CN109974745A - In-vehicle camera composite calibration monitor station - Google Patents
In-vehicle camera composite calibration monitor station Download PDFInfo
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- CN109974745A CN109974745A CN201711454898.XA CN201711454898A CN109974745A CN 109974745 A CN109974745 A CN 109974745A CN 201711454898 A CN201711454898 A CN 201711454898A CN 109974745 A CN109974745 A CN 109974745A
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- scaling board
- roller group
- rear view
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- 239000002131 composite material Substances 0.000 title claims abstract description 18
- 230000001681 protective effect Effects 0.000 claims description 21
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 12
- 238000001514 detection method Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000004922 lacquer Substances 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/10—Internal combustion engine [ICE] based vehicles
- Y02T10/40—Engine management systems
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- General Physics & Mathematics (AREA)
- Computer Vision & Pattern Recognition (AREA)
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- Manufacturing & Machinery (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention relates to a kind of in-vehicle camera composite calibration monitor stations, including demarcating platform, 2D calibration system, 3D calibration system and rear view camera calibration system, parking station is equipped on the calibration platform, and the front and back end of the parking station is equipped with centralising device, 2D calibration system is equipped in the front and back end two sides of the calibration platform, and the 2D calibration system is equipped with moveable 2D scaling board, rear view camera calibration system is equipped in the middle part of the calibration platform rear end, and the rear view camera calibration system is equipped with moveable rear view camera scaling board, on the calibration platform, side is respectively equipped with a calibration frame before and after the parking station, a 3D calibration system is respectively equipped in the left and right ends of the calibration frame, and the 3D calibration system is equipped with one with X, Y, tri- direction freedom degrees of Z 3D calibrating block.The present invention can be automatically positioned centering to car body, and scaling board is adjustable, can be compatible with various calibration detection mode, greatly improve vehicle calibration detection efficiency and applicable vehicle range.
Description
Technical field
The present invention relates to DAS (Driver Assistant System)s to demarcate detection field, specifically a kind of in-vehicle camera composite calibration detection
Platform.
Background technique
Automobile assistant driving system is one of the Main way of current automotive technology development, looks around (panorama with 360 ° of automobile
Image) system, Lane Departure Warning System (LDWS) and front collision early warning system (FCW) be representative automobile assistant driving
System is increasingly becoming the standard configuration of family-sized car.
It is by being mounted on the 4 groups of wide-angle cameras of automobile body all around that 360 ° of automobile, which are looked around (full-view image) system,
The image of vehicle's surroundings is acquired simultaneously, and by image procossing splicing, ultimately forms complete vehicle Zhou Quanjing birds-eye view, from
And driver is expanded to the sensing capability of vehicle-surroundings environment, it avoids because blind area causes safety accident.Deviation is pre-
Alert system (LDWS) is to be mentioned using the position of lane line in onboard sensor detection vehicle travel process in automotive run-off-road
The driver that wakes up carries out corresponding safety operation, safety accident caused by avoiding because of driving fatigue.
Onboard sensor used in above-mentioned driving ancillary technique is both needed to be demarcated in advance, thus establish sensor with
True positional relationship between vehicle and ambient enviroment.Wherein the calibration of in-vehicle camera is by the setting flag in place
Plate constructs the transformation relation of vehicle body coordinate system and earth axes, then establishes vehicle-mounted phase by in-vehicle camera identification tag
Positional relationship between machine and earth axes, and then position of the in-vehicle camera relative to vehicle body coordinate system is obtained by coordinate transform
Relationship is set, the calibration of system is completed.
Currently, the method for positional relationship mainly has introducing external between conventional determination vehicle body coordinate system and earth axes
It measures camera and guidance positions two class methods in calibration place to vehicle, wherein introducing the method for externally measured camera to environment
It is required that it is high, and since the lacquer painting of vehicle body is reflective, cause the stability of measurement poor, measurement accuracy is not high, applies in practical applications
It is limited in scope.And the method for vehicle guidance positioning is mostly designed just for single vehicle, it is more to be difficult to adapt to nowadays differentiation
The design of vehicle mixed production needs.Therefore how to guarantee the vehicles of different automobile types in same calibration place rapidly to vehicle-mounted
It is a technical problem urgently to be resolved that camera, which carries out calibration,.
