CN111239701B - Angle calibration method of vehicle-mounted distance detection device - Google Patents
Angle calibration method of vehicle-mounted distance detection device Download PDFInfo
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- CN111239701B CN111239701B CN202010076192.XA CN202010076192A CN111239701B CN 111239701 B CN111239701 B CN 111239701B CN 202010076192 A CN202010076192 A CN 202010076192A CN 111239701 B CN111239701 B CN 111239701B
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- 238000001514 detection method Methods 0.000 title claims abstract description 79
- 238000000034 method Methods 0.000 title claims abstract description 33
- 238000009434 installation Methods 0.000 claims abstract description 21
- 230000004308 accommodation Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000001678 irradiating effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
- G01S7/4004—Means for monitoring or calibrating of parts of a radar system
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
Abstract
The invention provides an angle calibration method of a vehicle-mounted distance detection device, which comprises the following steps: starting an auxiliary calibration device of the luminous source at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface parallel to the auxiliary surface to form a first projection point; starting an auxiliary calibration device of the luminous source at the installation position of the distance detection device of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface to form a second projection point; 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 datum point and the projection position of the distance detection device on the reference plane, 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 quick, 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
The vehicle-mounted detection equipment such as millimeter wave radar is generally installed on the front bumper, the detection distance of the millimeter wave radar is long, and the detection accuracy requirement is high, so that the normal direction of the millimeter wave radar is required to be ensured to be parallel to the straight line direction of the vehicle body when the vehicle-mounted detection equipment is installed on the vehicle body, the millimeter wave radar can accurately detect the obstacle in front, and safety early warning is provided. Because the front bumper is generally arc-shaped, the millimeter wave radar is difficult to directly realize that the normal direction is parallel to the direction of the vehicle body after being installed, and millimeter waves are required to be regulated. The millimeter wave radar of current mainstream needs external an regulation support when the installation, will adjust the support and install on the automobile body, will millimeter wave radar again and install on adjusting the support, makes millimeter wave radar be in the best angular position through rotating the regulation support. The existing adjusting method is that a component capable of reflecting light is integrated on a millimeter wave radar shell, a light source is arranged at a specific position and irradiates the light to the component capable of reflecting the light, the component capable of reflecting the light is reflected in a long distance and irradiates to a specific position point to determine the angle position of the millimeter wave radar, but the installation and debugging process of the adjusting method is complicated, the error of a debugging result is increased along with the shortening of the irradiation distance of the light, and the debugging accuracy is low.
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 above object, the present invention provides the following technical solutions:
an angle calibration method of a vehicle-mounted distance detection device comprises the following steps:
starting an auxiliary calibration device of the luminous source at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface parallel to the auxiliary surface to form a first projection point;
starting an auxiliary calibration device of the luminous source at the installation position of the distance detection device of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface to form a second projection point;
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 datum point and the projection position of the distance detection device on the reference plane, 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 set up: 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 datum point and the projection position of the distance detection device on the reference surface, and the angle orientation of the distance detection device is adjusted to enable a second projection point to fall on the calibration line.
Further set up: the auxiliary surface is a plane where a license plate of the vehicle is located.
Further set up: providing an auxiliary rod, installing and fixing the auxiliary light source calibration device on the auxiliary rod when the auxiliary light source calibration device is installed on the auxiliary surface, and then flatly attaching one side of the auxiliary rod, which is far away from the auxiliary light source calibration device, to 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 set up: one end of the auxiliary rod is provided with a connecting part, a matching hole which can be penetrated by the auxiliary calibration device of the luminous source and is in interference fit with the auxiliary calibration device of the luminous source is formed in the connecting part, the auxiliary rod is taken down from the auxiliary surface and sleeved on the auxiliary calibration device of the luminous source before the angle of the vehicle-mounted distance detection device is adjusted, and the irradiation angle of the auxiliary calibration device of the luminous source is changed by rotating the auxiliary rod.
Further set up: the auxiliary calibration device for the luminous source is characterized in that a first clamping part is arranged on the auxiliary calibration device for the luminous source, a second clamping part matched with the first clamping part in a clamping mode is arranged on the auxiliary rod, and the first clamping part on the auxiliary calibration device for the luminous source is clamped and fixed on the second clamping part in the step of installing and fixing the auxiliary calibration device for the luminous source on the auxiliary rod, so that the auxiliary calibration device for the luminous source and the auxiliary rod are mutually fixed.
