CN114598822A - Vehicle-mounted Ethernet all-around system with ESD interference resistance - Google Patents
Vehicle-mounted Ethernet all-around system with ESD interference resistance Download PDFInfo
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- H04N5/00—Details of television systems
- H04N5/222—Studio circuitry; Studio devices; Studio equipment
- H04N5/262—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects
- H04N5/2624—Studio circuits, e.g. for mixing, switching-over, change of character of image, other special effects ; Cameras specially adapted for the electronic generation of special effects for obtaining an image which is composed of whole input images, e.g. splitscreen
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/52—Elements optimising image sensor operation, e.g. for electromagnetic interference [EMI] protection or temperature control by heat transfer or cooling elements
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- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
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Abstract
The invention provides a vehicle-mounted Ethernet all-around system with ESD interference resistance, which at least comprises: the intelligent system comprises an intelligent host, a plurality of vehicle-mounted Ethernet cameras and a TSN gateway, wherein the vehicle-mounted Ethernet cameras are connected with the TSN gateway through a vehicle-mounted Ethernet bus, and the intelligent host is connected with the TSN gateway through the vehicle-mounted Ethernet bus; a plurality of on-vehicle ethernet cameras gather the automobile body and send for intelligent host computer through the TSN gateway around the image, and intelligent host computer calls image mosaic algorithm and forms the panoramic picture and send the display screen after splicing the image, changes the structure of on-vehicle ethernet camera simultaneously, through the design metalwork, makes it be connected with camera lens body, PCBA circuit board and shell, can be quick leads away static. In the process of splicing the panoramic images, the overlapping area does not need to be selected by a characteristic point matching method adopted in the prior art, and high-speed registration splicing is carried out according to the pixel coordinates of the overlapping area, so that the real-time performance is realized.
Description
Technical Field
The invention relates to a vehicle-mounted Ethernet look-around system, in particular to a vehicle-mounted Ethernet look-around system with ESD interference resistance.
Background
In recent years, with the development and progress of technology, the automobile technology is continuously improved, and the auxiliary driving, the automatic driving and the unmanned driving push the automobile bus to move in the high-speed and low-delay direction, so that the vehicle-mounted Ethernet bus becomes the inevitable choice of the automobile communication technology. At present, the vehicle-mounted ethernet ring-view system is mainly installed in a passenger vehicle, and image transmission is performed by adopting the LVDS bus technology. However, the wiring harness supporting LVDS communication needs to be provided with a shielding layer, so that the cost of the wiring harness increases rapidly as the communication distance increases. Moreover, when a large truck or a heavy truck is used, due to the fact that the truck body is long, the LVDS is prone to being interfered by signals in the long transmission process of the wire harness, the quality of transmitted images is reduced, and phenomena such as picture missing often occur. In addition, the design of the common vehicle-mounted camera lens is basically that a metal lens barrel is adopted and the surface of the metal lens barrel is subjected to anodic oxidation treatment, so that the influence of environmental variation on the optical lens is reduced. However, the camera is exposed to the outside, and particularly, the lens is very sensitive to ESD, and the functional failure or the restart of the camera is easily caused by static electricity.
Disclosure of Invention
Based on the defects in the prior art, the invention provides an anti-ESD interference vehicle-mounted Ethernet look-around system, which at least comprises: the intelligent system comprises an intelligent host, a plurality of vehicle-mounted Ethernet cameras and a TSN gateway, wherein the vehicle-mounted Ethernet cameras are connected with the TSN gateway through a vehicle-mounted Ethernet bus, and the intelligent host is connected with the TSN gateway through the vehicle-mounted Ethernet bus;
the method comprises the following steps that a plurality of vehicle-mounted Ethernet cameras collect images around a vehicle body and send the images to an intelligent host through a TSN gateway, and the intelligent host calls an image splicing algorithm to splice the images to form a panoramic image and send the panoramic image to a display screen;
the image stitching algorithm at least comprises the following steps: respectively acquiring the overlapping areas of adjacent vehicle-mounted Ethernet cameras, setting a plurality of key calibration points in the overlapping areas, respectively acquiring the coordinates of the key calibration points in a world coordinate system, corresponding to the overlapping pixel coordinates in the adjacent vehicle-mounted Ethernet cameras, storing the overlapping pixel coordinates, splicing the images according to the overlapping pixel coordinates, and performing image fusion processing on the spliced areas.
