CN111239701A - Angle calibration method of vehicle-mounted distance detection device - Google Patents
Angle calibration method of vehicle-mounted distance detection device Download PDFInfo
- Publication number
- CN111239701A CN111239701A CN202010076192.XA CN202010076192A CN111239701A CN 111239701 A CN111239701 A CN 111239701A CN 202010076192 A CN202010076192 A CN 202010076192A CN 111239701 A CN111239701 A CN 111239701A
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- vehicle
- light source
- calibration
- distance detection
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 89
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 22
- 238000005034 decoration Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Measurement Of Optical Distance (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides an angle calibration method of a vehicle-mounted distance detection device, which comprises the following steps: starting the light source auxiliary calibration device at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the light source auxiliary calibration device is projected on a reference surface parallel to the auxiliary surface to form a first projection point; starting the light source auxiliary calibration device at the installation position of the distance detection device of the vehicle to form a second projection point by projection on the reference surface; and adjusting the angle orientation of the distance detection device to ensure that the horizontal distance between the second projection point and the first projection point is equal to the horizontal distance between the reference point and the projection position of the distance detection device on the reference surface, and the ground clearance of the second projection point is equal to the ground clearance of the installation position of the distance detection device. The calibration method is simple and rapid, has small calibration error, and improves the detection accuracy.
Description
Technical Field
The invention relates to the field of vehicle-mounted electronic equipment, in particular to an angle calibration method of a vehicle-mounted distance detection device.
Background
On-vehicle detection equipment installs on the front bumper like the millimeter wave radar generally, and the detection distance of millimeter wave radar is far away, and is higher to the accuracy nature requirement of surveying, consequently need ensure that the normal direction of millimeter wave radar is parallel with the linear direction of automobile body when it installs on the automobile body to make the millimeter wave radar accurately detect the barrier in the place ahead, provide safety precaution. Because the front bumper is generally arc-shaped, the normal direction of the millimeter wave radar is difficult to be directly parallel to the direction of the vehicle body after the millimeter wave radar is installed, and the millimeter wave needs to be adjusted. The existing mainstream millimeter wave radar needs to be externally connected with an adjusting bracket when being installed, the adjusting bracket is installed on a vehicle body, then the millimeter wave radar is installed on the adjusting bracket, and the millimeter wave radar is positioned at the optimal angle position by rotating the adjusting bracket. The existing adjusting method is to integrate a component capable of reflecting light on a shell of the millimeter wave radar, set a light source at a specific position and irradiate the light to the component capable of reflecting the light, and the light is irradiated to a specific position point after being remotely reflected by the component capable of reflecting the light so as to determine the angle position of the millimeter wave radar.
Disclosure of Invention
The invention aims to provide an angle calibration method of a vehicle-mounted distance detection device, which is simple to install and debug and can improve debugging accuracy.
In order to achieve the purpose, the invention provides the following technical scheme:
an angle calibration method of a vehicle-mounted distance detection device comprises the following steps:
starting the light source auxiliary calibration device at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the light source auxiliary calibration device is projected on a reference surface parallel to the auxiliary surface to form a first projection point;
starting the light source auxiliary calibration device at the installation position of the distance detection device of the vehicle to form a second projection point by projection on the reference surface;
and adjusting the angle orientation of the distance detection device to ensure that the horizontal distance between the second projection point and the first projection point is equal to the horizontal distance between the reference point and the projection position of the distance detection device on the reference surface, and the ground clearance of the second projection point is equal to the ground clearance of the installation position of the distance detection device.
Further setting: after a first projection point is projected and formed on a reference surface, a reference line which is perpendicular to the ground and passes through the first projection point is determined on the reference surface, a calibration line which is parallel to the reference line is determined on the reference surface, the distance between the calibration line and the reference line is equal to the horizontal distance between a reference point and the projection position of the distance detection device on the reference surface, and the angular orientation of the distance detection device is adjusted to enable a second projection point to fall on the calibration line.
Further setting: the auxiliary surface is a plane where a license plate of the vehicle is located.
Further setting: providing an auxiliary rod, when the auxiliary light source calibration device is arranged on the auxiliary surface, arranging and fixing the auxiliary light source calibration device on the auxiliary rod, and flatly pasting one side of the auxiliary rod far away from the auxiliary light source calibration device with the license plate so as to enable the irradiation direction of the auxiliary light source calibration device to be parallel to the length direction of the vehicle body.
Further setting: the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device, the auxiliary rod is sleeved on the light source auxiliary calibration device, the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device, and the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device.