Further set up: the vehicle-mounted distance detection device comprises a mounting shell and a containing shell, wherein the mounting shell is used for being fixed on a vehicle body, the containing shell is rotatably arranged in the mounting shell, a distance detection part is fixed in the containing shell, after a calibration line parallel to a reference line is determined, the auxiliary light-emitting source calibration device is mounted and fixed on the containing shell, and the containing shell is horizontally rotated to enable light emitted by the auxiliary light-emitting source calibration device to irradiate on the calibration line.
Further set up: after the ground clearance of the vehicle-mounted distance detection device is measured, a horizontal reference point is calibrated at the position, which is the same as the ground clearance, on the calibration line, and the accommodation shell is rotated up and down so that light rays emitted by the light-emitting source auxiliary calibration device irradiate at the horizontal reference point.
Further set up: the light-emitting source auxiliary calibration device comprises a light-emitting source auxiliary calibration device, and is characterized in that a first clamping part is arranged on the light-emitting source auxiliary calibration device, a third clamping part which is fixedly clamped with the first clamping part is arranged on the accommodating shell, and the first clamping part on the light-emitting source auxiliary calibration device is buckled on the third clamping part in the step of installing and fixing the light-emitting source auxiliary calibration device on the accommodating shell so that the light-emitting source auxiliary calibration device and the accommodating shell are mutually fixed.
Further set up: 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 near the license plate, the light-emitting source auxiliary calibration device is installed on the auxiliary surface and irradiates the auxiliary surface to a far reference surface, and the accurate calibration landing point is obtained on the reference surface rapidly by measuring the offset between the vehicle-mounted distance detection device and the light-emitting source auxiliary calibration device and the installation height of the auxiliary calibration device, so that the angle calibration is completed by adjusting the vehicle-mounted detection device to irradiate the light-emitting source auxiliary calibration device on the vehicle-mounted detection device to the calibration landing point, the calibration method is simple and rapid, the calibration error is small, and the detection accuracy is improved.
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 invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
FIG. 1 is a schematic view of an angular calibration of an on-board distance detection device according to an embodiment of the present invention;
FIG. 2 is a schematic view of a reference surface according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a connection structure between an auxiliary calibration device and an auxiliary rod according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an on-vehicle distance detecting device according to an embodiment of the present invention;
fig. 5 is an assembly schematic diagram of a light source auxiliary calibration device, a vehicle-mounted distance detection device and a vehicle according to an embodiment of the invention.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in fig. 1 and 2, the present invention provides an angle calibration method of a vehicle-mounted distance detection device 1, where 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 method may also be an imaging device or an ultrasonic radar, and the angle calibration method includes the following steps:
activating the auxiliary calibration device 5 of the light source at a datum point 31 on an auxiliary surface 3 perpendicular to the length direction of the vehicle 2, so that the auxiliary calibration device projects the light source on a reference surface 4 parallel to the auxiliary surface 3 to form a first projection point 41;
starting the auxiliary calibration device 5 of the light-emitting source at the installation position of the distance detection device 1 of the vehicle 2, so that the auxiliary calibration device is projected on the reference surface 4 to form a second projection point;
the angular orientation of the distance detecting device 1 is adjusted so that 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 ground clearance of the second projection point is equal to the ground clearance of the installation position of the distance detecting device 1. In this embodiment, the auxiliary calibration device 5 for light emitting source is a laser device.
By adopting the above-mentioned angle calibration method, the auxiliary calibration device 5 for light source is vertically installed on the auxiliary surface 3 by determining the auxiliary surface 3 and the reference surface 4 which are parallel to each other, the direction of the emitted light is the length direction of the vehicle body, that is, the direction of the straight line of travel of the vehicle 2, and then the light emitted by the auxiliary calibration device 5 for light source installed on the vehicle-mounted detection device 1 is utilized to adjust the emitted light of the auxiliary calibration device 5 for light source so that the light emitted by the auxiliary calibration device 5 for light source installed on the auxiliary surface 3 is parallel to the light emitted by the auxiliary calibration device 5 for light source installed on the auxiliary surface 3, so that the angle calibration of the vehicle-mounted detection device 1 can be determined.
Specifically, in order to make the light emitted from the light source auxiliary calibration device 5 mounted on the vehicle-mounted detection device 1 and the light emitted from the light source auxiliary calibration device 5 mounted on the auxiliary surface 3 parallel to each other, it is necessary to perform horizontal angle adjustment and vertical angle adjustment on the light source auxiliary calibration device 5 mounted on the vehicle-mounted detection device 1. First, the horizontal detection angle of the vehicle-mounted detection device 1 is determined, a first projection point 41 is formed on the reference surface 4 by using the light emitted by the light-emitting source auxiliary calibration device 5 mounted on the auxiliary surface 3, and the horizontal position of the light emitted by the light-emitting source auxiliary calibration device 5 mounted on the vehicle-mounted detection device 1 is determined 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-emitting source auxiliary calibration device 5 on the auxiliary surface 3 and the projection position of the vehicle-mounted detection device 1 on the auxiliary surface 3, so that the horizontal detection angle of the vehicle-mounted detection device 1 is determined. And then determining the vertical detection angle of the vehicle-mounted detection device 1, measuring the installation ground clearance position of the vehicle-mounted detection device 1, determining the vertical position of the light projected by the light-emitting source auxiliary calibration device 5 at the same ground clearance position on the reference surface 4, and combining the horizontal position of the projected light determined before, wherein the intersection point of the horizontal position and the vertical position forms a calibration point 44. Finally, the light-emitting source auxiliary calibration device 5 on the vehicle-mounted detection device 1 is adjusted to irradiate the calibration point 44, so that the completion of the horizontal and vertical angle calibration of the vehicle-mounted detection device 1 can be determined.
Further, after the first projection point 41 is projected on the reference surface 4, a reference line 42 perpendicular to the ground and passing through the first projection point 41 is determined on the reference surface 4, a calibration line 43 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 detecting device 1 on the reference surface 4, and the angular orientation of the distance detecting device 1 is adjusted so that the second projection point falls on the calibration line 43.
By forming the calibration line 43 on the reference surface 4, the horizontal orientation angle of the in-vehicle distance detecting device 1 can be determined relatively quickly by irradiating the calibration line 43 with the light emitted from the light source auxiliary calibration device 5 connected thereto when the distance detecting device 1 is adjusted.
Preferably, after said determining a calibration line 43 parallel to the reference line 42, the steps of:
the auxiliary calibration device 5 for light source provided on the auxiliary surface 3 is removed and mounted on the vehicle-mounted distance detecting device 1, and the vehicle-mounted distance detecting device 1 is adjusted so that the light emitted from the auxiliary calibration device 5 for light source is irradiated on the calibration line 43.
After the light is emitted from the auxiliary calibration device 5 of the light source mounted on the auxiliary surface 3, the reference line 42 can be drawn on the reference surface 4 through the first projection point 42 of the auxiliary calibration device 5 of the light source, then the distance between the mounting position of the auxiliary calibration device 5 of the light source and the projection position of the vehicle-mounted distance detecting device 1 on the auxiliary surface 3 is measured, the reference line 42 is offset by the same distance along the direction approaching the vehicle-mounted distance detecting device 1 on the reference surface 4, and the calibration line 43 is drawn, after that, the auxiliary calibration device 5 of the light source can be removed from the auxiliary surface 3 and mounted on the vehicle-mounted distance detecting device 1 for angle calibration. Therefore, the angle calibration can be completed by only using one light-emitting 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 on which the license plate 21 of the vehicle 2 is located, and specifically, the auxiliary surface 3 is disposed on the surface of the license plate 21. Since the license plate 21 is installed at the center of the automobile head, the license plate 21 is installed right in front of the automobile 2, so that the reference line 42 can be determined on the reference surface 4 faster 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 determined directly on the automobile body, and the calibration cost is saved.