A vehicle-mounted Ethernet around-the-horizon system with ESD interference resistance is further optional, and the vehicle-mounted Ethernet camera comprises a fisheye camera;
the image stitching algorithm further comprises: calibrating the fisheye lens to obtain internal parameters and distortion correction coefficients of the camera;
by placing the calibration points, establishing a mapping relation between corresponding points of a world coordinate system of the calibration points and corresponding points of a camera coordinate system, and acquiring a homography matrix and an external parameter of each camera by utilizing perspective transformation or cylindrical projection and calibrated internal parameters and distortion correction coefficients;
the method comprises the steps of setting a plurality of calibration points on the ground plane around the vehicle body, obtaining images of the calibration points through a vehicle camera shooting Ethernet camera, transforming the calibration points to a splicing plane by utilizing a homography matrix, obtaining pixel coordinates of the calibration points corresponding to the calibration points from the splicing plane, and obtaining an overlapping area according to the pixel coordinates of the calibration points.
A vehicle-mounted Ethernet look-around system with ESD interference resistance is further optional, when vehicle-mounted Ethernet cameras finish calibration, one of the vehicle-mounted Ethernet cameras is selected as a reference camera, the rotation angles of the rest of the vehicle-mounted Ethernet cameras relative to the reference camera are obtained, and homography matrixes from the rest of the vehicle-mounted Ethernet cameras to the reference camera are calculated;
a vehicle-mounted Ethernet around-the-horizon system with ESD interference resistance is further optional, the number of vehicle-mounted cameras at least comprises 6, and the 6 are respectively the tail, the head, the left side of the vehicle body and the right side of the vehicle body, wherein the head and the tail are respectively one, and the left side of the vehicle body and the right side of the vehicle body are respectively 2;
the two cameras on the left side of the vehicle body are respectively at the 1/4 position and the 3/4 position of the length of the vehicle body;
the two cameras on the right side of the vehicle body are respectively at the 1/4 position and the 3/4 position of the length of the vehicle body;
the head camera is arranged at the position of the vehicle width 1/2, and the parking space camera is arranged at the position of 1/2 of the vehicle width.
An on-vehicle ethernet look around system with anti-ESD interference, further optionally, the on-vehicle ethernet camera includes at least: the lens comprises a lens body, a front cover shell, a metal piece, a PCBA circuit board and a rear cover shell, wherein the lens body is arranged in the front cover shell, the metal piece is close to the tail end of the lens body and is arranged in the front cover shell, and the metal piece is provided with a through hole;
the PCBA circuit board is close to the metal piece and is arranged in the front cover shell, and the PCBA circuit board and the metal piece are connected with the front cover shell through a first metal connecting mechanism;
the back cover shell is connected with the front cover shell through a second metal connecting mechanism.
A vehicle-mounted Ethernet around-the-horizon system with ESD interference resistance is further optional, a lens is arranged at the front end of a lens body, and the tail end of the lens body is in an inverted trapezoidal cylinder shape;
the inner part of the front cover shell is provided with threads, and the lens body is connected with the front cover shell through the threads;
the inner side and the outer side of the front cover shell are coated with a layer of anode oxidation resistant film.
A vehicle-mounted Ethernet environment-friendly system with ESD interference resistance is further provided, and further optionally, the upper end of a through hole of a metal piece is an inverted trapezoidal cylinder;
the lower end of the through hole of the metal piece is in an original cylindrical shape, so that the optical fiber is led into the PCBA from the lower end of the through hole;
the upper end of the through hole of the metal piece is an inverted trapezoidal cylinder;
according to the vehicle-mounted Ethernet around-the-horizon system with ESD interference resistance, further optional, the rear cover shell is a cylinder, and a through hole is formed in the rear cover shell;
the wire harness is connected into a connector in the PCBA circuit board through the through hole, and a control command is transmitted to the camera or an image signal of the camera is acquired.
An on-board ethernet look-around system with ESD interference resistance, further optionally, the first metal connection mechanism comprises: a bolt or plug; the second metal connection structure includes: a bolt or plug;
a vehicle-mounted Ethernet around-the-sight system with ESD interference resistance is further optional, wherein a wire harness is provided with an external static lead, and the static lead is electrically connected with a rear cover shell and used for leading out static electricity on the rear cover shell;
a waterproof sealing ring is arranged at the joint of the lens body and the front cover shell;
and a waterproof sealing ring is arranged at the joint of the front cover shell and the rear cover shell.