Further setting: the light source auxiliary calibration device is characterized in that a first clamping portion is arranged on the light source auxiliary calibration device, a second clamping portion matched with the first clamping portion in a clamping mode is arranged on the auxiliary rod, and in the step of installing and fixing the light source auxiliary calibration device on the auxiliary rod, the first clamping portion on the light source auxiliary calibration device is clamped and fixed on the second clamping portion to enable the light source auxiliary calibration device and the auxiliary rod to be fixed mutually.
Further setting: the vehicle-mounted distance detection device comprises a mounting shell and an accommodating shell, wherein the mounting shell is used for being fixed on a vehicle body, the accommodating shell is rotatably arranged in the mounting shell, a distance detection part is fixed in the accommodating shell, after a calibration line parallel to a reference line is determined, the auxiliary light source calibration device is fixedly installed on the accommodating shell, and the accommodating shell is horizontally rotated to enable light rays emitted by the auxiliary light source calibration device to irradiate the calibration line.
Further setting: after the ground clearance of the vehicle-mounted distance detection device is measured, a horizontal reference point is calibrated at the position, on the calibration line, of the same height as the ground clearance, and the accommodating shell is rotated up and down to enable the light emitted by the light source auxiliary calibration device to irradiate the horizontal reference point.
Further setting: the light source auxiliary calibration device is provided with a first clamping portion, the accommodating shell is provided with a third clamping portion fixed with the first clamping portion in a clamping mode, and in the step of installing and fixing the light source auxiliary calibration device on the accommodating shell, the first clamping portion on the light source auxiliary calibration device is buckled on the third clamping portion to enable the light source auxiliary calibration device and the accommodating shell to be fixed mutually.
Further setting: the vehicle-mounted distance detection device is a millimeter wave radar.
Compared with the prior art, the scheme of the invention has the following advantages:
1. according to the angle calibration method of the vehicle-mounted distance detection device, an auxiliary surface is determined on or close to the license plate, the light source auxiliary calibration device is installed on the auxiliary surface and irradiates the auxiliary surface to a reference surface far away, the offset between the vehicle-mounted distance detection device and the light source auxiliary calibration device and the installation height of the offset are measured, so that an accurate calibration drop point on the reference surface is quickly obtained, the vehicle-mounted detection device is adjusted to enable the light source auxiliary calibration device on the vehicle-mounted distance detection device to irradiate the calibration drop point, and then angle calibration is completed.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic view of an angle calibration of a vehicle-mounted distance detecting device according to an embodiment of the present invention;
FIG. 2 is a schematic illustration of a reference plane of one embodiment of the present invention;
FIG. 3 is a schematic view of a connection structure of an auxiliary alignment device and an auxiliary rod of a light source according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a vehicle-mounted distance detecting device according to an embodiment of the present invention;
fig. 5 is an assembly diagram of the auxiliary calibration device for a light source, the vehicle-mounted distance detection device and the vehicle according to an embodiment of the invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative only and should not be construed as limiting the invention.
As shown in fig. 1 and fig. 2, the present invention provides an angle calibration method for a vehicle-mounted distance detection device 1, in this embodiment, the vehicle-mounted distance detection device 1 is an electromagnetic wave radar, specifically, a millimeter wave radar. In this embodiment, the millimeter wave radar includes an antenna integrated chip capable of receiving and transmitting millimeter waves, and in other embodiments, the millimeter wave radar may further include an external microstrip antenna. In other embodiments, the angle calibration method may further include the steps of:
starting the light source auxiliary calibration device 5 at a reference point 31 on an auxiliary surface 3 perpendicular to the length direction of the vehicle 2, so that a first projection point 41 is formed by projection on a reference surface 4 parallel to the auxiliary surface 3;
starting the auxiliary calibration device 5 of the luminous source at the installation position of the distance detection device 1 of the vehicle 2 to form a second projection point on the reference surface 4;
the angle of the distance detecting device 1 is adjusted toward a position where the horizontal distance between the second projection point and the first projection point 41 is equal to the horizontal distance between the reference point 31 and the projection position of the distance detecting device 1 on the reference surface 4, and the height from the ground of the second projection point is equal to the height from the ground of the installation position of the distance detecting device 1. In this embodiment, the auxiliary alignment device 5 of the light source is a laser element.