Summary of the invention
The purpose of the present invention is to provide a kind of in-vehicle camera composite calibration monitor stations, and the car body of different automobile types can be made to exist
It is rapidly and accurately automatically positioned centering on calibration platform, and scaling board can be adjusted according to different automobile types, and compatibility is more
Kind calibration detection mode, greatly improves vehicle calibration detection efficiency and applicable vehicle range, improves vehicle calibration detection operation
Intelligent level.
The purpose of the present invention is achieved through the following technical solutions:
A kind of in-vehicle camera composite calibration monitor station, including calibration platform, 2D calibration system, 3D calibration system and backsight phase
Machine calibration system is equipped with parking station on the calibration platform, and the front and back end of the parking station is equipped with centralising device,
It is equipped with 2D calibration system in the front and back end two sides of the calibration platform, and the 2D calibration system is demarcated equipped with moveable 2D
Plate is equipped with rear view camera calibration system in the middle part of the calibration platform rear end, and the rear view camera calibration system is equipped with removable
Dynamic rear view camera scaling board, on the calibration platform, side is respectively equipped with a calibration frame before and after the parking station,
Be respectively equipped with a 3D calibration system in the left and right ends of the calibration frame, and the 3D calibration system be equipped with one have X,
Y, the 3D calibrating block of tri- direction freedom degrees of Z.
It is set on the calibration platform there are two parallel wheel road, the parking station includes front wheel alignment roller group with after
Wheel support roller group, wherein two groups of front wheel alignment roller groups are set to parking station front end and are respectively arranged on different wheel roads,
Two groups of rear wheel support roller groups are set to parking station rear end and are respectively arranged on different wheel roads, fixed in two groups of front-wheels
Centralising device is equipped between the roller group of position and between two groups of rear wheel support roller groups.
The centralising device includes centering support, centering strut, first slide, second slide, gear, the first rack gear,
Two rack gears and centering motor, the gear are rotated by the centering motor driven, and first rack gear and the second rack gear set up separately
It engages in the gear two sides and with the gear, first slide and second slide are movably arranged at centering support
On, and first slide and the first rack gear are connected, and second slide and the second rack gear are connected, in the first slide and second slide
Outside is equipped with centering strut.
The front wheel alignment roller group includes the first inclined-plane roller group, the second inclined-plane roller group and roller group pedestal, the first inclined-plane roller group
With the second inclined-plane roller group is V-shaped is installed on the roller group pedestal, side is equipped with roller group slope before and after the roller group pedestal；Institute
Stating rear wheel support roller group includes multiple backing rolls in same level.
The 2D calibration system includes 2D scaling board, 2D adjusts straight line units and 2D demarcates cover board, and the 2D scaling board is logical
It crosses the 2D and adjusts straight line units driving movement, the 2D calibration cover board is installed on calibration platform, and the 2D scaling board is complete
It is placed at full reduced time below the 2D calibration cover board.
The 2D adjusts straight line units and is packed in a mounting seat, and leveling seat is equipped in the mounting seat；Institute
2D scaling board is stated to be connected by a connection supporting plate and the 2D adjusting slider.
The rear view camera calibration system includes rear view camera scaling board, backsight calibration adjustment straight line units and backsight calibration
Cover board, the rear view camera scaling board are driven by the backsight calibration adjustment straight line units and are moved, and the backsight demarcates cover board
It is installed on calibration platform, and when rear view camera scaling board is fully retracted is placed in below the backsight calibration cover board.
The 3D calibration system includes 3D calibrating block and straight line units component, and the 3D calibrating block is equipped with orthogonal
First 3D scaling board and the 2nd 3D scaling board, and the 3D calibrating block is mobile by the straight line units Component driver, it is described straight
Line unit block is mounted on calibration frame.