A vehicle-mounted Ethernet around-the-sight system with ESD interference resistance is further optional, a PCBA circuit board is provided with an image sensor, an ISP image processor and an Ethernet PHY connector;
the ISP image processor is respectively connected with the image sensor and the Ethernet PHY;
the lens on the lens body focuses outside light and then converges the outside light into the image sensor, and the image sensor converts a light signal into an image signal and then inputs the image signal into the ISP image processor for processing;
the PHY chip of the Ethernet at least comprises an Ethernet PHY chip of an electrical interface of 1G or 10G;
or 10G fiber ethernet PHY chips;
the ethernet PHY chip is implemented based on a dedicated ASIC chip or based on an FPGA chip.
Or 10G fiber ethernet PHY chips;
the ethernet PHY chip is implemented based on a dedicated ASIC chip or based on an FPGA chip.
The transmission protocol of the Ethernet PHY chip is based on the IEEE1722 AVTP audio and video transmission protocol.
Has the advantages that:
1. according to the technical scheme provided by the invention, in the process of splicing the panoramic images, the overlapping area does not need to be selected by a characteristic point matching method adopted in the prior art, and registration splicing is carried out according to the pixel coordinates of the overlapping area, so that the calculated amount can be reduced to the greatest extent, and the real-time property of the panoramic spliced image is realized.
2. In the technical scheme provided by the invention, the lens body, the front cover shell and the rear cover shell are made of metal materials, and the bottom of the lens cone adopts a design similar to an inverted circular truncated cone. A metal piece is put between the bottom of the lens body and the PCBA, namely a shielding cover is covered above the PCBA, then the PCBA and the metal piece are locked on the front cover shell through screws to form a whole, so that static electricity on the lens barrel can be effectively and directly led into the shell, and direct interference or damage of the static electricity on an optical element is effectively protected. Meanwhile, the metal sheet is synchronously designed in a manner similar to an inverted circular truncated cone and is matched with the bottom structure of the lens barrel body, so that the bottom of the lens barrel can be effectively fixed and focused, the position deviation of the lens barrel is reduced, and the production yield of products and the stability of the products are improved.
Drawings
The following drawings are only schematic illustrations and explanations of the present invention, and do not limit the scope of the present invention.
Fig. 1 is a schematic view of a vehicle-mounted ethernet camera mounted around a vehicle body according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of calibration and layout of checkerboards in the marks performed by the vehicle-mounted ethernet camera according to an embodiment of the present invention.
Fig. 3 is a schematic cross-sectional view of a vehicle-mounted ethernet camera according to an embodiment of the present invention.
Fig. 4 is a schematic cross-sectional view of another vehicle-mounted ethernet camera according to an embodiment of the present invention.
Fig. 5 is a schematic cross-sectional view of a metal part structure in the vehicle-mounted ethernet camera according to an embodiment of the present invention.
Fig. 6 is a structural diagram of electronic components in a PCBA circuit according to an embodiment of the invention.
Detailed Description
For a more clear understanding of the technical features, objects, and effects herein, embodiments of the present invention will now be described with reference to the accompanying drawings, in which like reference numerals refer to like parts throughout. For the sake of simplicity, the drawings are schematic representations of relevant parts of the invention and are not intended to represent actual structures as products. In addition, for simplicity and clarity of understanding, only one of the components having the same structure or function is schematically illustrated or labeled in some of the drawings.
As for the control system, the functional module, application program (APP), is well known to those skilled in the art, and may take any suitable form, either hardware or software, and may be a plurality of functional modules arranged discretely, or a plurality of functional units integrated into one piece of hardware. In its simplest form, the control system may be a controller, such as a combinational logic controller, a micro-programmed controller, or the like, so long as the operations described herein are enabled. Of course, the control system may also be integrated as a different module into one physical device without departing from the basic principle and scope of the invention.
The term "connected" in the present invention may include direct connection, indirect connection, communication connection, and electrical connection, unless otherwise specified.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, values, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, values, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items
It should be understood that the term "vehicle" or "vehicular" or other similar terms as used herein generally includes motor vehicles such as passenger automobiles including Sports Utility Vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including a variety of boats, ships, aircraft, and the like, and includes hybrid vehicles, electric vehicles, plug-in hybrid electric vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from non-petroleum sources). As referred to herein, a hybrid vehicle is a vehicle having two or more power sources, such as both gasoline-powered and electric-powered vehicles.