By adopting the angle calibration method, the auxiliary surface 3 and the reference surface 4 which are parallel to each other are determined, the auxiliary light source calibration device 5 is vertically arranged on the auxiliary surface 3, the direction of the emitted light is the length direction of the vehicle body, namely the linear direction of the vehicle 2, then the auxiliary light source calibration device 5 arranged on the vehicle-mounted detection device 1 is used for emitting light, the emitted light of the auxiliary light source calibration device 5 is adjusted to be parallel to the light emitted by the auxiliary light source calibration device 5 arranged on the auxiliary surface 3, and the completion of the angle calibration of the vehicle-mounted detection device 1 can be determined.
Specifically, in order to make the light emitted from the auxiliary light source calibration device 5 installed at the on-vehicle detection device 1 and the light emitted from the auxiliary light source calibration device 5 installed on the auxiliary surface 3 parallel to each other, it is necessary to perform horizontal angle adjustment and vertical angle adjustment on the auxiliary light source calibration device 5 installed on the on-vehicle detection device 1. The horizontal detection angle of the on-vehicle detection device 1 is determined by determining the horizontal detection angle of the on-vehicle detection device 1, forming a first projection point 41 on the reference surface 4 by the light emitted from the light source auxiliary calibration device 5 mounted on the auxiliary surface 3, and determining the horizontal position of the light emitted from the light source auxiliary calibration device 5 mounted on the on-vehicle detection device 1 at the same horizontal distance from the first projection point 41 on the reference surface 4 by measuring the horizontal distance between the mounting position of the light source auxiliary calibration device 5 on the auxiliary surface 3 and the projection position of the on-vehicle detection device 1 on the auxiliary surface 3. Then, the vertical detection angle of the vehicle-mounted detection device 1 is determined, the ground clearance position of the vehicle-mounted detection device 1 is measured, the vertical position of the light projected by the light source auxiliary calibration device 5 is determined at the same ground clearance position on the reference surface 4, and then the horizontal position of the projected light is determined, and the intersection point of the horizontal position and the vertical position forms a calibration point 44. Finally, the auxiliary light source calibration device 5 on the vehicle-mounted detection device 1 is adjusted to irradiate the calibration point 44, so that the horizontal and vertical angle calibration of the vehicle-mounted detection device 1 can be determined to be completed.
Further, after a first projection point 41 is projected and formed on the reference surface 4, a reference line 42 which is perpendicular to the ground and passes through the first projection point 41 is determined on the reference surface 4, a calibration line 43 which is parallel to the reference line 42 is determined on the reference surface 4, the distance between the calibration line 43 and the reference line 42 is equal to the horizontal distance between the reference point 31 and the projection position of the distance detection device 1 on the reference surface 4, and the angle orientation of the distance detection device 1 is adjusted to make a second projection point fall on the calibration line 43.
By forming the calibration line 43 on the reference surface 4, when the distance detection device 1 is adjusted, the horizontal orientation angle of the in-vehicle distance detection device 1 can be determined quickly by irradiating the calibration line 43 with the light emitted from the light-emitting source auxiliary calibration device 5 connected thereto.
Preferably, after determining a calibration line 43 parallel to the reference line 42, the method further comprises the following steps:
the light source auxiliary calibration device 5 provided on the auxiliary surface 3 is removed and attached to the vehicle-mounted distance detection device 1, and the vehicle-mounted distance detection device 1 is adjusted so that the light emitted from the light source auxiliary calibration device 5 is irradiated on the calibration line 43.
After the auxiliary light source calibration device 5 installed on the auxiliary surface 3 emits light, a reference line 42 can be drawn on the reference surface 4 through a first projection point 42 of the auxiliary light source calibration device 5, then the distance between the installation position of the auxiliary light source calibration device 5 on the auxiliary surface 3 and the projection position of the vehicle-mounted distance detection device 1 on the auxiliary surface 3 is measured, the reference line 42 is shifted by the same distance along the direction close to the vehicle-mounted distance detection device 1 on the reference surface 4, and a calibration line 43 is drawn, and then the auxiliary light source calibration device 5 can be taken off from the auxiliary surface 3 and installed on the vehicle-mounted distance detection device 1 for angle calibration. Therefore, the angle calibration can be completed by only using one luminous source auxiliary calibration device 5 in the whole angle calibration process, the calibration cost is reduced, the whole calibration process is simplified, and the operation is more convenient.
Preferably, the auxiliary surface 3 is a plane where a license plate 21 of the vehicle 2 is located, and specifically, the auxiliary surface 3 is disposed on a surface of the license plate 21. Because the license plate 21 is arranged at the center of the head of the automobile, and the license plate 21 is normally arranged to face the front of the automobile 2, the reference line 42 can be quickly determined on the reference surface 4 by taking the surface of the license plate 21 as the auxiliary surface 3, the calibration efficiency is improved, the auxiliary surface 3 can be directly determined on the automobile body in an ascending way, and the calibration cost is also saved.