The straight line units component include 3D calibration X-axis unit, X to Mobile base, 3D calibration Y-axis unit, Y-direction Mobile base,
3D demarcates Z axis unit and Z-direction mobile bar, and the X demarcates the driving movement of X-axis unit by the 3D to Mobile base, and 3D demarcates Y
Axle unit is mounted on the X on Mobile base, and the Y-direction Mobile base demarcates the driving movement of Y-axis unit by the 3D, and 3D is marked
To determine Z axis unit to be mounted on the Y-direction Mobile base, the Z-direction mobile bar demarcates the driving lifting of Z axis unit by the 3D, and
3D calibrating block is installed in Z-direction mobile bar lower end.
Platform protective cover is equipped on the outside of the calibration platform, the protective cover ceiling of the platform protective cover is equipped with illumination
Lamp.
Advantages of the present invention and good effect are as follows:
1, centering locating platform of the present invention using calibration platform as composite calibration, by identifying that vehicle model information obtains institute
The in-vehicle camera calibration mode that need to be used, and adjust corresponding scaling board and move to corresponding position, to complete to different automobile types
In-vehicle camera calibration detection, demarcate high-efficient, compatibility is strong.
2, the core of composite calibration platform of the present invention is that establish different automobile types automobile body coordinate system corresponding
Ground scaling board coordinate system fixed conversion relationship, then identify that scaling board is established in-vehicle camera and ground and marked by in-vehicle camera
Relationship between fixed board coordinate system, and the relationship of in-vehicle camera Yu vehicle body coordinate system is finally established, complete the calibration of in-vehicle camera.
3, the scaling board regulating mechanism in the 2D calibration mode in the present invention is embedded in calibration platform, can be according to vehicle
The position of 2D scaling board is adjusted in information, and 2D scaling board is adjusted to below hiding cover board when not needed.
4, scaling board regulating mechanism uses three axis truss in the 3D calibration mode in the present invention, can be to 3D calibrating block three
Position on a direction is adjusted, and 3D calibrating block rises to highest order when adapting to the calibration needs of different automobile types, and not need.
5, the rear view camera scaling board in the present invention can set adjusting in the enterprising line position of vehicle traveling direction, and not need
When rear view camera scaling board can be adjusted to below hiding cover board.
6, calibration platform of the invention is equipped with centralising device, can treat calibration vehicle automatically and carry out centering positioning, and energy
Enough compatible various.
7, the present invention effectively avoids interfering between each calibration mode, so that calibration platform be enable to be compatible with various calibration
Mode.
Detailed description of the invention
Fig. 1 is the working state schematic representation when present invention carries out 2D calibration,
Fig. 2 is the working state schematic representation when present invention carries out 3D calibration,
Working state schematic representation when Fig. 3 is carry out rear view camera calibration of the invention,
Fig. 4 is the top view that platform is demarcated in Fig. 1,
Fig. 5 is the structural schematic diagram of centralising device in Fig. 4,
Fig. 6 is the schematic diagram of front wheel alignment roller group in Fig. 4,
Fig. 7 is the structural schematic diagram of 2D calibration system in Fig. 1,
Fig. 8 is the structural schematic diagram of 3D calibration system in Fig. 1,
Fig. 9 is the structural schematic diagram of platform protective cover in Fig. 1.
Wherein, 1 is calibration place, and 2 be wheel guiding mechanism, and 3 be calibration platform, and 301 be centralising device, and 3011 be centering
Strut, 3012 be guiding push rod, and 3013 be the first rack gear, and 3014 be gear, and 3015 be first slide, and 3016 be the first sliding rail,
3017 be vertical plate, and 3018 be the second sliding rail, and 3019 be the second sliding block, and 3020 be centering motor, and 3021 be second slide, and 3022 are
Centering support, 3023 be the second rack gear, and 302 be front wheel alignment roller group, and 3021 be roller group pedestal, and 3022 be the first inclined-plane roller group,
3023 be the second inclined-plane roller group, and 3024 be roller group slope, and 303 be wheel road, and 304 be rear wheel support roller group, and 4 be 2D calibration system
System, 401 be 2D scaling board, and 402 adjust straight line units for 2D, and 4021 adjust motor for 2D, and 4022 be 2D adjusting slider, and 403 are
Supporting plate is connected, 404 be mounting seat, and 405 be leveling seat, and 406 demarcate cover board for 2D, and 5 be calibration frame, and 6 be 3D calibration system,
601 be 3D calibrating block, and 6011 be the first 3D scaling board, and 6012 be the 2nd 3D scaling board, and 602 demarcate Z axis unit for 3D, and 603 are
3D demarcates Y-axis unit, and 604 demarcate X-axis unit for 3D, and 7 be platform protective cover, and 701 be protective cover frame, and 702 keep off for protective cover
Plate, 703 be protective cover ceiling, and 704 be headlamp, and 8 be rear view camera calibration system, and 801 be rear view camera scaling board, and 9 be vehicle
Body.