Further, the controller of the present disclosure may be embodied as a non-transitory computer readable medium on a computer readable medium containing executable program instructions executed by a processor, controller, or the like. Examples of computer readable media include, but are not limited to, ROM, RAM, Compact Disc (CD) -ROM, magnetic tape, floppy disk, flash drive, smart card, and optical data storage device. The computer readable recording medium CAN also be distributed over network coupled computer systems so that the computer readable medium is stored and executed in a distributed fashion, such as by a telematics server or Controller Area Network (CAN).
The invention provides a vehicle-mounted Ethernet environment-friendly system with ESD interference resistance, and the system comprises the following components in parts by weight in fig. 1-2: the intelligent system comprises an intelligent host, a plurality of vehicle-mounted Ethernet cameras and a TSN gateway, wherein the vehicle-mounted Ethernet cameras are connected with the TSN gateway through a vehicle-mounted Ethernet bus, and the intelligent host is connected with the TSN gateway through the vehicle-mounted Ethernet bus;
the method comprises the following steps that a plurality of vehicle-mounted Ethernet cameras collect images around a vehicle body and send the images to an intelligent host through a TSN gateway, and the intelligent host calls an image splicing algorithm to splice the images to form a panoramic image and send the panoramic image to a display screen;
specifically, referring to fig. 1, the number of the vehicle-mounted cameras at least includes 6, and the vehicle-mounted cameras respectively include a vehicle tail, a vehicle head, a vehicle body left side and a vehicle body right side, wherein the vehicle head and the vehicle tail are respectively one, and the vehicle body left side and the vehicle body right side are respectively 2;
the two cameras on the left side of the vehicle body are respectively arranged at 1/4 and 3/4 of the length of the vehicle body;
the two cameras on the right side of the vehicle body are respectively arranged at 1/4 and 3/4 of the length of the vehicle body;
the head camera is mounted at the position of the vehicle width 1/2, and the tail camera is mounted at the position of the vehicle width 1/2. In fig. 1, the length is even more than 50 meters due to the very long body of a large automobile. Therefore, the length direction of the camera needs to be increased, the width of a large automobile is limited by the width of a road, and the camera with a large visual angle can be covered sufficiently. Therefore, the distribution mode of the cameras in this embodiment is as follows: CF. CB cameras are respectively installed at the front end and the rear end of the automobile, and CR1, CR2, CL1 and CL2 are respectively installed at 1/4 and 3/4 of the length of the right side of the automobile body and 1/4 and 3/4 of the length of the left side of the automobile body.
The image stitching algorithm at least comprises the following steps: respectively acquiring the overlapping areas of adjacent vehicle-mounted Ethernet cameras, setting a plurality of key calibration points in the overlapping areas, respectively acquiring the coordinates of the key calibration points in a world coordinate system, corresponding to the overlapping pixel coordinates in the adjacent vehicle-mounted Ethernet cameras, storing the overlapping pixel coordinates, splicing the images according to the overlapping pixel coordinates, and performing image fusion processing on the spliced areas.
The vehicle-mounted Ethernet camera comprises a fisheye camera or a spherical lens or a common lens;
the image stitching algorithm further comprises: calibrating the fisheye lens to obtain the internal parameter and distortion correction coefficient of the camera;
if a fisheye lens and a spherical lens are adopted, distortion correction is required.
By placing the calibration points, establishing a mapping relation between corresponding points of a world coordinate system of the calibration points and corresponding points of a camera coordinate system, and acquiring a homography matrix and an external parameter of each camera by utilizing perspective transformation or cylindrical projection and calibrated internal parameters and distortion correction coefficients;
the method comprises the steps of setting a plurality of calibration points on the ground plane around the vehicle body, obtaining images of the calibration points through a vehicle camera shooting Ethernet camera, transforming the calibration points to a splicing plane by utilizing a homography matrix, obtaining pixel coordinates of the calibration points corresponding to the calibration points from the splicing plane, and obtaining an overlapping area according to the pixel coordinates of the calibration points. As shown in fig. 2, checkerboard pictures are placed around the vehicle body, the coordinates of the corner points are easily detected due to the checkerboard between black and white, and the coordinates of the corner points in the world coordinate system are also easily constructed. The adjacent cameras all have a common area, for example, the CF camera respectively has a common area with CR1 and CL1, the CR1 respectively has a common area with CF and CR2, and a point mapping relation is constructed by establishing angular point coordinates in a world coordinate system and angle coordinates of a pixel coordinate system, so that parameters such as camera internal reference, external reference, a distortion system and the like are obtained.
