CN113091613A - Gantry type calibration frame applied to intelligent network vehicle-connected sensor and calibration method - Google Patents
Gantry type calibration frame applied to intelligent network vehicle-connected sensor and calibration method Download PDFInfo
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Abstract
The invention relates to a gantry type calibration frame applied to an intelligent internet vehicle sensor, which comprises a calibration laser head, wherein the calibration laser head is arranged on an adjusting turntable, the adjusting turntable is arranged on a transverse adjusting mechanism, the transverse adjusting mechanism is arranged on a vertical adjusting mechanism, the vertical adjusting mechanism is arranged on a longitudinal adjusting mechanism, the transverse adjusting mechanism adjusts the calibration laser head to move along the width direction of an automobile, the vertical adjusting mechanism adjusts the calibration laser head to move along the vertical direction, the longitudinal adjusting mechanism adjusts the calibration laser head to move along the width direction of the automobile, the sensor is installed and calibrated by adjusting the longitudinal adjusting mechanism, the vertical adjusting mechanism and the transverse adjusting mechanism to adjust the adjustment turntable and calibration laser head to a sensor calibration position, and the gantry type calibration frame applied to the intelligent internet vehicle sensor can conveniently and quickly calibrate the sensor installation position of the automobile, the calibration and installation accuracy of the sensor is improved.
Description
Technical Field
The invention relates to the technical field of intelligent networked automobile calibration auxiliary tools, in particular to a gantry type calibration frame and a calibration method applied to an intelligent networked automobile sensor.
Background
The intelligent internet vehicle is an organic combination of an internet of vehicles and an intelligent vehicle, the intelligent internet vehicle is provided with advanced vehicle-mounted sensors, controllers, actuators and other devices, modern communication and network technologies are combined, intelligent information exchange and sharing between the vehicle and people, the vehicle, roads, backgrounds and the like are realized, safe, comfortable, energy-saving and efficient driving is realized, and the intelligent internet vehicle can finally replace people to operate a new generation of vehicles. The help user accomplishes the later stage installation and the calibration of radar and camera module smoothly and fast, and the intelligent networking car that makes goes up correlation function and resumes normally, ensures user's driving safety.
Before the equipment is installed and calibrated, the calibration of the longitudinal center line of the vehicle is an indispensable step, firstly, the vehicle calibration support is moved to the front end of the automobile, the center line of the calibration support is adjusted and kept to be aligned with the longitudinal center line of the vehicle, namely, the longitudinal center line of the vehicle passes through the center line of the calibration support, the longitudinal center line of the vehicle of the calibration support is ensured to be in a vertical state, the center line of a front bumper or a front wheel of the vehicle is used as a distance measuring reference, the placement distance between the calibration support and the measuring reference is measured, and the calibration of auxiliary driving devices such as a camera, a radar and. At present, the calibration and calibration operation of a calibration equipment support on a vehicle is complex, the accuracy is low, and the calibration and installation operation of the sensor of the intelligent internet vehicle is inconvenient.
Disclosure of Invention
The purpose of the invention is: the gantry type calibration frame and the calibration method applied to the intelligent network vehicle-connected sensor can conveniently and quickly calibrate the installation position of the sensor of the vehicle, and improve the calibration and installation accuracy of the sensor.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides a be applied to intelligent networking vehicle sensor planer-type calibration frame, is including maring the laser head, mark the laser head setting on the adjustment carousel, the adjustment carousel sets up on horizontal guiding mechanism, horizontal guiding mechanism sets up on vertical guiding mechanism, vertical guiding mechanism sets up on vertical guiding mechanism, horizontal guiding mechanism adjusts and marks the laser head and removes along car width direction, vertical guiding mechanism adjusts and marks the laser head and removes along vertical direction, vertical guiding mechanism adjusts and marks the laser head and removes along car width direction.
The invention also has the following features:
the automobile transverse adjusting mechanism is characterized in that a calibration plate is further arranged on the transverse adjusting mechanism, the calibration plate is located on the transverse adjusting mechanism and is adjustable, and the adjusting direction of the calibration plate on the transverse adjusting mechanism is along the automobile direction.