In this embodiment, the reference surface 4 can be disposed on the projection plate, the projection plate can be disposed in a double-layer plate structure, and the light holes are correspondingly formed in the double-layer plate, when the light emitted from the light source auxiliary calibration device 5 mounted on the license plate 21 passes through two light holes on the projection plate, it can be determined that the reference surface 4 and the auxiliary surface 3 are parallel to each other, this operation process is simple, and other high-cost devices are not required, so that the device is suitable for self-installation and calibration of consumers, and the installation and calibration cost is greatly reduced.
As shown in fig. 3, when the auxiliary alignment device 5 for the light source is mounted on the auxiliary surface 3, the auxiliary alignment device 5 for the light source is mounted and fixed on the auxiliary rod 6, and the side of the auxiliary rod 6 away from the auxiliary alignment device 5 for the light source is flush with the license plate 21 so that the illumination direction of the auxiliary alignment device 5 for the light source is parallel to the longitudinal direction of the vehicle body. Since the numbers and letters on the license plate 21 are convex, the surface of the license plate 21 is easily uneven, and the installation of the auxiliary light source calibration device 5 is affected. The auxiliary light source calibration device 5 is arranged on the auxiliary rod 6, and then the auxiliary rod 6 stretches across the raised characters on the license plate 21, so that the installation difficulty of the auxiliary light source calibration device 5 is reduced, and the light emitted by the auxiliary light source calibration device 5 is ensured to face the front. In the angle calibration method of the embodiment, only one operator needs to hold the auxiliary rod 6 by hand at the license plate 21 to enable the auxiliary rod to be flatly attached to the license plate 21, and the other operator draws the reference line 42 on the reference surface 4 at a certain distance from the vehicle 2, so that the auxiliary rod 6 does not need to be installed and fixed with the license plate 21, the complicated installation and fixation process is avoided, and the calibration efficiency is improved.
In this embodiment, a connecting portion 61 is disposed at one end of the auxiliary rod 6, a fitting hole 611 is disposed on the connecting portion 61, through which the auxiliary calibration device 5 of the light source can be inserted and fit with each other in an interference manner, the auxiliary rod 6 is taken off from the auxiliary surface 3 and sleeved on the auxiliary calibration device 5 of the light source before the angle of the vehicle-mounted distance detection device 1 is adjusted, and the illumination angle of the auxiliary calibration device 5 of the light source is changed by rotating the auxiliary rod 6. Specifically, the auxiliary rod 6 is sleeved at the front end of the auxiliary light source calibration device 5, i.e. the end far away from the connection with the vehicle-mounted distance detection device 1.
Utilize 6 covers of auxiliary rod to locate light emitting source auxiliary calibration device 5 and make both connect fixedly, when carrying out the angle calibration to on-vehicle distance detection device 1, auxiliary rod 6 can increase the drive power arm, makes the operator more laborsaving when the adjustment, brings more facilities for operator's calibration in-process, has reduced the operation degree of difficulty.
Further, be equipped with first joint portion on the supplementary calibrating device 5 of light emitting source, be equipped with on the auxiliary rod 6 with first joint portion joint complex second joint portion 62, in the step of being fixed in the installation of the supplementary calibrating device 5 of light emitting source on the auxiliary rod 6, be fixed in the supplementary calibrating device 5 of light emitting source on second joint portion 62 with first joint portion joint on the supplementary calibrating device 5 of light emitting source and make the supplementary calibrating device 5 of light emitting source and auxiliary rod 6 reciprocal anchorage.
Specifically, first joint portion includes a plurality of pothooks 51, second joint portion 62 includes can supply pothook 51 hook to put fixed draw-in groove 621, second joint portion 62 still including supplying pothook 51 inserts and rotatable hook and puts in installation breach 622 in draw-in groove 621, preferably, second joint portion 62 sets up in the middle part of auxiliary rod 6.
When the auxiliary rod 6 and the light emitting source auxiliary calibrating device 5 are assembled, the clamping hook 51 is inserted into the clamping groove 621 through the installation notch 622 and is rotated, so that the light emitting source auxiliary calibrating device 5 and the auxiliary rod 6 are mutually fixed, the two devices are convenient and quick to disassemble and assemble, the operation difficulty is reduced, and the calibrating efficiency is greatly improved. In addition, the hook 51 is engaged with the slot 621, so that the auxiliary light source calibration device 5 and the auxiliary rod 6 are parallel to each other, and the light emitted from the auxiliary light source calibration device 5 is directed to the front of the vehicle 2.