After the vehicle-mounted Ethernet cameras finish calibration, selecting one of the vehicle-mounted Ethernet cameras as a reference camera, acquiring the rotation angles of the rest vehicle-mounted Ethernet cameras relative to the reference camera, and calculating homography matrixes from the rest vehicle-mounted Ethernet cameras to the reference camera;
in the perspective transformation or cylindrical projection, the projection modes can be selected according to the form and direction of the automobile. For example, when the automobile moves forward, the cylindrical projection direction imaging splicing is selected. When the automobile backs, perspective transformation is selected for splicing, and a better visual angle is provided for a driver.
Specifically, in order to obtain a better imaging effect and overcome the interference of ESD, the present embodiment designs the structure of the vehicle-mounted ethernet camera, and the structure is specifically improved as shown in fig. 3 to 6.
Specifically, the vehicle-mounted Ethernet camera with ESD interference resistance at least comprises:
the electronic device comprises a lens body 100, a front cover shell 200, a metal piece 300, a PCBA circuit board 500 and a rear cover shell 700, wherein the lens body 100 is installed in the front cover shell 200, the metal piece 300 is close to the tail end of the lens body 100 and is installed in the front cover shell 200, and the metal piece 300 is provided with a through hole;
the PCBA circuit board 500 is closely adjacent to the metal piece 300 and is installed in the front cover shell 200, and the PCBA circuit board 500 and the metal piece 300 are connected with the front cover shell 200 through a first metal connecting mechanism 600;
the rear cover case 700 is connected to the front cover case 200 by a second metal connection mechanism 800.
Specifically, the lens body, the front cover housing and the rear cover housing are made of metal materials and have conductivity, but the front cover housing and the rear cover housing need to be subjected to surface treatment, otherwise, after being exposed in air for a long time, the surfaces of the front cover housing and the rear cover housing are oxidized and corroded, so that the camera cannot be waterproof and dustproof. However, in order to save cost, manufacturers usually immerse the front cover shell and the rear cover shell in the oxidation tank as a whole, and if only the outer layer is made, the inner layer needs to be shielded, so that the cost is increased greatly, and the manufacturers cannot bear the cost. This is to make it impossible to conduct electricity due to the anodized layer coated on the surface even if the front cover case and the rear cover case are made of a metal material. Therefore, after entering the lens body, external static electricity cannot be rapidly conducted away by the lens body, and the static electricity is conducted to the image sensor 400 in the PCBA circuit board 500 through the lens body 100, so that the imaging of the camera is greatly interfered, and the image sensor 400 may be seriously damaged. In order to solve the problem, in the present embodiment, by providing the metal component 300, the metal component 300 is electrically connected to the lens body 100, and the PCBA circuit board 500 and the bezel housing 200 are connected by the first metal connection mechanism 600, so that the static electricity on the lens body 100 is cyclically conducted away. The lens is prevented from being damaged.
The front end of the lens body 100 is provided with a lens, and the tail end of the lens body 100 is in the shape of an inverted trapezoidal truncated cone;
the front cover housing 200 is internally provided with internal threads, and the lens body 100 is provided with external threads to be connected to the front cover housing 200 through threads.
The lens of the lens body 100 may be a fisheye lens or a spherical lens, and a large viewing angle can be obtained through the fisheye lens and the spherical lens.
A layer of anode oxidation resistant film is coated on the inner side and the outer side of the front cover shell 200;
referring to fig. 5, a metal piece 300, wherein the upper end 301 of a through hole of the metal piece 300 is an inverted trapezoidal cylinder;
the lower end 302 of the through hole of the metal piece 300 is cylindrical, so that the optical fiber is guided into the PCBA circuit board 500 from the lower end 302 of the through hole;
the inverted trapezoidal truncated cone at the upper end 301 of the through hole of the metal piece 300 is tightly connected with the side surface of the inverted trapezoidal truncated cone at the tail end of the lens body 100, so that static electricity of the lens body can be led away circularly.
In addition, optical focusing in the camera is a big difficulty in manufacturing, and the normal and stable work of the camera is directly influenced by accurate focusing and firm fixation. The lens body 100 and the PCBA circuit board 500 are firmly tightened on the front cover case 200 by the metal member 300, and the focusing accuracy can be improved. When receiving vibrations influence in the automobile driving process, on-vehicle camera also can possess better formation of image effect.