An angle calibration ruler is arranged on the adjusting turntable and used for measuring the deflection angle of the calibration laser head.
The horizontal adjusting mechanism is provided with a horizontal ruler, the horizontal ruler is arranged horizontally along the width direction of the wheels, the adjusting turntable moves along the length direction of the horizontal ruler, and the horizontal ruler is used for measuring the horizontal coordinate position of the calibration laser head.
The vertical adjusting mechanism is provided with a vertical ruler which is vertically arranged and used for measuring the vertical coordinate position of the calibration laser head.
The longitudinal adjusting mechanism is provided with a longitudinal ruler, the longitudinal ruler is arranged horizontally and perpendicular to the transverse ruler, and the longitudinal ruler is used for measuring the position of a longitudinal coordinate where the calibration laser head is located.
The adjustment carousel includes first carousel, mark the setting of laser head rotary type on first carousel, the pivot level of demarcation laser head just is parallel with car length direction, be provided with first pointer on the support of demarcation laser head, be provided with first angle scaling rule on the first carousel.
First carousel rotary type sets up on the second carousel, the pivot level of first carousel just is perpendicular with the car length direction, be provided with the second pointer on the first carousel, be provided with second angle scaling chi on the second carousel.
The second carousel rotary type sets up on the third carousel, the pivot of second carousel is vertical, be provided with the third pointer on the second carousel, be provided with third angle scale on the third carousel.
The disc core of the third rotary disc is connected with the lower end of the vertical hanging rod, a vertical calibration ruler is arranged on the vertical hanging rod, and the vertical calibration ruler is used for measuring the vertical position coordinate of the third rotary disc.
The transverse adjusting mechanism comprises a transverse beam, a transverse sliding block is arranged on the transverse beam in a sliding mode, and the upper end of the vertical hanging rod is connected with the transverse sliding block.
The transverse ruler is parallel to the length direction of the transverse beam, a transverse pointer is arranged on the transverse sliding block and attached to the transverse ruler, a transverse locking nut extends from the transverse sliding block, a transverse locking screw rod is arranged in the transverse locking nut, and the transverse locking screw rod is vertical and the lower end of the transverse locking screw rod is abutted against or separated from the transverse beam.
The vertical adjusting mechanism comprises a vertical beam, a vertical sliding block is arranged on the vertical beam, the vertical beam is arranged at two ends of a transverse beam at intervals, two ends of the transverse beam are connected with the vertical sliding block, and a vertical adjusting unit drives the vertical sliding block to vertically move.
The vertical ruler is arranged on the side of the vertical beam, a vertical pointer extends from the vertical sliding block, and the vertical pointer and the vertical ruler are attached to slide.
The vertical adjusting unit comprises a vertical adjusting nut arranged on a vertical sliding block, a vertical adjusting screw rod is arranged in the vertical adjusting nut, the lower end rotary type of the vertical adjusting screw rod is arranged at two end positions of a vertical beam, an adjusting gear is arranged on the rod body of the vertical adjusting screw rod, the adjusting gear is matched with an adjusting worm, and the adjusting worm is horizontally and rotatably arranged on the vertical beam.
The vertical beam is provided with a vertical sliding rod in the length direction, and the vertical sliding block is arranged on the vertical sliding rod in a sliding mode.
The longitudinal adjusting mechanism comprises longitudinal beams, the longitudinal beams are arranged in two groups at intervals in parallel and are arranged at the lower end positions of the vertical beams, longitudinal sliding blocks are arranged on the longitudinal beams, and the lower ends of the vertical beams are connected with the longitudinal sliding blocks.
The longitudinal ruler is arranged along the length direction of the longitudinal beam, a longitudinal pointer is arranged on the longitudinal sliding block, and the longitudinal pointer slides along the length direction of the longitudinal ruler.
The longitudinal sliding block extends to be provided with a longitudinal locking nut, a longitudinal locking screw rod is arranged in the longitudinal locking nut, and the longitudinal locking screw rod is abutted against or separated from the longitudinal beam.
