1, it is characterised in that: fixing seat (1) main body is a right angle frame, described
There are multiple mounting holes (4) for being used to install screw on one side (8) of right angle frame, and the corner location of right angle frame has reinforcing rib (5),
There are a through-hole (6) for cooperating with movable support (2) and one in other (9) on one side of right angle frame perpendicular to plane with through-hole
(6) annular through-hole (7) centered on.
3. such as the described in any item camera supports of claim 1-2, it is characterised in that: the main body of the movable support (2) is one
A one end is that the rectangle other end is semicircular sheet component；In one end of semi-circular ends, in the circle of the semi-circular ends
Heart position has a hole (10), has a ring shaped movable hole with the hole (10) of semicircle one end for the center of circle in one end of rectangle
(11), have at the top of rectangle one end rectangle cutting slot (12), the width of cutting groove (12) and the rotation for looking around camera (3)
The thickness in hole (13) is corresponding, is equipped with the through-hole (14) of a horizontal direction in the centre bit of the rectangle cutting slot (12), is used for
Fastener is installed, is realized and the assembly for looking around camera (3).
4. camera support as described in any one of claims 1-3, it is characterised in that: the fastener is threaded rod and nut
Cooperation.
5. camera support according to any one of claims 1-4, it is characterised in that: when fastener connects the fixing seat (1)
Through-hole (6) and the movable support (2) hole (10) when, the movable support (2) can be with the through-hole of the fixing seat (1)
(6) it centered on, is pivoted.
6. camera support as described in any one in claim 1-5, it is characterised in that: when fastener connects the fixing seat (1)
Annular through-hole (7) and the movable support (2) ring shaped movable hole (11) after, when the fastener is tightened, it is described activity branch
Frame (2) and the fixing seat (1) Complete Bind, the movable support (2) is fixed on the fixing seat (1), in the fastening
When part unclamps, the movable support (2) can be pivoted centered on the through-hole (6) of the fixing seat (1).
7. camera support as claimed in any one of claims 1 to 6, it is characterised in that: when fastener connects the movable support
(2) it after the through-hole (14) and the rotating hole (13) for looking around camera (3) in rectangle cutting slot (12), is tightened in the fastener
When, the movable support (2) looks around camera (3) Complete Bind with described, and the camera (3) of looking around is fixed on the activity branch
On frame (2), when the fastener unclamps, the camera (3) of looking around can be with the rectangle cutting on the movable support (2)
Centered on through-hole (14) in slot (12), it is pivoted.
8. such as the camera angle method of adjustment of camera support of any of claims 1-8, comprising: in control processing
The heart (101) sends control information by CAN bus (102) Xiang Suoshu regulating device 200, and the regulating device (200) is according to institute
State the visual field for the image collecting device (103) that control information adjustment is mounted thereon；Wherein the control processing center (101) is deposited
Store up the references angle of described image acquisition device；
The angular transducer determines the real-time angular of described image acquisition device (103), and the real-time angular is sent to
The control processing center (101)；
The real-time angular is compared by the control processing center with the references angle of storage；When the real-time angular
When having angular deviation with the references angle, the control processing center determines target angle difference and target step value, and
Send the drive control information to the stepper motor, wherein the target angle difference be the real-time angular with it is described
Difference between references angle, the drive control information include the target step value；
The stepper motor adjusts the pitch angle of described image acquisition device according to the target step value.
9. method according to claim 8 stores the target angle difference and the target step value for establishing machine
Learning model.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378284.2A CN109606273A (en) | 2018-11-19 | 2018-11-19 | One kind looking around camera support and adjusting method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811378284.2A CN109606273A (en) | 2018-11-19 | 2018-11-19 | One kind looking around camera support and adjusting method |
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| Publication Number | Publication Date |
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| CN109606273A true CN109606273A (en) | 2019-04-12 |
Family
ID=66003524
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| Application Number | Title | Priority Date | Filing Date |
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| CN201811378284.2A Pending CN109606273A (en) | 2018-11-19 | 2018-11-19 | One kind looking around camera support and adjusting method |
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| CN112550172A (en) * | 2020-12-09 | 2021-03-26 | 上海浦喆信息技术有限公司 | Panoramic camera information acquisition device and angle adjusting method |
| CN113516716A (en) * | 2021-07-16 | 2021-10-19 | 燕山大学 | Monocular vision pose measuring and adjusting method and system |
| WO2022033387A1 (en) * | 2020-08-13 | 2022-02-17 | 深圳市道通科技股份有限公司 | Wheel image acquisition assembly, wheel positioning apparatus, and wheel positioning system |
| WO2023209723A1 (en) * | 2022-04-28 | 2023-11-02 | Ametos N.Y Ltd. | Device for carrying cameras |
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Application publication date: 20190412 |
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