Specifically, the rear cover housing 700 is a cylinder, and a through hole is formed inside the rear cover housing;
the wire harness 900 is connected to a connector in the PCBA circuit board 500 through a through hole, and transmits a control command to the camera or acquires an image signal of the camera.
The harness 900 is an ethernet harness, and employs a pair of unshielded twisted pairs or a plurality of pairs of unshielded twisted pairs; if the Ethernet PHY is equipped with a fiber interface, the Ethernet harness is a fiber transmission medium.
Specifically, in order to rapidly conduct away static electricity, a ground wire may be added to the ethernet harness, and the ground wire is electrically connected to the rear cover housing 700, specifically, by welding or by contact connection. The wire harness 900 is provided with an external electrostatic wire electrically connected to the rear cover case 700 for guiding out the static electricity on the rear cover case 700.
The first metal connection mechanism 600 includes: a bolt or plug; the second metal connection structure 800 includes:
a bolt or plug;
a waterproof sealing ring is arranged at the joint of the lens body 100 and the front cover shell 200;
the joint of the front cover shell 200 and the rear cover shell 700 is provided with a waterproof sealing ring.
As in fig. 6, PCBA circuit board 500 is provided with image sensor 400, ISP image processor and ethernet PHY connector;
the ISP image processor is connected to the image sensor 400 and the ethernet PHY, respectively;
the lens on the lens body 100 focuses ambient light and then converges the light to the image sensor 400, and the image sensor 400 converts the light signal into an image signal and then inputs the image signal to the ISP image processor for processing.
The PHY chip of the Ethernet at least comprises an Ethernet PHY chip of an electrical interface of 1G or 10G;
or 10G fiber ethernet PHY chip;
the ethernet PHY chip is implemented based on a dedicated ASIC chip or based on an FPGA chip.
The transmission protocol of the Ethernet PHY chip is based on the IEEE1722 AVTP audio and video transmission protocol.
What has been described above is only a preferred embodiment of the present invention, and the present invention is not limited to the above examples. It is clear to those skilled in the art that the form in this embodiment is not limited thereto, and the adjustable manner is not limited thereto. It is to be understood that other modifications and variations, which may be directly derived or suggested to one skilled in the art without departing from the basic concept of the invention, are to be considered as included within the scope of the invention.
Claims (11)
1. An on-board Ethernet look-around system with ESD interference resistance, comprising at least: the intelligent system comprises an intelligent host, a plurality of vehicle-mounted Ethernet cameras and a TSN gateway, wherein the vehicle-mounted Ethernet cameras are connected with the TSN gateway through a vehicle-mounted Ethernet bus, and the intelligent host is connected with the TSN gateway through the vehicle-mounted Ethernet bus;
the method comprises the following steps that a plurality of vehicle-mounted Ethernet cameras collect images around a vehicle body and send the images to an intelligent host through a TSN gateway, and the intelligent host calls an image splicing algorithm to splice the images to form a panoramic image and send the panoramic image to a display screen;
the image stitching algorithm at least comprises the following steps: respectively acquiring the overlapping areas of adjacent vehicle-mounted Ethernet cameras, setting a plurality of key calibration points in the overlapping areas, respectively acquiring the coordinates of the key calibration points in a world coordinate system, corresponding to the overlapping pixel coordinates in the adjacent vehicle-mounted Ethernet cameras, storing the overlapping pixel coordinates, splicing the images according to the overlapping pixel coordinates, and performing image fusion processing on the spliced areas.
2. The system of claim 1, wherein the vehicle ethernet camera comprises a fisheye lens;
the image stitching algorithm further comprises: calibrating the fisheye lens to obtain internal parameters and distortion correction coefficients of the camera;
by placing the calibration points, establishing a mapping relation between corresponding points of a world coordinate system of the calibration points and corresponding points of a camera coordinate system, and acquiring a homography matrix and an external parameter of each camera by utilizing perspective transformation or cylindrical projection and calibrated internal parameters and distortion correction coefficients;
the method comprises the steps of setting a plurality of calibration points on the ground plane around the vehicle body, obtaining images of the calibration points through a vehicle-mounted Ethernet camera, transforming the calibration points to a splicing plane by utilizing a homography matrix, obtaining pixel coordinates of the calibration points corresponding to the calibration points from the splicing plane, and obtaining an overlapping area according to the pixel coordinates of the calibration points.