Referring to fig. 4, in the present embodiment, the vehicle-mounted distance detecting device 1 includes a mounting shell 11 for being fixed to a vehicle body and an accommodating shell 12 rotatably disposed in the mounting shell 11, the accommodating shell 12 is provided with distance detecting means, after a calibration line 43 parallel to a reference line 42 is determined, the auxiliary light source calibration device 5 is fixedly mounted on the accommodating shell 12, and the accommodating shell 12 is horizontally rotated to irradiate the calibration line 43 with light emitted by the auxiliary light source calibration device 5.
Further, after the height from the ground of the vehicle-mounted distance detecting device 1 is measured, a horizontal reference point is calibrated on the calibration line 43 at the same height as the height from the ground, and the accommodating case 12 is rotated up and down to make the light emitted by the light-emitting source auxiliary calibration device 5 irradiate the horizontal reference point.
On-vehicle distance detection device 1 adopts the inner and outer integrated configuration who holds shell 12 and installation shell 11 that sets up, it can install shell 11 relatively and rotate the regulation to hold shell 12, with the detection angle who changes distance detection part, only through self structure and can realize the regulation of angle, and need not plus adjust the support, whole occupation space has been reduced, and when carrying out the angle calibration to on-vehicle distance detection device 1, install light emitting source auxiliary calibration device 5 on holding shell 12, can accomplish the calibration of on-vehicle distance detection device 1 through rotating from left to right and tilting, and easy operation is convenient.
Specifically, the accommodating shell 12 is in a spherical shape, a spherical space for allowing the accommodating shell 12 to rotate is defined in the mounting shell 11, and further, a connecting sleeve 13 for providing a damping effect for the accommodating shell 12 is further interposed between the accommodating shell 12 and the mounting shell 11. The outer wall of the accommodating shell 12 is convexly provided with a guide protrusion 121, the connecting sleeve 13 is provided with a guide groove 131 for the guide protrusion 121 to be embedded in, and the guide protrusion 121 can slide along the guide groove 131 to enable the accommodating shell 12 to horizontally rotate and adjust. Further, the guide protrusion 121 has a hemispherical shape so that the accommodating case 12 can be rotatably adjusted up and down around the guide protrusion 121.
The rotation direction of the distance detecting member mounted to the accommodating case 12 is limited by the fitting structure of the hemispherical guide protrusion 121 and the guide groove 131 of the connection sleeve 13, so that it can only swing left and right and up and down.
Further, the accommodating shell 12 is provided with a third clamping portion 122 clamped and fixed with the first clamping portion, and in the step of installing and fixing the light source auxiliary calibration device 5 on the accommodating shell 12, the first clamping portion on the light source auxiliary calibration device 5 is buckled on the third clamping portion 122, so that the light source auxiliary calibration device 5 and the accommodating shell 12 are fixed to each other. Specifically, the structure of the third fastening portion 122 is the same as the structure of the second fastening portion 62 on the auxiliary rod 6, and both have a fastening slot 621 for the fastening hook 51 to be fastened and an installation notch 622 for the fastening hook 51 to pass through. Preferably, the front end of the accommodating case 12 is planar.
After the light source auxiliary calibrating device 5 is detached from the auxiliary rod 6, the hook 51 on the light source auxiliary calibrating device 5 is rotated and clamped in the hook 51 on the accommodating shell 12, so that the connection and fixation of the light source auxiliary calibrating device 5 and the accommodating shell 12 can be realized, the installation is convenient and rapid, and the front end of the accommodating shell 12 is planar, so that the light source auxiliary calibrating device 5 and the accommodating shell 12 are ensured to be vertical to the accommodating shell 12 after being installed, and the calibrating error is reduced.
Referring to fig. 5, in the present embodiment, the mounting shell 11 is inserted into a preset hole 22 fixed on the vehicle body, and when the vehicle is mounted, the preset hole 22 needs to be drilled on the vehicle body in advance, and then the mounting shell 11 is inserted into the preset hole 22, so that the vehicle-mounted distance detecting device 1 is fixed with the vehicle body. By adopting the installation mode, the concealment is higher, the front bumper does not need to be detached, and the operation is more convenient.