Specific embodiment
The invention will be further described with reference to the accompanying drawing.
As shown in figure 1-9, the present invention includes calibration platform 3,2D calibration system 4,3D calibration system 6 and rear view camera mark
Determine system 8, the calibration platform 3 is set on calibration place 1, and there are two flat as shown in figure 4, setting on the calibration platform 3
Capable wheel road 303 is equipped with parking station on the wheel road 303, and is equipped with pair in the front and back end of the parking station
Middle device 301 is equipped with 2D calibration system 4 in the front and back end two sides of the calibration platform 3, and the 2D calibration system 4 is equipped with can
Mobile 2D scaling board 401 is equipped with rear view camera calibration system 8, the rear view camera mark in the middle part of 3 rear end of calibration platform
System 8 is determined equipped with moveable rear view camera scaling board 801, and on the calibration platform 3, side is divided before and after the parking station
Not She You a calibration frame 5, be respectively equipped with a 3D calibration system 6 in the left and right ends of the calibration frame 5, the 3D mark
System 6 is determined equipped with a 3D calibrating block 601 with tri- direction freedom degrees of X, Y, Z.
As shown in figure 4, the parking station includes front wheel alignment roller group 302 and rear wheel support roller group 304, wherein before two groups
Wheel positioning roller group 302 is set to parking station front end and is respectively arranged on different wheel roads 303, two groups of rear wheel support roller groups
304 are set to parking station rear end and are respectively arranged on different wheel roads 303, in two groups of front wheel alignment roller groups 302
Between and two groups of rear wheel support roller groups 304 between be equipped with centralising device 301.
As shown in figure 5, the centralising device 301 include centering support 3022, centering strut 3011, first slide 3015,
Second slide 3021, gear 3014, the first rack gear 3013, the second rack gear 3023 and centering motor 3020, the gear 3014 are logical
The driving of centering motor 3020 rotation is crossed, first rack gear 3013 and the second rack gear 3023 are divided into 3014 liang of the gear
It side and is engaged with the gear 3014, first slide 3015 and second slide 3021 are movably arranged at centering support
On 3022, and first slide 3015 and the first rack gear 3013 are connected, and second slide 3021 and the second rack gear 3023 are connected, and described the
One slide 3015 and second slide 3021 drive synchronous backward mobile by the centering motor 3020, the centering motor
3020 transmit torque by the gear 3014, the first rack gear 3013 and the second rack gear 3023, in 3015 He of first slide
The outside of second slide 3021 is equipped with centering strut 3011, and the centering strut 3011 is ajusted for offseting with two sides wheel
9 position of car body.
As shown in figure 5, the centering support 3022 is equipped with parallel the first sliding rail 3016 and the second sliding rail 3018, first
The first sliding block for cooperate with first sliding rail 3016 is equipped on the downside of slide 3015, equipped with described the on the downside of second slide 3021
Second sliding block 3019 of two sliding rails 3018 cooperation.
As shown in figure 5, being equipped with vertical plate 3017, the first slide 3015 and second slide to middle 3022 two sides of support
3021 respectively by guiding push rod 3012 and different centering struts 3011, and the guiding push rod 3012 passes through the vertical plate
It is connected after 3017 with centering strut 3011, the guide bearing for supporting the guiding push rod 3012 is equipped in the vertical plate 3017.