3. The system of claim 1, wherein after calibration of the vehicle-mounted Ethernet cameras is completed, one of the vehicle-mounted Ethernet cameras is selected as a reference camera, rotation angles of the remaining vehicle-mounted Ethernet cameras relative to the reference camera are obtained, and homography matrices from the remaining vehicle-mounted Ethernet cameras to the reference camera are calculated.
4. The system of claim 1, wherein the number of the vehicle-mounted Ethernet cameras is at least 6, and the vehicle-mounted Ethernet cameras are respectively arranged at the tail, the head, the left side of the vehicle body and the right side of the vehicle body, wherein the head and the tail are respectively arranged at one end, and the left side of the vehicle body and the right side of the vehicle body are respectively arranged at 2 ends;
the two cameras on the left side of the vehicle body are respectively arranged at 1/4 and 3/4 of the length of the vehicle body;
the two cameras on the right side of the vehicle body are respectively arranged at 1/4 and 3/4 of the length of the vehicle body;
the front camera is mounted at the position of the vehicle width 1/2, and the rear camera is mounted at the position of the vehicle body width 1/2.
5. The system of claim 1, wherein the vehicle ethernet camera comprises at least: the electronic device comprises a lens body (100), a front cover shell (200), a metal piece (300), a PCBA circuit board (500) and a rear cover shell (700), wherein the lens body (100) is installed in the front cover shell (200), the metal piece (300) is close to the tail end of the lens body (100) and installed in the front cover shell (200), and the metal piece (300) is provided with a through hole;
the PCBA circuit board (500) is close to the metal piece (300) and is arranged in the front cover shell (200), and the PCBA circuit board (500) and the metal piece (300) are connected with the front cover shell (200) through a first metal connecting mechanism (600);
the rear cover shell (700) is connected with the front cover shell (200) through a second metal connecting mechanism (800).
6. The vehicular ethernet looking around system with ESD interference resistance according to claim 5, wherein the lens body (100) is provided with a lens at the front end, and the end of the lens body (100) is shaped as an inverted trapezoidal cylinder;
threads are arranged in the front cover shell (200), and the lens body (100) is connected with the front cover shell (200) through the threads;
the inner side and the outer side of the front cover shell (200) are coated with a layer of anode oxidation resistant film.
7. The vehicle-mounted Ethernet camera with ESD interference resistance as recited in claim 5, wherein the through hole upper end (301) of the metal member (300) is an inverted trapezoidal cylinder;
the lower end (302) of the through hole of the metal member (300) is cylindrical, so that the optical fiber is guided into the PCBA (500) from the lower end (302) of the through hole.
8. The vehicular Ethernet camera with ESD interference resistance of claim 5, wherein the rear cover housing (700) is a cylinder with a through hole inside;
the wire harness (900) is connected to a connector in the PCBA circuit board (500) through the through hole, and a control command is transmitted to the camera or an image signal of the camera is acquired.
9. The vehicular ethernet camera according to claim 5, wherein the first metal connection mechanism (600) comprises: a bolt or plug; the second metal connection structure (800) comprises: a bolt or a plug.
10. The vehicular ethernet camera with ESD interference resistance according to claim 5, wherein the wiring harness (900) is provided with an external static conducting wire, and the static conducting wire is electrically connected with the rear cover housing (700) for conducting static electricity on the rear cover housing (700);
a waterproof sealing ring is arranged at the joint of the lens body (100) and the front cover shell (200);
a waterproof sealing ring is arranged at the joint of the front cover shell (200) and the rear cover shell (700).
11. The vehicular Ethernet camera with ESD interference resistance of claim 5, characterized in that the PCBA circuit board (500) is provided with an image sensor (400), an ISP image processor and an Ethernet PHY connector;
the ISP image processor is respectively connected with the image sensor (400) and the Ethernet PHY connector;
the lens on the lens body (100) focuses external light and then converges the focused external light into the image sensor (400), and the image sensor (400) converts the light signal into an image signal and then inputs the image signal into an ISP image processor for processing;
the Ethernet PHY connector at least comprises an Ethernet PHY chip of an electrical interface of 1G or 10G;
or 10G fiber ethernet PHY chips;
the ethernet PHY chip is implemented based on a dedicated ASIC chip or based on an FPGA chip.
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