The foregoing is only a partial embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An angle calibration method of a vehicle-mounted distance detection device is characterized by comprising the following steps: the method comprises the following steps:
starting the light source auxiliary calibration device at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the light source auxiliary calibration device is projected on a reference surface parallel to the auxiliary surface to form a first projection point;
starting the light source auxiliary calibration device at the installation position of the distance detection device of the vehicle to form a second projection point by projection on the reference surface;
and adjusting the angle orientation of the distance detection device to ensure that the horizontal distance between the second projection point and the first projection point is equal to the horizontal distance between the reference point and the projection position of the distance detection device on the reference surface, and the ground clearance of the second projection point is equal to the ground clearance of the installation position of the distance detection device.
2. The angle calibration method for the vehicle-mounted distance detection apparatus according to claim 1, wherein: after a first projection point is projected and formed on a reference surface, a reference line which is perpendicular to the ground and passes through the first projection point is determined on the reference surface, a calibration line which is parallel to the reference line is determined on the reference surface, the distance between the calibration line and the reference line is equal to the horizontal distance between a reference point and the projection position of the distance detection device on the reference surface, and the angular orientation of the distance detection device is adjusted to enable a second projection point to fall on the calibration line.
3. The angle calibration method for the vehicle-mounted distance detection apparatus according to claim 1, wherein: the auxiliary surface is a plane where a license plate of the vehicle is located.
4. The angle calibration method for the vehicle-mounted distance detection device according to claim 3, wherein: providing an auxiliary rod, when the auxiliary light source calibration device is arranged on the auxiliary surface, arranging and fixing the auxiliary light source calibration device on the auxiliary rod, and flatly pasting one side of the auxiliary rod far away from the auxiliary light source calibration device with the license plate so as to enable the irradiation direction of the auxiliary light source calibration device to be parallel to the length direction of the vehicle body.
5. The angle calibration method for the vehicle-mounted distance detection device according to claim 4, wherein: the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device, the auxiliary rod is sleeved on the light source auxiliary calibration device, the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device, and the auxiliary rod is arranged on the auxiliary surface of the vehicle-mounted distance detection device.
6. The angle calibration method for the vehicle-mounted distance detection device according to claim 4, wherein: the light source auxiliary calibration device is characterized in that a first clamping portion is arranged on the light source auxiliary calibration device, a second clamping portion matched with the first clamping portion in a clamping mode is arranged on the auxiliary rod, and in the step of installing and fixing the light source auxiliary calibration device on the auxiliary rod, the first clamping portion on the light source auxiliary calibration device is clamped and fixed on the second clamping portion to enable the light source auxiliary calibration device and the auxiliary rod to be fixed mutually.
7. The angle calibration method for the vehicle-mounted distance detection device according to claim 2, wherein: the vehicle-mounted distance detection device comprises a mounting shell and an accommodating shell, wherein the mounting shell is used for being fixed on a vehicle body, the accommodating shell is rotatably arranged in the mounting shell, a distance detection part is fixed in the accommodating shell, after a calibration line parallel to a reference line is determined, the auxiliary light source calibration device is fixedly installed on the accommodating shell, and the accommodating shell is horizontally rotated to enable light rays emitted by the auxiliary light source calibration device to irradiate the calibration line.
8. The angle calibration method for the vehicle-mounted distance detection device according to claim 7, wherein: after the ground clearance of the vehicle-mounted distance detection device is measured, a horizontal reference point is calibrated at the position, on the calibration line, of the same height as the ground clearance, and the accommodating shell is rotated up and down to enable the light emitted by the light source auxiliary calibration device to irradiate the horizontal reference point.
9. The angle calibration method for the vehicle-mounted distance detection device according to claim 7, wherein: the light source auxiliary calibration device is provided with a first clamping portion, the accommodating shell is provided with a third clamping portion fixed with the first clamping portion in a clamping mode, and in the step of installing and fixing the light source auxiliary calibration device on the accommodating shell, the first clamping portion on the light source auxiliary calibration device is buckled on the third clamping portion to enable the light source auxiliary calibration device and the accommodating shell to be fixed mutually.