In this embodiment, the reference surface 4 may be disposed on the projection plate, the projection plate may be configured as a double-layer plate structure, and light holes are correspondingly formed on the double-layer plate, when 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 at the same time, it may be determined that the reference surface 4 and the auxiliary surface 3 are parallel to each other, and this operation process is simpler, and no other high-cost device is required.
Further, as shown in fig. 3, when the auxiliary light source calibration device 5 is mounted on the auxiliary surface 3, the auxiliary light source calibration device 5 is mounted on the auxiliary rod 6, and then one side of the auxiliary rod 6 away from the auxiliary light source calibration device 5 is attached to the license plate 21 so that the irradiation direction of the auxiliary light source calibration device 5 is parallel to the longitudinal direction of the vehicle body. Since the numbers and letters on the license plate 21 are in a convex shape, the surface of the license plate 21 is easy to be uneven, and the installation of the auxiliary calibration device 5 of the luminous source is affected. Through installing the supplementary calibrating device of luminous source 5 on auxiliary rod 6, with auxiliary rod 6 span on the protruding character of license plate 21 again, reduced the installation degree of difficulty of the supplementary calibrating device of luminous source 5, ensure the light orientation in the dead ahead that the supplementary calibrating device of luminous source 5 launched. In the angle calibration method of the embodiment, only one operator holds the auxiliary rod 6 at the license plate 21 to make the auxiliary rod be 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 is not required to be installed and fixed with the license plate 21, the complicated process of installation and fixation 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 through which the light source auxiliary calibration device 5 penetrates and is in interference fit is formed in the connecting portion 61, the auxiliary rod 6 is removed from the auxiliary surface 3 and sleeved on the light source auxiliary calibration device 5 before the angle of the vehicle-mounted distance detection device 1 is adjusted, and the irradiation angle of the light source auxiliary calibration device 5 is changed by rotating the auxiliary rod 6. Specifically, the auxiliary rod 6 is sleeved at the front end of the light-emitting source auxiliary calibration device 5, namely, the end far away from the connection with the vehicle-mounted distance detection device 1.
The auxiliary rod 6 is sleeved on the light-emitting source auxiliary calibration device 5 to connect and fix the auxiliary rod and the light-emitting source auxiliary calibration device, when the vehicle-mounted distance detection device 1 is subjected to angle calibration, the auxiliary rod 6 can increase the driving force arm, so that an operator can save more labor during adjustment, more convenience is brought to the operator in the calibration process, and the operation difficulty is reduced.
Further, a first clamping part is arranged on the auxiliary calibration device 5 for the light-emitting source, a second clamping part 62 matched with the first clamping part in a clamping manner is arranged on the auxiliary rod 6, and in the step of installing and fixing the auxiliary calibration device 5 for the light-emitting source on the auxiliary rod 6, the first clamping part on the auxiliary calibration device 5 for the light-emitting source is clamped and fixed on the second clamping part 62 to enable the auxiliary calibration device 5 for the light-emitting source and the auxiliary rod 6 to be mutually fixed.
Specifically, the first clamping portion includes a plurality of hooks 51, the second clamping portion 62 includes a clamping slot 621 in which the hooks 51 can be hooked and fixed, the second clamping portion 62 further includes an installation notch 622 in which the hooks 51 can be inserted and rotatably hooked in the clamping slot 621, and preferably, the second clamping portion 62 is disposed in the middle of the auxiliary rod 6.
When the auxiliary rod 6 and the auxiliary calibration device 5 of the luminous source are assembled, the clamping hook 51 is inserted into the clamping groove 621 through the mounting notch 622 and rotated, so that the auxiliary calibration device 5 of the luminous source and the auxiliary rod 6 are mutually fixed, the assembly and disassembly of the two are convenient and quick, the operation difficulty is reduced, and the calibration efficiency is greatly improved. In addition, the light-emitting source auxiliary calibration device 5 and the auxiliary rod 6 are kept parallel to each other by the engagement and engagement of the hook 51 and the clamping groove 621, so that the light emitted from the light-emitting source auxiliary calibration device 5 is ensured to face to the right front of the vehicle 2.