As shown in Figure 4 and Figure 6, the front wheel alignment roller group 302 includes the first inclined-plane roller group 3022, the second inclined-plane roller group
3023 and roller group pedestal 3021, the first inclined-plane roller group 3022 and the second inclined-plane roller group 3023 is V-shaped is installed on the roller group pedestal
On 3021, roller group slope 3024, first inclined-plane roller group 3022 and second are equipped in the 3021 front and back side of roller group pedestal
Each roller in inclined-plane roller group 3023 is axial parallel with the wheel road 303.The rear wheel support roller group 304 includes multiple is in
The backing roll of same level, and each backing roll is axial parallel with the wheel road 303.
It is equipped with 2D calibration system 4 in the front and back end two sides of the calibration platform 3, and the 2D calibration system 4 is respectively provided with
In 303 outside of wheel road.As shown in fig. 7, the 2D calibration system 4 includes 2D scaling board 401,2D adjusting straight line units 402, adjusts
Flat seat 405 and 2D demarcate cover board 406, and the 2D adjusts straight line units 402 and is equipped with moveable 2D adjusting slider 4022, described
401 downside of 2D scaling board is connected with the 2D adjusting slider 4022, and the 2D calibration cover board 406 is installed on calibration platform 3, and
The 2D scaling board 401 is placed in 406 lower section of 2D calibration cover board when being fully retracted, the 2D adjusts straight line units 402 and is fixedly mounted with
In a mounting seat 404, the mounting seat 404 is installed on calibration place 1, is equipped in the mounting seat 404
Leveling seat 405, and 405 lower plane of the leveling seat is connected with the mounting seat 404, upper plane and the 2D adjust straight line list
Member 402 is connected, four groups of threaded holes and four groups of bolts hole on the leveling seat 405, adjusts straight line units for leveling the 2D
402。
As shown in fig. 7, it includes that 2D adjusts motor 4021,2D adjusting slider 4022,2D tune that the 2D, which adjusts straight line units 402,
Pedestal and 2D adjusting screw are saved, the 2D adjusting screw is mounted on 2D adjustment base and adjusts the driving rotation of motor 4021 by 2D
Turn, 2D adjusting slider 4022 is equipped with the screw cooperated with the 2D adjusting screw.
As shown in fig. 7, the 2D scaling board 401 is realized and the 2D adjusting slider 4022 by a connection supporting plate 403
Be connected, the connection supporting plate 403 be in it is I-shaped, 2D adjusting slider 4022 is placed in the 403 side recess of connection supporting plate, described
403 upside of supporting plate is connected to be connected with the 2D scaling board 401.
As shown in Figures 1 to 3, rear view camera calibration system 8, the backsight phase are equipped in the middle part of 3 rear end of calibration platform
Machine calibration system 8 includes that rear view camera scaling board 801, backsight calibration adjustment straight line units and backsight demarcate cover board, the backsight
Camera calibration plate 801 is driven by the backsight calibration adjustment straight line units and is moved, and the backsight calibration cover board is installed in calibration
On platform 3, and when rear view camera scaling board 801 is fully retracted, is placed in below the backsight calibration cover board.In the present embodiment,
It is identical that the backsight calibration adjustment straight line units and the 2D adjust 402 structure of straight line units.
As shown in Fig. 1~3 and Fig. 8, the left and right ends of the calibration frame 5 are respectively equipped with a 3D calibration system 6, described
3D calibration system 6 includes a 3D calibrating block 601 and a straight line units component, and the 3D calibrating block 601 is square, described
3D calibrating block 601 is equipped with the first 3D scaling board 6011 and the 2nd 3D scaling board 6012, and the first 3D scaling board 6011 and second
3D scaling board 6012 is set in 3D calibrating block 601 on orthogonal two faces.The straight line units component includes 3D calibration X
Axle unit 604, X demarcate Z axis unit 602 and Z-direction mobile bar, institute to Mobile base, 3D calibration Y-axis unit 603, Y-direction Mobile base, 3D
It states X and the driving movement of X-axis unit 604 is demarcated by the 3D to Mobile base, 3D calibration Y-axis unit 603 is mounted on the X to movement
On seat, the Y-direction Mobile base demarcates the driving movement of Y-axis unit 603 by the 3D, and 3D calibration Z axis unit 602 is mounted on described
On Y-direction Mobile base, the Z-direction mobile bar demarcates the driving lifting of Z axis unit 602 by the 3D, and 3D calibrating block 601 is installed in institute
State Z-direction mobile bar lower end.In the present embodiment, the 3D calibration X-axis unit 604 and 3D calibration Y-axis unit 603 and the 2D are adjusted
402 structure of straight line units is identical, and the 3D calibration Z axis unit 602 includes Z-direction motor, Z-direction screw and Z-direction lead screw, the Z-direction
Motor and Z-direction screw are mounted on the Y-direction Mobile base, and the Z-direction screw is rotated by the Z-direction motor driven, with institute
The Z-direction lead screw for stating the cooperation of Z-direction screw is the Z-direction mobile bar.
