CN111272082A - Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile - Google Patents
Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile Download PDFInfo
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- CN111272082A CN111272082A CN202010200662.9A CN202010200662A CN111272082A CN 111272082 A CN111272082 A CN 111272082A CN 202010200662 A CN202010200662 A CN 202010200662A CN 111272082 A CN111272082 A CN 111272082A
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- vehicle
- guide rail
- base
- intelligent automobile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
Abstract
The invention discloses an automatic alignment device for an intelligent vehicle-mounted all-round camera, which comprises: the device comprises a reference reflecting plate, a grid calibration blanket, a vehicle angle measuring device, a moving platform, a vehicle to be tested and a control system, wherein the moving platform comprises a base, a vehicle carrying platform, arc-shaped guide rails, a motor and a transmission mechanism; the top surface of the base is provided with an L-shaped mounting groove, and the L-shaped mounting groove is deviated from the rotation center of the arc-shaped guide rail. The invention is used for the device which can quickly align when the tested vehicle is subjected to the around looking camera head calibration indoors, solves the problems of time consumption and larger error when the vehicle posture is manually adjusted, and ensures that the calibration process is efficient, high-precision and high-repeatability.
Description
Technical Field
The invention relates to the technical field of intelligent driving auxiliary equipment calibration, in particular to an automatic alignment device for an intelligent automobile vehicle-mounted all-round-looking camera.
Background
The research and development of the ADAS of the intelligent automobile belong to the strategic development direction of each automobile enterprise. With falling to the ground of various technologies and laws and regulations matched with the intelligent automobile, the mass production of the intelligent automobile with the ADAS function (hereinafter referred to as the intelligent automobile for short) means daily wait, and the intelligent automobile gradually enters the daily life of people, so that the intelligent traffic with high safety and without manual intervention is finally realized. Among various ADAS functions carried by a vehicle, a visual image processing system is relatively basic, and a camera is an input of the visual image processing system, so that the vehicle-mounted camera is essential for intelligent driving.
At present, cameras are mainly applied to reverse images (rear view) and 360-degree panorama (round view), and 8 cameras are equipped for various auxiliary devices of high-end automobiles and used for assisting drivers to park or trigger emergency brakes. When the camera succeeds in replacing the side view mirror, the number of the cameras on the automobile can reach 12, and with the development of the unmanned technology, the requirement of the intelligent driving automobile model above L3 on the camera can be increased.
When the panoramic all-around viewing system works, the shot images are spliced according to camera parameters calibrated in advance, so that all-around viewing images of 360 degrees around the vehicle are synthesized, dynamic images without dead angles around the vehicle body are provided for a driver or an ADAS system, and the driver can observe the images conveniently or a basis is provided for triggering the ADAS system.
In order to synthesize an accurate panoramic image, the cameras around the vehicle are calibrated, that is, the camera parameters of the cameras relative to the vehicle body coordinate system are calibrated. Generally, during calibration, each vehicle to be tested is required to run to the center of a calibration area, and the calibration vehicle at least needs to be kept in a parallel state with surrounding calibration grids. Due to the influences of factors such as the path of the vehicle running to the calibration area, the operation level of a driver and the like, the vehicle is difficult to keep parallel to the calibration grid, a more ideal posture can be obtained usually by repeating the operation for many times, the time consumption is long, and the calibration precision and the repeatability are not controllable.
The invention provides a testing device capable of quickly aligning vehicle around-looking camera calibration, aiming at solving the problems of quickly aligning a vehicle to be tested with a calibration grid and improving the calibration precision and efficiency.
Disclosure of Invention
The invention aims to provide an automatic alignment device for an intelligent vehicle-mounted all-round camera, which solves the problems in the background technology and meets the actual use requirements.
In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides an automatic device of adjusting well of on-vehicle all around camera of intelligent automobile, includes: the system comprises a reference reflecting plate, a grid calibration blanket, a vehicle angle measuring device, a moving platform, a vehicle to be measured and a control system, wherein the moving platform comprises a base, a vehicle carrying platform, an arc-shaped guide rail, a motor and a transmission mechanism, the arc-shaped guide rail is fixedly arranged at the edges of two sides of the top surface of the base, the vehicle carrying platform is arranged above the base, the bottom surface of the vehicle carrying platform is connected with the arc-shaped guide rail, the vehicle to be measured is stably stopped on the vehicle carrying platform, the vehicle angle measuring device is arranged on the roof or the engine cover of the vehicle to be measured, and the reference reflecting plate is arranged at the; the top surface of the base is provided with an L-shaped mounting groove, the L-shaped mounting groove is formed by deviating from the rotation center of the arc-shaped guide rail, the motor and the transmission mechanism are both arranged in the L-shaped mounting groove, and the transmission mechanism comprises a motor support, a speed reducer, a coupler, a ball screw, a screw nut, a guide rail seat rotation hinge, a lateral guide rail, a guide rail slide block and a rotation guide rail.
As a preferred embodiment of the present invention, the motor and the speed reducer are fixed on a motor support, the motor support is fixed with the base, an output shaft of the speed reducer is connected with a ball screw through a coupling, the screw nut is installed on the ball screw, a top surface of the screw nut is fixedly connected with a guide rail seat, the guide rail seat is fixed with a guide rail slider through a rotary hinge, the rotary guide rail is installed on the guide rail slider, and the rotary guide rail is rigidly fixed with the vehicle-carrying platform.
As a preferred embodiment of the present invention, two side guide rails are provided and are respectively disposed on two sides of the ball screw, two ends of the side guide rails are respectively connected to the motor support and the base, and the side guide rails are movably connected to the bottom of the guide rail base.
As a preferred embodiment of the invention, the vehicle angle measuring device comprises a support, two suckers and two laser displacement sensors, the two suckers and the two laser displacement sensors are arranged on the top of the support, the suckers are arranged at the bottom of the support and fixedly connected with a vehicle to be measured through the suckers, and the support is laterally parallel to the vehicle.
In a preferred embodiment of the present invention, the vehicle angle measuring device measures an angle of the vehicle to be measured with respect to the reference reflecting plate, the angle is input as feedback to the moving platform, and the moving platform adjusts the vehicle according to the parameter.
In a preferred embodiment of the invention, the grid calibration blanket is laid around the moving platform in a relatively perpendicular or parallel relationship with the reference reflective plate.
Compared with the prior art, the invention has the following beneficial effects:
the automatic alignment device for the vehicle-mounted panoramic all-round looking camera is used for rapidly aligning the device when the all-round looking camera mark of a detected vehicle is performed indoors, solves the problems of time consumption and large error during manual vehicle posture adjustment, and enables the calibration process to be efficient, high in precision and high in repeatability.
Drawings
FIG. 1 is a structural diagram of an automatic alignment device for a vehicular panoramic camera of an intelligent automobile according to the present invention;
FIG. 2 is a block diagram of the motion platform of the present invention;
FIG. 3 is a top view of the base of the present invention;
FIG. 4 is a structural view of a vehicle angle measuring device according to the present invention;
fig. 5 is a block diagram of the control system of the present invention.
In the figure, a reference reflection plate 1; a vehicle angle measuring device 2; a grid calibration blanket 3; a vehicle 4 to be tested; a motion platform 5; a vehicle carrying platform 6; a base 7; a speed reducer 8; a coupling 9; a rail base 10; a rail slider 11; a motor support 12; side rails 13; an arc-shaped guide rail 14; a ball screw 15; a motor 16; a slewing guide rail 17; a bracket 18; a suction cup 19; a laser displacement sensor 20; an L-shaped mounting groove 21; the swivel link 22.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, the present invention provides a technical solution: the utility model provides an automatic device of adjusting well of on-vehicle all around camera of intelligent automobile, includes: the device comprises a reference reflecting plate 1, a grid calibration blanket 3, a vehicle angle measuring device 2, a moving platform 5, a vehicle 4 to be tested and a control system, wherein the moving platform 5 comprises a base 7, a vehicle carrying platform 6, an arc-shaped guide rail 14, a motor 16 and a transmission mechanism, the arc-shaped guide rail 14 is fixedly installed at the edges of two sides of the top surface of the base 7, the vehicle carrying platform 6 is arranged above the base 7, the bottom surface of the vehicle carrying platform is connected with the arc-shaped guide rail 14, the vehicle 4 to be tested is stably stopped on the vehicle carrying platform 6, the vehicle angle measuring device 2 is installed on the roof or the engine cover of the vehicle 4 to be tested, the reference reflecting plate 1 is arranged at the front end of the vehicle 4 to be tested, the camera head of the vehicle to be tested is subjected to circumferential view timing, the vehicle can be quickly aligned, and; the top surface of base 7 has been seted up L shape mounting groove 21, the skew arc guide rail 14 centre of gyration of L shape mounting groove 21 is seted up, motor 16 and drive mechanism all install in L shape mounting groove 21, drive mechanism includes motor support 12, speed reducer 8, shaft coupling 9, ball 15, screw nut, guide rail seat 10 gyration hinge 22, lateral guide 13, guide rail slider 11 and gyration guide rail 17, motion platform 5 mainly carries out the attitude control to the vehicle under test, drive guide rail seat 10 lateral motion through ball 15, guide rail seat 10 off-centre produces the moment to the centre of gyration.
In a further improvement, as shown in fig. 2-3: the motor 16 and the speed reducer 8 are fixed on the motor support 12, the motor support 12 is fixed with the base 7, an output shaft of the speed reducer 8 is connected with the ball screw 15 through the coupler 9, the screw nut is installed on the ball screw 15, the top surface of the screw nut is fixedly connected with the guide rail seat 10, the guide rail seat 10 is fixed with the guide rail slide block 11 through the rotary hinge 22, the rotary guide rail 17 is installed on the guide rail slide block 11, the rotary guide rail 17 is rigidly fixed with the vehicle carrying platform 6, and the vehicle carrying platform is driven to rotate around the rotation center of the arc-shaped guide rail through the rotary hinge 22 and the rotary guide rail 17. The rotary hinge 22 and the rotary guide rail 17 are used for releasing the degree of freedom generated by eccentric installation, and ensure that the carrying movement has no interference.
In a further improvement, as shown in fig. 2-3: the lateral guide rails 13 are provided with two lateral guide rails and are respectively arranged on two sides of the ball screw 15, two ends of each lateral guide rail 13 are respectively connected with the motor support 12 and the base 7, the lateral guide rails 13 are movably connected with the bottoms of the guide rail seats 10, the lateral guide rails 13 play a role in limiting and guiding, and the guide rail seats 10 are prevented from rotating along with the ball screw 15.
Further improved, as shown in fig. 4: vehicle angle measuring device 2 includes support 18, sucking disc 19 and laser displacement sensor 20 all set up two, and laser displacement sensor 20 installs at support 18 top, sucking disc 19 installs in support 18 bottom and through sucking disc 19 and the vehicle 4 fixed connection that awaits measuring, support 18 and vehicle side direction guarantee parallelly, two laser sensor measurement and benchmark reflecting plate 1 between the distance, calculate the arctangent value of its difference and two laser sensor interval ratio, be the deflection angle of vehicle promptly, vehicle angle measurement still can acquire through the method of camera formation of image.
Further improved, as shown in fig. 2: the vehicle angle measuring device 2 measures the angle of the vehicle 4 to be measured relative to the reference reflecting plate 1, the angle is input to the moving platform 5 as feedback, and the vehicle is adjusted by the moving platform 5 according to the parameter.
Specifically, the grid calibration blanket 3 is laid around the moving platform 5 and keeps a relatively perpendicular or parallel relation with the reference reflection plate 1, and the grid calibration blanket 3 is used for calibration.
When the device is used, a test vehicle runs on the moving platform 5 as parallel as possible, the angle measuring device 2 is installed after the test vehicle stops, and the bracket 18 of the device is perpendicular to the running direction of the vehicle. The device is started, a control system of the motion platform calculates the offset angle of the vehicle according to the data of the angle measuring device, the motor 16 rotates under the instruction of the control system, the ball screw 15 drives the guide rail seat 10 to move laterally, the guide rail seat 10 eccentrically generates a moment to the rotation center, the rotary hinge 22 and the rotary guide rail drive the vehicle carrying platform 6 to rotate around the rotation center of the arc-shaped guide rail 14, the vehicle is adjusted to a proper position to stop, and then the automatic alignment of the vehicle to be tested is completed.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an automatic device of adjusting well of on-vehicle all around camera of intelligent automobile, includes: benchmark reflecting plate (1), grid mark blanket (3), vehicle angle measuring device (2), motion platform (5), vehicle (4) and the control system that awaits measuring, its characterized in that: the moving platform (5) comprises a base (7), a vehicle-carrying platform (6), arc-shaped guide rails (14), a motor (16) and a transmission mechanism, wherein the arc-shaped guide rails (14) are fixedly installed at edges of two sides of the top surface of the base (7), the vehicle-carrying platform (6) is arranged above the base (7), the bottom surface of the vehicle-carrying platform is connected with the arc-shaped guide rails (14), a vehicle (4) to be measured is stably stopped on the vehicle-carrying platform (6), the vehicle angle measuring device (2) is installed on the roof or an engine cover of the vehicle (4) to be measured, and the reference reflecting plate (1) is arranged at the front end of the vehicle (4) to be measured;
l shape mounting groove (21) have been seted up to the top surface of base (7), the centre of rotation that L shape mounting groove (21) skew arc guide rail (14) is seted up, motor (16) and drive mechanism all install in L shape mounting groove (21), drive mechanism includes motor support (12), speed reducer (8), shaft coupling (9), ball (15), screw nut, guide rail seat (10) gyration hinge (22), side guide (13), guide rail slider (11) and gyration guide rail (17).
2. The automatic alignment device for the vehicle-mounted all-round camera of the intelligent automobile according to claim 1, characterized in that: motor (16) and speed reducer (8) are fixed on motor support (12), motor support (12) are fixed with base (7), the output shaft of speed reducer (8) is connected with ball (15) through shaft coupling (9), screw nut installs on ball (15), and screw nut's top surface and guide rail seat (10) fixed connection, guide rail seat (10) are fixed with guide rail slider (11) through gyration hinge (22), gyration direction guide rail (17) are installed on guide rail slider (11), gyration direction guide rail (17) and year car platform (6) rigid fastening.
3. The automatic alignment device for the vehicle-mounted all-round camera of the intelligent automobile according to claim 1, characterized in that: lateral guide (13) are provided with two altogether and set up respectively in ball (15) both sides, lateral guide (13) both ends are connected with motor support (12) and base (7) respectively, lateral guide (13) and guide rail seat (10) bottom swing joint.
4. The automatic alignment device for the vehicle-mounted all-round camera of the intelligent automobile according to claim 1, characterized in that: vehicle angle measuring device (2) include support (18), sucking disc (19) and laser displacement sensor (20) all set up two, and install at support (18) top laser displacement sensor (20), sucking disc (19) are installed in support (18) bottom and through sucking disc (19) and the vehicle (4) fixed connection that awaits measuring, support (18) are parallel with the vehicle side direction assurance.
5. The automatic alignment device for the vehicle-mounted all-round camera of the intelligent automobile according to claim 1, characterized in that: the vehicle angle measuring device (2) measures the angle of the vehicle (4) to be measured relative to the reference reflecting plate (1), the angle is input to the moving platform (5) as feedback, and the vehicle is adjusted by the moving platform (5) according to the parameter.
6. The automatic alignment device for the vehicle-mounted all-round camera of the intelligent automobile according to claim 1, characterized in that: the grid calibration blanket (3) is laid around the moving platform (5) and keeps a relatively vertical or parallel relation with the reference reflecting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010200662.9A CN111272082A (en) | 2020-03-20 | 2020-03-20 | Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010200662.9A CN111272082A (en) | 2020-03-20 | 2020-03-20 | Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile |
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| Publication Number | Publication Date |
|---|---|
| CN111272082A true CN111272082A (en) | 2020-06-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010200662.9A Pending CN111272082A (en) | 2020-03-20 | 2020-03-20 | Automatic device of adjusting well of on-vehicle all around camera of intelligent automobile |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414311A (en) * | 2020-09-29 | 2021-02-26 | 浙江友顺机械有限公司 | Vehicle outgoing detection system |
| CN112847202A (en) * | 2021-02-01 | 2021-05-28 | 南京信息职业技术学院 | Adjusting device of vehicle-mounted camera |
| CN113099219A (en) * | 2021-04-12 | 2021-07-09 | 上海网车科技有限公司 | System and method for calibrating arrangement position matching of panoramic camera |
-
2020
- 2020-03-20 CN CN202010200662.9A patent/CN111272082A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112414311A (en) * | 2020-09-29 | 2021-02-26 | 浙江友顺机械有限公司 | Vehicle outgoing detection system |
| CN112847202A (en) * | 2021-02-01 | 2021-05-28 | 南京信息职业技术学院 | Adjusting device of vehicle-mounted camera |
| CN113099219A (en) * | 2021-04-12 | 2021-07-09 | 上海网车科技有限公司 | System and method for calibrating arrangement position matching of panoramic camera |
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