As shown in fig. 4, in this embodiment, the vehicle-mounted distance detecting device 1 includes a mounting case 11 for fixing to a vehicle body, and a receiving case 12 rotatably disposed in the mounting case 11, wherein a distance detecting member is disposed in the receiving case 12, and after a calibration line 43 parallel to the reference line 42 is determined, the light source auxiliary calibration device 5 is mounted and fixed on the receiving case 12, and the receiving case 12 is horizontally rotated to irradiate the light emitted from the light source auxiliary calibration device 5 at the calibration line 43.
Further, after the ground clearance 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 ground clearance, and the accommodating case 12 is rotated up and down to enable the light emitted by the light-emitting source auxiliary calibration device 5 to irradiate at the horizontal reference point.
The vehicle-mounted distance detection device 1 adopts the combined structure of the accommodating shell 12 and the mounting shell 11 which are arranged inside and outside, the accommodating shell 12 can be rotated and adjusted relative to the mounting shell 11 so as to change the detection angle of the distance detection component, the angle can be adjusted only through the structure of the vehicle-mounted distance detection device 1 without externally adding an adjusting bracket, the whole occupied space is reduced, and the light-emitting source auxiliary calibration device 5 is arranged on the accommodating shell 12 when the vehicle-mounted distance detection device 1 is subjected to angle calibration, and the calibration of the vehicle-mounted distance detection device 1 can be completed through left and right rotation and up and down rotation, so that the operation is simple and convenient.
Specifically, the accommodating case 12 is spherical, a spherical space for the accommodating case 12 to rotate is defined in the mounting case 11, and a connecting sleeve 13 for providing damping action for the accommodating case 12 is further interposed between the accommodating case 12 and the mounting case 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 in which the guide protrusion 121 is embedded, 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 such that the receiving case 12 can be rotatably adjusted up and down around the guide protrusion 121.
By providing the fitting structure of the hemispherical guide protrusion 121 and the guide groove 131 on the connecting sleeve 13, the rotation direction of the distance detecting member mounted to the housing case 12 is restricted so that it can only be swung left and right and up and down.
Further, the housing 12 is provided with a third clamping portion 122 that is clamped and fixed with the first clamping portion, and in the step of mounting and fixing the light-emitting source auxiliary calibration device 5 on the housing 12, the first clamping portion on the light-emitting source auxiliary calibration device 5 is fastened to the third clamping portion 122 to fix the light-emitting source auxiliary calibration device 5 and the housing 12 to each other. Specifically, the structure of the third locking portion 122 is identical to that of the second locking portion 62 on the auxiliary lever 6, and a locking slot 621 for the locking hook 51 and a mounting notch 622 for the locking hook 51 to pass are provided. Preferably, the front end of the accommodating case 12 is planar.
After the auxiliary calibration device 5 of the luminous source is detached from the auxiliary rod 6, the clamping hooks 51 on the auxiliary calibration device 5 of the luminous source are rotationally clamped in the clamping hooks 51 on the accommodating shell 12, so that the auxiliary calibration device 5 of the luminous source and the accommodating shell 12 can be fixedly connected, the installation is convenient and quick, and the front end of the accommodating shell 12 is planar, so that the auxiliary calibration device 5 of the luminous source is ensured to be vertical to the accommodating shell 12 after being installed with the accommodating shell 12, and the calibration error is reduced.
Referring to fig. 5, in the present embodiment, the installation housing 11 is inserted into a preset hole 22 fixed to the vehicle body, and the preset hole 22 is drilled in the vehicle body in advance during installation, and then the installation housing 11 is inserted into the preset hole 22, so that the vehicle-mounted distance detecting device 1 is fixed to 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 it will be apparent to those skilled in the art that modifications and adaptations can be made without departing from the principles of the present invention, and such modifications and adaptations are intended to be comprehended within the scope of the present invention.