The calibration plate is a reflector and is vertically arranged, the calibration plate is arranged on the adjusting slide block, the adjusting slide block is arranged at two end positions of the transverse beam in a sliding mode, adjusting rules are arranged at two end positions of the transverse beam, and the adjusting rules are arranged in parallel with the transverse beam.
And an indicating needle is arranged on the adjusting sliding block and used for indicating the reading of the adjusting ruler.
And an adjusting screw rod is arranged on the adjusting slide block, and one end of the adjusting screw rod is abutted against or separated from the transverse beam.
And the two sides of the longitudinal beam are provided with vehicle front wheel measuring probes which are used for acquiring the distance between the distances of the front wheels of the vehicle.
A calibration method applied to an intelligent network vehicle-connected sensor comprises the following steps:
firstly, a vehicle to be calibrated is driven between two longitudinal beams and braked;
secondly, starting vehicle front wheel measuring probes on two sides of the longitudinal beam, and measuring the distance between the front wheels on two sides of the vehicle and the vehicle front wheel measuring probes;
thirdly, the position of the longitudinal beam is adjusted to enable the portal frame to be superposed with the center line of the vehicle;
fourthly, adjusting a longitudinal sliding block on the longitudinal adjusting mechanism to enable the longitudinal sliding block to slide along the longitudinal beam;
fifthly, adjusting a vertical sliding block on the vertical adjusting mechanism to enable the vertical sliding block to slide along a vertical beam of the vertical adjusting mechanism;
sixthly, adjusting a transverse sliding block on the transverse adjusting mechanism to enable the transverse sliding block to horizontally slide along the transverse beam;
seventhly, adjusting a vertical hanging rod on the transverse adjusting mechanism to enable the adjusting turntable to vertically move;
and eighthly, by adjusting the turntable, the indication direction of the calibration laser head on the turntable points to the calibrated vehicle body position, and the calibration and installation of the vehicle body sensor position are implemented.
Compared with the prior art, the invention has the beneficial effects that: the vehicle is driven to the gantry type calibration frame, the longitudinal adjusting mechanism, the vertical adjusting mechanism and the horizontal adjusting mechanism are adjusted, the adjusting turntable is adjusted and the calibration laser head is adjusted to the sensor calibration position, the sensor is installed and calibrated, the calibration laser head can be adjusted to the set calibration position flexibly through the arrangement of the mechanisms, therefore, the gantry type calibration frame applied to the intelligent internet vehicle sensor can be conveniently and quickly implemented to calibrate the sensor installation position of the vehicle, and the calibration and installation accuracy of the sensor is improved.
Drawings
Fig. 1 and 2 are schematic structural diagrams of two visual angles of a gantry type calibration rack applied to an intelligent internet vehicle sensor;
FIG. 3 is a left side view of a gantry-type calibration frame applied to an intelligent networked vehicle sensor;
FIG. 4 is a front view of a gantry-type calibration frame applied to an intelligent networked vehicle sensor;
FIG. 5 is a schematic structural diagram of the gantry type calibration frame applied to the intelligent networked vehicle sensor after being moved out of a platform;
FIGS. 6 and 7 are schematic views of two views of partial structures of the vertical adjustment mechanism and the longitudinal adjustment mechanism;
FIGS. 8 and 9 are schematic views of two viewing angle configurations of the vertical adjustment mechanism;
FIG. 10 is a front view of the calibration laser head, turntable and lateral adjustment mechanism;
FIGS. 11 and 12 are schematic views of two viewing angle configurations of the calibration laser head, the turntable, and the lateral adjustment mechanism;
fig. 13 and 14 are schematic views of two viewing angle structures of the calibration plate and the lateral adjustment mechanism.
Detailed Description
The invention will be further explained with reference to fig. 1 to 14:
the utility model provides a be applied to intelligent networking vehicle sensor planer-type calibration frame, is including maring laser head 100, mark laser head 100 and set up on adjustment carousel 200, adjustment carousel 200 sets up on horizontal guiding mechanism 300, horizontal guiding mechanism 300 sets up on vertical guiding mechanism 400, vertical guiding mechanism 400 sets up on vertical guiding mechanism 500, horizontal guiding mechanism 300 is adjusted and is markd laser head 100 and remove along car width direction, vertical guiding mechanism 400 is adjusted and is markd laser head 100 and remove along vertical direction, vertical guiding mechanism 500 is adjusted and is markd laser head 100 and remove along car width direction.
The vehicle is driven to the gantry type calibration frame, the longitudinal adjusting mechanism 500, the vertical adjusting mechanism 400 and the horizontal adjusting mechanism 300 are adjusted, the adjusting turntable 200 is adjusted, the calibration laser head 100 is adjusted to the sensor calibration position, the sensor is installed and calibrated, the calibration laser head 100 can be adjusted to the set calibration position flexibly through the arrangement of the mechanisms, therefore, the gantry type calibration frame applied to the intelligent internet vehicle sensor can conveniently and quickly calibrate the sensor installation position of the vehicle, and the sensor calibration and installation accuracy is improved.
Referring to fig. 1 to 3, after the vehicle is driven to the gantry position, the most important step for calibrating and positioning the sensor is to find the center position of the head of the vehicle, so that the center position of the vehicle is located at the center position of the gantry, and further, the center position of the vehicle can be used as the basic position for measuring any coordinate of the vehicle, and the longitudinal adjusting mechanism 500, the vertical adjusting mechanism 400 and the transverse adjusting mechanism 300 are adjusted, so that the adjusting turntable 200 adjusts and the calibration laser head 100 to the sensor calibration position, thereby accurately and quickly finding the sensor mounting position and the calibration position of the vehicle and ensuring the sensor mounting accuracy.
As a preferable scheme of the present invention, the transverse adjusting mechanism 300 is further provided with a calibration plate 600, the calibration plate 600 is positioned on the transverse adjusting mechanism 300 and is adjustable, the adjustment direction of the calibration plate 600 on the transverse adjusting mechanism 300 is along the automobile direction, the calibration plate 600 calibrates the camera and the radar of the vehicle, adjusts the reference positions of the camera and the radar of the vehicle, and ensures the stable and accurate installation of the camera and the radar of the vehicle.
For implementing the adjustment to demarcating laser head 100 for demarcating laser head 100 and can adjusting to the vehicle optional position, the demarcation position that the point of lighting of demarcating laser head 100 can be perpendicular to the vehicle has been said, in order to improve the precision to vehicle sensor calibration position, be provided with angle calibration chi on the adjustment carousel 200, angle calibration chi is used for measuring the deflection angle of demarcating laser head 100.
Preferably, the transverse adjusting mechanism 300 is provided with a transverse ruler 310, the transverse ruler 310 is arranged horizontally and along the width direction of the wheel, the adjusting turntable 200 moves along the length direction of the transverse ruler 310, and the transverse ruler 310 is used for measuring the transverse coordinate position of the calibration laser head 100;
during actual adjustment, the transverse coordinate of the sensor calibration position of the vehicle is adjusted, so that the adjustment turntable 200 slides along the transverse ruler 310, and the transverse coordinate (X-axis coordinate) of the sensor calibration position of the vehicle can be obtained;
similarly, in order to obtain the vertical coordinate (Z-axis coordinate) of the calibration position of the vehicle sensor, the vertical adjusting mechanism 400 is provided with a vertical ruler 410, and the vertical ruler 410 is vertically arranged and used for measuring the vertical coordinate position of the calibration laser head 100.
Similarly, in order to obtain the vertical coordinate (Y-axis coordinate) of the calibration position of the vehicle sensor, the longitudinal adjusting mechanism 500 is provided with a longitudinal ruler 510, the longitudinal ruler 510 is arranged horizontally and perpendicular to the transverse ruler 310, and the longitudinal ruler 510 is used for measuring the position of the longitudinal coordinate where the calibration laser head 100 is located.
Preferably, the multi-azimuth rotation of the position of calibrating laser head 100 is implemented, so that the light emitting end of calibrating laser head 100 can be calibrated perpendicularly at the sensor calibration position of the vehicle, the adjustment turntable 200 comprises a first turntable 210, the calibrating laser head 100 is rotatably arranged on the first turntable 210, the rotating shaft of calibrating laser head 100 is horizontal and parallel to the vehicle length direction, a first pointer 110 is arranged on the support of calibrating laser head 100, and a first angle calibration scale is arranged on the first turntable 210.
Preferably, the structure of the turntable 200 is as follows: first carousel 210 rotary type sets up on second carousel 220, the pivot level of first carousel 210 and perpendicular with the car length direction, be provided with second pointer 211 on the first carousel 210, be provided with second angle scaling chi on the second carousel 220.
When the height position of the turntable 200 is adjusted, the core of the third turntable 230 is connected to the lower end of the vertical suspension rod 240, and the vertical suspension rod 240 is provided with a vertical calibration ruler for measuring the vertical position coordinate of the third turntable 230.
When adjusting, the lateral adjusting mechanism 300 includes a lateral beam 320, a lateral slider 330 is slidably disposed on the lateral beam 320, and the upper end of the vertical suspension rod 240 is connected to the lateral slider 330.
When the transverse coordinate of the calibration position of the sensor of the vehicle is adjusted, the transverse ruler 310 is parallel to the transverse beam 320 in the length direction, the transverse slider 330 is provided with a transverse pointer 331, the transverse pointer 331 is attached to the transverse ruler 310, the transverse slider 330 is provided with a transverse locking nut 332 in an extending manner, a transverse locking screw 333 is arranged in the transverse locking nut 332, and the transverse locking screw 333 is vertical and the lower end of the transverse locking screw is abutted to or separated from the transverse beam 320.
After the lateral sliding block 330 is adjusted to a set position along the lateral beam 320, the lateral sliding block 330 is locked by the lateral locking screw 333.
More specifically, when the vertical coordinate of the sensor calibration position of the vehicle is adjusted, the vertical adjustment mechanism 400 includes a vertical beam 420, a vertical slider 430 is disposed on the vertical beam 420, the vertical beam 420 is disposed at two ends of the transverse beam 320 at intervals, two ends of the transverse beam 320 are connected to the vertical slider 430, and the vertical adjustment unit drives the vertical slider 430 to vertically move.
In the actual reading process, the vertical ruler 410 is arranged beside the vertical beam 420, the vertical sliding block 430 extends to be provided with a vertical pointer 431, and the vertical pointer 431 is attached to the vertical ruler 410 in a sliding manner.
More preferably, when the vertical position of the vertical sliding block 430 is adjusted, the vertical adjusting unit includes a vertical adjusting nut 432 disposed on the vertical sliding block 430, a vertical adjusting screw 433 is disposed in the vertical adjusting nut 432, the lower end of the vertical adjusting screw 433 is rotatably disposed at two end positions of the vertical beam 420, an adjusting gear 434 is disposed on a shaft of the vertical adjusting screw 433, the adjusting gear 434 is matched with the adjusting worm 435, and the adjusting worm 435 is horizontally and rotatably disposed on the vertical beam 420.
Through rotating adjusting worm 435 for adjusting gear 434 rotates, and then makes vertical accommodate the lead screw 433 rotate, thereby the vertical removal of the vertical slider 430 of interlock along vertical roof beam 420 to the implementation is to the slip of the vertical direction of vertical slider 430, after adjusting to different positions, vertical pointer 431 and perpendicular chi 410 cooperation can draw and set for the reading and stop.
Preferably, a vertical sliding rod 421 is arranged in the length direction of the vertical beam 420, and the vertical sliding block 430 is slidably arranged on the vertical sliding rod 421.
More preferably, when the adjustment of the longitudinal coordinate of the calibration position of the sensor of the vehicle is performed, the longitudinal adjustment mechanism 500 includes two sets of longitudinal beams 520, the two sets of longitudinal beams 520 are arranged in parallel at intervals and are arranged at the lower end of the vertical beam 420, the longitudinal beam 520 is provided with a longitudinal slider 530, and the lower end of the vertical beam 420 is connected with the longitudinal slider 530.
To facilitate reading the longitudinal coordinate reading, the longitudinal ruler 510 is disposed along the length direction of the longitudinal beam 520, and the longitudinal slider 530 is provided with a longitudinal pointer 531, and the longitudinal pointer 531 slides along the length direction of the longitudinal ruler 510.
After the longitudinal sliding block 530 is adjusted to a set longitudinal coordinate position, a longitudinal locking nut 532 is extended from the longitudinal sliding block 530, a longitudinal locking lead screw 533 is arranged in the longitudinal locking nut 532, and the longitudinal locking lead screw 533 is abutted to or separated from the longitudinal beam 520.
When the vehicle to be calibrated is driven to the gantry position, the wheel center needs to be calibrated firstly and is used as a reference center line.
The calibration plate 600 is a reflector and is vertically arranged, the calibration plate 600 is arranged on the adjusting slider 610, the adjusting slider 610 is slidably arranged at two ends of the transverse beam 320, the two ends of the transverse beam 320 are provided with adjusting rules 620, and the adjusting rules 620 are arranged in parallel with the transverse beam 320.
The calibration plate 600 is vertically arranged, dots or squares which are arranged at intervals are arranged on the surface of the calibration plate, and the calibration plate 600 can be conveniently measured by adjusting the adjusting slide block 610 to slide on the transverse beam 320.
Specifically, in order to obtain the accurate position of the adjusting slider 610 on the transverse beam 320, an indicator pin 611 is disposed on the adjusting slider 610, and the indicator pin 611 is used for indicating the reading of the adjusting ruler 620.
Preferably, the adjusting slider 610 is provided with an adjusting screw 612, and one end of the adjusting screw 612 abuts against or is separated from the transverse beam 320.
And vehicle front wheel measuring probes are arranged on two sides of the longitudinal beam 520 and used for collecting the distance between the distances of the front wheels of the vehicle.
A calibration method applied to an intelligent network vehicle-connected sensor comprises the following steps:
firstly, a vehicle to be calibrated is driven between two longitudinal beams 520 and braked;
secondly, starting the vehicle front wheel measuring probes on the two sides of the longitudinal beam 520, and measuring the distance between the front wheels on the two sides of the vehicle and the vehicle front wheel measuring probes;
thirdly, the position of the longitudinal beam 520 is adjusted to enable the portal frame to be superposed with the center line of the vehicle;
fourthly, the longitudinal sliding block 530 on the longitudinal adjusting mechanism 500 is adjusted to slide along the longitudinal beam 520;
fifthly, by adjusting the vertical sliding block 430 on the vertical adjustment mechanism 400, the vertical sliding block 430 slides along the vertical beam 420 of the vertical adjustment mechanism 400;
sixthly, adjusting the transverse sliding block 330 on the transverse adjusting mechanism 300 to enable the transverse sliding block 330 to horizontally slide along the transverse beam 320;
seventhly, the adjusting turntable 200 is vertically moved by adjusting the vertical suspension rod 240 on the adjusting transverse adjusting mechanism 300;
and eighthly, by adjusting the turntable 200, the indication direction of the calibration laser head 100 on the turntable 200 points to the calibrated vehicle body position, and the calibration and installation of the vehicle body sensor position are implemented.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The utility model provides a be applied to intelligent networking car sensor planer-type calibration rack which characterized in that: including demarcating laser head (100), it sets up on adjustment carousel (200) to demarcate laser head (100), adjustment carousel (200) sets up on horizontal guiding mechanism (300), horizontal guiding mechanism (300) set up on vertical guiding mechanism (400), vertical guiding mechanism (400) set up on vertical guiding mechanism (500), horizontal guiding mechanism (300) are adjusted and are demarcated laser head (100) and remove along car width direction, vertical guiding mechanism (400) are adjusted and are demarcated laser head (100) and remove along vertical direction, vertical guiding mechanism (500) are adjusted and are demarcated laser head (100) and remove along car width direction.
2. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 1, wherein: still be provided with calibration board (600) on horizontal guiding mechanism (300), calibration board (600) are located horizontal guiding mechanism (300) and are adjustable, the regulation direction that calibration board (600) are located on horizontal guiding mechanism (300) is along the car direction.
3. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 2, wherein: an angle calibration ruler is arranged on the adjusting turntable (200) and used for measuring the deflection angle of the calibration laser head (100).
4. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 3, wherein: the transverse adjusting mechanism (300) is provided with a transverse ruler (310), the transverse ruler (310) is arranged horizontally and along the width direction of the wheels, the adjusting turntable (200) moves along the length direction of the transverse ruler (310), and the transverse ruler (310) is used for measuring the transverse coordinate position of the calibration laser head (100); the vertical adjusting mechanism (400) is provided with a vertical ruler (410), and the vertical ruler (410) is vertically arranged and used for measuring the vertical coordinate position of the calibration laser head (100); the longitudinal adjusting mechanism (500) is provided with a longitudinal ruler (510), the longitudinal ruler (510) is horizontal and is perpendicular to the transverse ruler (310), and the longitudinal ruler (510) is used for measuring the position of a longitudinal coordinate where the calibration laser head (100) is located.
5. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 4, wherein: the adjusting turntable (200) comprises a first turntable (210), the calibration laser head (100) is rotatably arranged on the first turntable (210), a rotating shaft of the calibration laser head (100) is horizontal and parallel to the vehicle length direction, a first pointer (110) is arranged on a support of the calibration laser head (100), and a first angle calibration scale is arranged on the first turntable (210); the first rotary disc (210) is rotatably arranged on the second rotary disc (220), a rotating shaft of the first rotary disc (210) is horizontal and vertical to the vehicle length direction, a second pointer (211) is arranged on the first rotary disc (210), and a second angle scaling ruler is arranged on the second rotary disc (220); the second rotary disc (220) is rotatably arranged on a third rotary disc (230), a rotating shaft of the second rotary disc (220) is vertical, a third pointer (221) is arranged on the second rotary disc (220), and a third angle scaling rule is arranged on the third rotary disc (230); the disc core of the third rotary disc (230) is connected with the lower end of a vertical suspension rod (240), a vertical calibration ruler is arranged on the vertical suspension rod (240), and the vertical calibration ruler is used for measuring the vertical position coordinate of the third rotary disc (230).
6. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 5, wherein: the transverse adjusting mechanism (300) comprises a transverse beam (320), a transverse sliding block (330) is arranged on the transverse beam (320) in a sliding mode, and the upper end of the vertical hanging rod (240) is connected with the transverse sliding block (330); the transverse ruler (310) is parallel to the length direction of the transverse beam (320), a transverse pointer (331) is arranged on the transverse sliding block (330), the transverse pointer (331) is attached to the transverse ruler (310), a transverse locking nut (332) extends on the transverse sliding block (330), a transverse locking screw (333) is arranged in the transverse locking nut (332), and the vertical lower end of the transverse locking screw (333) abuts against or is separated from the transverse beam (320).
7. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 6, wherein: the vertical adjusting mechanism (400) comprises a vertical beam (420), wherein a vertical sliding block (430) is arranged on the vertical beam (420), the vertical beam (420) is arranged at two ends of a transverse beam (320) at intervals, two ends of the transverse beam (320) are connected with the vertical sliding block (430), and a vertical adjusting unit drives the vertical sliding block (430) to vertically move; the vertical ruler (410) is arranged beside the vertical beam (420), a vertical pointer (431) extends from the vertical sliding block (430), and the vertical pointer (431) is attached to the vertical ruler (410) in a sliding manner; the vertical adjusting unit comprises a vertical adjusting nut (432) arranged on a vertical sliding block (430), a vertical adjusting screw rod (433) is arranged in the vertical adjusting nut (432), the lower end of the vertical adjusting screw rod (433) is rotatably arranged at the positions of two ends of a vertical beam (420), an adjusting gear (434) is arranged on the rod body of the vertical adjusting screw rod (433), the adjusting gear (434) is matched with an adjusting worm (435), and the adjusting worm (435) is horizontally and rotatably arranged on the vertical beam (420); the vertical sliding rod (421) is arranged in the length direction of the vertical beam (420), and the vertical sliding block (430) is arranged on the vertical sliding rod (421) in a sliding mode.
8. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 7, wherein: the longitudinal adjusting mechanism (500) comprises longitudinal beams (520), two groups of the longitudinal beams (520) are arranged in parallel at intervals and are arranged at the lower end of a vertical beam (420), a longitudinal sliding block (530) is arranged on the longitudinal beam (520), and the lower end of the vertical beam (420) is connected with the longitudinal sliding block (530); the longitudinal ruler (510) is arranged along the length direction of the longitudinal beam (520), a longitudinal pointer (531) is arranged on the longitudinal sliding block (530), and the longitudinal pointer (531) slides along the length direction of the longitudinal ruler (510); the longitudinal sliding block (530) is provided with a longitudinal locking nut (532) in an extending mode, a longitudinal locking lead screw (533) is arranged in the longitudinal locking nut (532), and the longitudinal locking lead screw (533) is abutted against or separated from the longitudinal beam (520).
9. The gantry type calibration frame applied to the intelligent internet vehicle sensor according to claim 8, wherein: the calibration plate (600) is a reflector and is vertically arranged, the calibration plate (600) is arranged on an adjusting slide block (610), the adjusting slide block (610) is arranged at the two ends of a transverse beam (320) in a sliding manner, adjusting scales (620) are arranged at the two ends of the transverse beam (320), and the adjusting scales (620) are arranged in parallel with the transverse beam (320); the adjusting slide block (610) is provided with an indicating needle (611), and the indicating needle (611) is used for indicating the reading of the adjusting ruler (620); an adjusting screw rod (612) is arranged on the adjusting slide block (610), and one end of the adjusting screw rod (612) is abutted to or separated from the transverse beam (320); and vehicle front wheel measuring probes are arranged on two sides of the longitudinal beam (520) and used for acquiring the distance between the vehicle front wheels.
10. A calibration method applied to an intelligent network vehicle-connected sensor is characterized by comprising the following steps: the calibration method comprises the following steps:
firstly, a vehicle to be calibrated is driven between two longitudinal beams (520) and braked;
secondly, starting vehicle front wheel measuring probes on two sides of the longitudinal beam (520) and measuring the distance between the front wheels on two sides of the vehicle and the vehicle front wheel measuring probes;
thirdly, the position of the longitudinal beam (520) is adjusted to enable the portal frame to be superposed with the center line of the vehicle;
fourthly, adjusting a longitudinal sliding block (530) on the longitudinal adjusting mechanism (500) to enable the longitudinal sliding block (530) to slide along the longitudinal beam (520);
fifthly, adjusting a vertical sliding block (430) on the vertical adjusting mechanism (400) to enable the vertical sliding block (430) to slide along a vertical beam (420) of the vertical adjusting mechanism (400);
sixthly, adjusting a transverse sliding block (330) on the transverse adjusting mechanism (300) to enable the transverse sliding block (330) to horizontally slide along the transverse beam (320);
seventhly, adjusting a vertical hanging rod (240) on the transverse adjusting mechanism (300) through adjustment to enable the adjusting turntable (200) to move vertically;
and eighthly, by adjusting the turntable (200), the indication direction of the calibration laser head (100) on the turntable (200) points to the calibrated vehicle body position, and the calibration and installation of the vehicle body sensor position are implemented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110478412.6A CN113091613A (en) | 2021-04-30 | 2021-04-30 | Gantry type calibration frame applied to intelligent network vehicle-connected sensor and calibration method |
Applications Claiming Priority (1)
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