10. The angle calibration method for the vehicle-mounted distance detection apparatus according to claim 1, wherein: the vehicle-mounted distance detection device is an electromagnetic wave radar.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010076192.XA CN111239701B (en) | 2020-01-23 | 2020-01-23 | Angle calibration method of vehicle-mounted distance detection device |
| PCT/CN2020/111128 WO2021147314A1 (en) | 2020-01-23 | 2020-08-25 | Vehicle-mounted distance probe apparatus angle calibration method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010076192.XA CN111239701B (en) | 2020-01-23 | 2020-01-23 | Angle calibration method of vehicle-mounted distance detection device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111239701A true CN111239701A (en) | 2020-06-05 |
| CN111239701B CN111239701B (en) | 2023-12-22 |
Family
ID=70872948
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010076192.XA Active CN111239701B (en) | 2020-01-23 | 2020-01-23 | Angle calibration method of vehicle-mounted distance detection device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111239701B (en) |
| WO (1) | WO2021147314A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021147314A1 (en) * | 2020-01-23 | 2021-07-29 | 铁将军汽车电子股份有限公司 | Vehicle-mounted distance probe apparatus angle calibration method |
| WO2021147315A1 (en) * | 2020-01-21 | 2021-07-29 | 铁将军汽车电子股份有限公司 | Vehicle-mounted distance detection device |
| CN113636100A (en) * | 2021-07-12 | 2021-11-12 | 中国航空工业集团公司沈阳飞机设计研究所 | Calibration method for aircraft hanging object projection |
| CN114740457A (en) * | 2022-04-06 | 2022-07-12 | 惠州越登智能科技有限公司 | TOF laser radar transmitting unit adjusting system and method |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017101912A1 (en) * | 2015-12-18 | 2017-06-22 | Hella Gutmann Solutions GmbH | Device for calibrating at least one radar sensor |
| US20180088228A1 (en) * | 2016-09-23 | 2018-03-29 | Baidu Online Network Technology (Beijing) Co., Ltd. | Obstacle detection method and apparatus for vehicle-mounted radar system |
| CN107966690A (en) * | 2018-01-12 | 2018-04-27 | 深圳市道通科技股份有限公司 | Trailer-mounted radar calibration facility |
| CN108594187A (en) * | 2017-12-25 | 2018-09-28 | 深圳市道通科技股份有限公司 | A kind of trailer-mounted radar calibration facility and method |
| US20190004147A1 (en) * | 2017-06-30 | 2019-01-03 | Bosch Automotive Service Solutions Inc. | Portable Apparatus, System, and Method for Calibrating a Vehicular Electromagnetic Sensor |
| CN109901183A (en) * | 2019-03-13 | 2019-06-18 | 电子科技大学中山学院 | Method for improving all-weather distance measurement precision and reliability of laser radar |
| CN110132305A (en) * | 2019-04-28 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of real-time calibration method and device |
| CN110261832A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110261831A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110658523A (en) * | 2019-10-30 | 2020-01-07 | 北京道锐达科技有限公司 | Vehicle-mounted radar installation calibration device and calibration method |
| US20200400782A1 (en) * | 2018-03-07 | 2020-12-24 | Autel Intelligent Technology Corp., Ltd. | Calibration device of on-board radar |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101809324B1 (en) * | 2015-08-21 | 2017-12-14 | 주식회사 만도 | Calibration system and method for vehicular radar |
| CN206193235U (en) * | 2016-11-24 | 2017-05-24 | 国网山东省电力公司电力科学研究院 | Electric power inspection is two -dimensional laser radar calibration device for robot |
| CN111257843B (en) * | 2017-10-20 | 2022-08-02 | 深圳市道通科技股份有限公司 | Car blind area radar calibration equipment |
| US11131740B2 (en) * | 2017-11-20 | 2021-09-28 | Ford Motor Company | System and method for aligning a sensor assembly |
| CN207924131U (en) * | 2018-03-07 | 2018-09-28 | 深圳市道通科技股份有限公司 | A kind of trailer-mounted radar calibration facility |
| CN111239701B (en) * | 2020-01-23 | 2023-12-22 | 铁将军汽车电子股份有限公司 | Angle calibration method of vehicle-mounted distance detection device |
-
2020
- 2020-01-23 CN CN202010076192.XA patent/CN111239701B/en active Active
- 2020-08-25 WO PCT/CN2020/111128 patent/WO2021147314A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017101912A1 (en) * | 2015-12-18 | 2017-06-22 | Hella Gutmann Solutions GmbH | Device for calibrating at least one radar sensor |
| US20180088228A1 (en) * | 2016-09-23 | 2018-03-29 | Baidu Online Network Technology (Beijing) Co., Ltd. | Obstacle detection method and apparatus for vehicle-mounted radar system |