As shown in Figures 1 to 3, platform protective cover 7 is equipped on the outside of the calibration platform 3, as shown in figure 9, the platform is protected
Shield 7 includes protective cover frame 701, protective cover baffle 702 and protective cover ceiling 703, wherein 701 surrounding of protective cover frame
Protective cover baffle 702 is installed, protective cover ceiling 703 is installed on the upside of the protective cover frame 701, in the protective cover ceiling
703 are equipped with headlamp 704.
As shown in Figures 1 to 3,3 rear end of calibration platform is 9 input terminal of car body, is equipped in 3 rear end of calibration platform
Two wheel guiding mechanisms 2 corresponding with two wheel roads 303 respectively.
The operation principle of the present invention is that:
Operator drives car body 9 to be calibrated and enters calibration place 1, and drives into calibration under the guidance of wheel guiding mechanism 2
Platform 3 stops at parking station after the front-wheel of car body 9 enters front wheel alignment roller group 302, after 9 rear-wheel of car body passes through at this time
Wheel support roller group 304 supports, and operator gets off, and OBD (vehicle diagnosing system) interface is connected with car body 9, control system
System identifies 9 vehicle model information of car body by OBD interface, and two centralising devices 302 of then control parking station front and back end synchronize dynamic
Car body 9 is ajusted, is overlapped the middle line of car body 9 with the middle line for demarcating platform 3, is demarcated after the completion of 9 centering of car body.
When carrying out 2D calibration, as shown in Figure 1, car body 9 is placed in parking station, the 2D calibration system 4 of 9 front end two sides of car body is adjusted
Whole 2D scaling board 401 is mobile to car body 9, it is made apart from 9 front end of car body distance to be set distance, while 9 rear end sides of car body
It is mobile to car body 9 that 2D calibration system 4 adjusts 2D scaling board 401, it is made apart from 9 rear end of car body distance to be set distance, this process
In for avoid 3D calibrating block 601 and rear view camera scaling board 801 to 2D calibration impact, need four groups of 3D calibrating blocks 601
Highest order is risen to, while the retraction of rear view camera scaling board 801 is hidden to back-sight visual system cover board.Control system is every in confirmation
Setting in place after the completion of, start to demarcate in-vehicle camera, due to car body 9 positioning in after, front and back 2D scaling board 401 away from
The distance of vehicle body is fixed, therefore the transformational relation between earth axes and vehicle body coordinate system by in-vehicle camera it has been determined that known
Other 2D scaling board 401 obtains the positional relationship between camera and earth axes, and finally obtains vehicle-mounted phase by coordinate transform
Parameter information of the machine relative to vehicle body coordinate system, then demarcated by the panoramic looking-around that the technologies such as image mosaic complete in-vehicle camera,
It is unqualified vehicle to the marking of cars for being unable to complete calibration, completes vehicle detection while to vehicle calibration.
For the 2D panoramic looking-around staking-out work for smoothly completing vehicle, it is also necessary to following subsidiary conditions: four groups of 2D calibration
Plate 401 and wheel bottom tangent are in same level；The upper surface of the calibration platform 3 is coated with white dumb light paint, to keep away
Exempt to influence in-vehicle camera identification 401 profile of 2D scaling board；The platform protective cover 7 provides uniform and stable unit area illumination,
Suitable lighting environment is provided for in-vehicle camera calibration；The 2D scaling board 401 of 9 front and rear sides of car body can be in vehicle row
It is adjusted on into direction, to adapt to the vehicle calibration of different wheelbases.
The panoramic looking-around calibration of part vehicle demarcates mode using 3D.When the present invention carries out 3D calibration, such as Fig. 2 institute
Show, by before and after car body 9 the total setting in side four perpendicular in calibration platform 3 and the 3D calibrating block 601 that is square is to vehicle
It carries panoramic looking-around camera to be demarcated, each 3D calibrating block 601 is equipped with orthogonal one group of 3D scaling board.Its calibration process with
2D calibration process is similar: car body 9 drives into calibration platform 3 and completion positioning centering work of stopping, and then makes to be located at 9 rear side of car body
Two 3D calibrating blocks 601 adjust the position of 3D scaling board according to vehicle model information, make the first 3D scaling board 6011 and body center line
Between distance and the 2nd 3D scaling board 6012 with body rear end distance reach setting value, two 3D calibration positioned at 9 front side of car body
Synchronous adjustment 3D demarcates Board position to block 601 simultaneously, makes distance and the 2nd 3D between the first 3D scaling board 6011 and body center line
Scaling board 6012 and body structure distance reach setting value, and four 601 bottom edges of 3D calibrating block need to be close to demarcate platform 3 at this time.
During this, it is similarly and 2D scaling board 401 and rear view camera scaling board 801 is avoided to have an impact 3D calibration, 2D scaling board 401
It is fully retracted with rear view camera scaling board 801 to various cover boards.Then control system is complete in place in the every setting of confirmation
Cheng Hou starts to carry out 3D calibration to in-vehicle camera, and the marking of cars that equally will be unable to complete calibration is unqualified vehicle.This implementation
In example, for the 3D panoramic looking-around staking-out work of compatible various, the 3D calibrating block 601 has the tune in tri- directions X, Y, Z
Whole freedom degree.
As shown in figure 3, the rear view camera calibration of car body 9 is the rear view camera scaling board by the way that 9 dead astern of car body is arranged in
801 realizations, calibration process is similar with the panoramic looking-around camera calibration process of vehicle: car body 9 drives into calibration platform 3 first,
And complete to complete positioning on calibration platform 3 to middle work, it is then within 8 basis of rear view camera calibration system in vehicle dead astern
Vehicle model information adjusts the position of rear view camera scaling board 801, makes its distance set distance value away from tail of the body.It is similarly and keeps away
Exempt from 2D scaling board 401 and 3D calibrating block 601 to have an impact rear view camera calibration, 2D scaling board 401 is fully retracted to lid at this time
Below plate, while 3D calibrating block 601 rises to highest order.Then control system the every setting of confirmation in place after the completion of, start pair
Vehicle-mounted back vision camera is demarcated, and the marking of cars that will be unable to complete calibration is unqualified vehicle.
Claims (10)
1. a kind of in-vehicle camera composite calibration monitor station, it is characterised in that: including demarcating platform (3), 2D calibration system (4), 3D
Calibration system (6) and rear view camera calibration system (8) are equipped with parking station, and the parking work on the calibration platform (3)
The front and back end of position is equipped with centralising device (301), is equipped with 2D calibration system in the front and back end two sides of calibration platform (3)
(4), and the 2D calibration system (4) is equipped with moveable 2D scaling board (401), sets in the middle part of calibration platform (3) rear end
Have rear view camera calibration system (8), and the rear view camera calibration system (8) is equipped with moveable rear view camera scaling board
(801), on the calibration platform (3), side is respectively equipped with a calibration frame (5) before and after the parking station, described
The left and right ends of calibration frame (5) are respectively equipped with a 3D calibration system (6), and the 3D calibration system (6) is equipped with a tool
There is the 3D calibrating block (601) of tri- direction freedom degrees of X, Y, Z.
2. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: in the calibration platform (3)
On set there are two parallel wheel road (303), the parking station includes front wheel alignment roller group (302) and rear wheel support roller group
(304), wherein two groups of front wheel alignment roller groups (302) are set to parking station front end and are respectively arranged at different wheel roads
(303) on, two groups of rear wheel support roller groups (304) are set to parking station rear end and are respectively arranged at different wheel roads (303)
On, centralising device is equipped between two groups of front wheel alignment roller groups (302) and between two groups of rear wheel support roller groups (304)
(301)。
3. in-vehicle camera composite calibration monitor station according to claim 1 or 2, it is characterised in that: the centralising device
It (301) include centering support (3022), centering strut (3011), first slide (3015), second slide (3021), gear
(3014), the first rack gear (3013), the second rack gear (3023) and centering motor (3020), it is described right that the gear (3014) passes through
Middle motor (3020) driving rotation, first rack gear (3013) and the second rack gear (3023) are divided into the gear (3014) two
It side and is engaged with the gear (3014), first slide (3015) and second slide (3021) are movably arranged at centering
On support (3022), and first slide (3015) and the first rack gear (3013) are connected, second slide (3021) and the second rack gear
(3023) it is connected, is equipped with centering strut (3011) on the outside of the first slide (3015) and second slide (3021).
4. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: the front wheel alignment roller group
It (302) include the first inclined-plane roller group (3022), the second inclined-plane roller group (3023) and roller group pedestal (3021), the first inclined-plane roller group
(3022) and the second inclined-plane roller group (3023) is V-shaped is installed on the roller group pedestal (3021), in the roller group pedestal
(3021) front and back side is equipped with roller group slope (3024)；The rear wheel support roller group (304) includes multiple in same level
Backing roll.
5. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: the 2D calibration system (4)
Straight line units (402) and 2D calibration cover board (406) are adjusted including 2D scaling board (401), 2D, the 2D scaling board (401) passes through
The 2D adjusts straight line units (402) driving movement, and 2D calibration cover board (406) is installed in calibration platform (3), and described
2D scaling board (401) is placed in below 2D calibration cover board (406) when being fully retracted.
6. in-vehicle camera composite calibration monitor station according to claim 5, it is characterised in that: the 2D adjusts straight line units
(402) it is packed on a mounting seat (404), is equipped with leveling seat (405) on the mounting seat (404)；The 2D mark
Fixed board (401) is connected by a connection supporting plate (403) and the 2D adjusting slider (4022).
7. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: rear view camera calibration system
System (8) includes rear view camera scaling board (801), backsight calibration adjustment straight line units and backsight calibration cover board, the rear view camera
Scaling board (801) is driven by the backsight calibration adjustment straight line units and is moved, and the backsight calibration cover board is installed in calibration ground
On platform (3), and when rear view camera scaling board (801) is fully retracted, is placed in below the backsight calibration cover board.
8. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: the 3D calibration system (6)
Including 3D calibrating block (601) and straight line units component, the 3D calibrating block (601) is equipped with orthogonal first 3D scaling board
, and the 3D calibrating block (601) mobile, the institute that passes through the straight line units Component driver (6011) and the 2nd 3D scaling board (6012)
Straight line units component is stated to be mounted on calibration frame (5).
9. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: the straight line units component packet
It includes 3D calibration X-axis unit (604), X and demarcates Z axis unit to Mobile base, 3D calibration Y-axis unit (603), Y-direction Mobile base, 3D
(602) it is moved to Mobile base by 3D calibration X-axis unit (604) driving with Z-direction mobile bar, the X, and 3D calibration Y-axis
Unit (603) is mounted on the X on Mobile base, and the Y-direction Mobile base is moved by 3D calibration Y-axis unit (603) driving
It is dynamic, and 3D calibration Z axis unit (602) is mounted on the Y-direction Mobile base, the Z-direction mobile bar demarcates Z axis list by the 3D
First (602) driving lifting, and 3D calibrating block (601) is installed in Z-direction mobile bar lower end.
10. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that: the calibration platform (3) is outside
Side is equipped with platform protective cover (7), and the protective cover ceiling (703) of the platform protective cover (7) is equipped with headlamp (704).
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| CN201711454898.XA CN109974745B (en) | 2017-12-28 | 2017-12-28 | Comprehensive calibration detection table for vehicle-mounted camera |
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| CN201711454898.XA CN109974745B (en) | 2017-12-28 | 2017-12-28 | Comprehensive calibration detection table for vehicle-mounted camera |
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