Claims (8)
1. An angle calibration method of a vehicle-mounted distance detection device is characterized by comprising the following steps of: the method comprises the following steps:
starting an auxiliary calibration device of the luminous source at a datum point on an auxiliary surface perpendicular to the length direction of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface parallel to the auxiliary surface to form a first projection point;
starting an auxiliary calibration device of the luminous source at the installation position of the distance detection device of the vehicle, so that the auxiliary calibration device of the luminous source projects on a reference surface to form a second projection point;
adjusting the angle orientation of the distance detection device to enable the horizontal distance between the second projection point and the first projection point to be equal to the horizontal distance between the datum point and the projection position of the distance detection device on the reference surface, and enabling the ground clearance of the second projection point to be equal to the ground clearance of the installation position of the distance detection device;
the auxiliary surface is a plane where a license plate of the vehicle is located;
providing an auxiliary rod, installing and fixing the auxiliary light source calibration device on the auxiliary rod when the auxiliary light source calibration device is installed on the auxiliary surface, and then flatly attaching one side, far away from the auxiliary light source calibration device, of the auxiliary rod to a 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.
2. The angle calibration method of the vehicle-mounted distance detection device according to claim 1, characterized by: 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 datum point and the projection position of the distance detection device on the reference surface, and the angle 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 of the vehicle-mounted distance detection device according to claim 1, characterized by: one end of the auxiliary rod is provided with a connecting part, a matching hole which can be penetrated by the auxiliary calibration device of the luminous source and is in interference fit with the auxiliary calibration device of the luminous source is formed in the connecting part, the auxiliary rod is taken down from the auxiliary surface and sleeved on the auxiliary calibration device of the luminous source before the angle of the vehicle-mounted distance detection device is adjusted, and the irradiation angle of the auxiliary calibration device of the luminous source is changed by rotating the auxiliary rod.
4. The angle calibration method of the vehicle-mounted distance detection device according to claim 1, characterized by: the auxiliary calibration device for the luminous source is characterized in that a first clamping part is arranged on the auxiliary calibration device for the luminous source, a second clamping part matched with the first clamping part in a clamping mode is arranged on the auxiliary rod, and the first clamping part on the auxiliary calibration device for the luminous source is clamped and fixed on the second clamping part in the step of installing and fixing the auxiliary calibration device for the luminous source on the auxiliary rod, so that the auxiliary calibration device for the luminous source and the auxiliary rod are mutually fixed.
5. The angle calibration method of the vehicle-mounted distance detection device according to claim 2, characterized by: the vehicle-mounted distance detection device comprises a mounting shell and a containing shell, wherein the mounting shell is used for being fixed on a vehicle body, the containing shell is rotatably arranged in the mounting shell, a distance detection part is fixed in the containing shell, after a calibration line parallel to a reference line is determined, the auxiliary light-emitting source calibration device is mounted and fixed on the containing shell, and the containing shell is horizontally rotated to enable light emitted by the auxiliary light-emitting source calibration device to irradiate on the calibration line.
6. The method for calibrating the angle of the vehicle-mounted distance detection device according to claim 5, wherein the method comprises the following steps: after the ground clearance of the vehicle-mounted distance detection device is measured, a horizontal reference point is calibrated at the position, which is the same as the ground clearance, on the calibration line, and the accommodation shell is rotated up and down so that light rays emitted by the light-emitting source auxiliary calibration device irradiate at the horizontal reference point.
7. The method for calibrating the angle of the vehicle-mounted distance detection device according to claim 5, wherein the method comprises the following steps: the light-emitting source auxiliary calibration device comprises a light-emitting source auxiliary calibration device, and is characterized in that a first clamping part is arranged on the light-emitting source auxiliary calibration device, a third clamping part which is fixedly clamped with the first clamping part is arranged on the accommodating shell, and the first clamping part on the light-emitting source auxiliary calibration device is buckled on the third clamping part in the step of installing and fixing the light-emitting source auxiliary calibration device on the accommodating shell so that the light-emitting source auxiliary calibration device and the accommodating shell are mutually fixed.
8. The angle calibration method of the vehicle-mounted distance detection device according to claim 1, characterized by: 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 |
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| CN111239701A CN111239701A (en) | 2020-06-05 |
| CN111239701B true CN111239701B (en) | 2023-12-22 |
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| CN202010076192.XA Active CN111239701B (en) | 2020-01-23 | 2020-01-23 | Angle calibration method of vehicle-mounted distance detection device |
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| CN111103581A (en) * | 2020-01-21 | 2020-05-05 | 铁将军汽车电子股份有限公司 | Vehicle-mounted distance detection device |
| 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 |
| 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 |
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| CN111239701A (en) | 2020-06-05 |
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