| US20190004147A1 (en) * | 2017-06-30 | 2019-01-03 | Bosch Automotive Service Solutions Inc. | Portable Apparatus, System, and Method for Calibrating a Vehicular Electromagnetic Sensor |
| CN108594187A (en) * | 2017-12-25 | 2018-09-28 | 深圳市道通科技股份有限公司 | A kind of trailer-mounted radar calibration facility and method |
| CN107966690A (en) * | 2018-01-12 | 2018-04-27 | 深圳市道通科技股份有限公司 | Trailer-mounted radar calibration facility |
| US20200400782A1 (en) * | 2018-03-07 | 2020-12-24 | Autel Intelligent Technology Corp., Ltd. | Calibration device of on-board radar |
| CN109901183A (en) * | 2019-03-13 | 2019-06-18 | 电子科技大学中山学院 | Method for improving all-weather distance measurement precision and reliability of laser radar |
| CN110132305A (en) * | 2019-04-28 | 2019-08-16 | 浙江吉利控股集团有限公司 | A kind of real-time calibration method and device |
| CN110261832A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110261831A (en) * | 2019-07-04 | 2019-09-20 | 北京行易道科技有限公司 | A kind of radar installation calibrating method and system |
| CN110658523A (en) * | 2019-10-30 | 2020-01-07 | 北京道锐达科技有限公司 | Vehicle-mounted radar installation calibration device and calibration method |
Non-Patent Citations (2)
| Title |
|---|
| DOUGLAS N. DAWSON 等: "An Energy Minimization Approach to Automatic Traffic Camera Calibration", 《IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS》, vol. 14, no. 03, pages 1095 - 1108, XP011525524, DOI: 10.1109/TITS.2013.2253553 * |
| 薛武 等: "车载测量系统几何标定的探讨", 《测绘科学》, vol. 40, no. 01, pages 68 - 71 * |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021147315A1 (en) * | 2020-01-21 | 2021-07-29 | 铁将军汽车电子股份有限公司 | Vehicle-mounted distance detection device |
| WO2021147314A1 (en) * | 2020-01-23 | 2021-07-29 | 铁将军汽车电子股份有限公司 | Vehicle-mounted distance probe apparatus angle calibration method |
| CN113636100A (en) * | 2021-07-12 | 2021-11-12 | 中国航空工业集团公司沈阳飞机设计研究所 | Calibration method for aircraft hanging object projection |
| CN113636100B (en) * | 2021-07-12 | 2023-08-08 | 中国航空工业集团公司沈阳飞机设计研究所 | Calibration method for aircraft mount projection |
| CN114740457A (en) * | 2022-04-06 | 2022-07-12 | 惠州越登智能科技有限公司 | TOF laser radar transmitting unit adjusting system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021147314A1 (en) | 2021-07-29 |
| CN111239701B (en) | 2023-12-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111239701A (en) | Angle calibration method of vehicle-mounted distance detection device | |
| US6583868B2 (en) | Method of aligning an ACC-sensor on a vehicle | |
| ES2968764T3 (en) | Calibrating a vehicle camera | |
| US6813015B2 (en) | Adjusting device with an optical regulating device having a reflector | |
| US11162785B2 (en) | Assisted portable vehicle sensor calibration alignment | |
| WO2023056768A1 (en) | Assistive mounting device and angle calibration method for radar-video all-in-one machine for road | |
| CN111442745B (en) | Device and method for aligning calibration equipment | |
| CN211652021U (en) | Calibration device for automobile camera | |
| US4827623A (en) | Apparatus for determining the alignment of vehicle wheels | |
| JP2017116431A (en) | On-vehicle radar sight-scope adjustment inspection target device | |
| KR20120094998A (en) | Device for aligning radar for vehicle and aligning method using the same | |
| CN211826496U (en) | Vehicle-mounted distance detection device | |
| US20090302196A1 (en) | Position adjustment device for reflector, detection method and detection device | |
| CN113074910B (en) | Automobile camera calibration device and method | |
| CN110658523B (en) | Vehicle-mounted radar installation calibration device and calibration method | |
| CN111307417B (en) | Inner rear-view mirror visual field checking device | |
| CN111103581A (en) | Vehicle-mounted distance detection device | |
| CN114354205B (en) | Calibration device for eliminating area of protruding steering wheel in passenger car | |
| US10054433B2 (en) | Headlamp aiming tool and method | |
| CN211480409U (en) | Vehicle-mounted electronic equipment | |
| CN211826501U (en) | Vehicle-mounted distance detection device | |
| JP2011191182A (en) | Aiming tool of vehicle object detector and method for installing aiming reference label | |
| CN210426952U (en) | Laser adjusting mechanism of ADAS correction system | |
| CN211809485U (en) | Vehicle-mounted distance detection device and light source auxiliary calibration device | |
| CN214793204U (en) | High-precision true north benchmark test system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |