CN116256706A - Multi-wave-segment calibration mirror for radar calibration - Google Patents
Multi-wave-segment calibration mirror for radar calibration Download PDFInfo
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- CN116256706A CN116256706A CN202211736532.2A CN202211736532A CN116256706A CN 116256706 A CN116256706 A CN 116256706A CN 202211736532 A CN202211736532 A CN 202211736532A CN 116256706 A CN116256706 A CN 116256706A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
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Abstract
A multi-band calibration mirror for radar calibration, comprising: the system comprises a continuous zoom imaging component, a multiband CMOS imaging device, an image processing board, a system control circuit and a band switching lens. According to the invention, by adopting a novel optical lens and a multiband CMOS imaging device and using an innovative digital image processing means, the radar calibration has an automation level, the calibration precision is improved, errors caused by human eye observation are effectively avoided, the calibration efficiency is greatly improved, the all-weather capability during radar calibration is improved, and the concealment of the radar calibrated at night is enhanced.
Description
Technical Field
The invention relates to the field of radar vehicle television calibration mirrors, in particular to a multi-wave-band calibration mirror for radar calibration.
Background
At present, the weather radar and the hollow tube radar are equipped, whether of a mobile vehicle type or a fixed erection type, and after the radar leaves a factory or reaches a preset installation position to be erected, the radar precision is required to be recalibrated so as to ensure the accuracy of the radar on target detection. The calibration method comprises the steps of detecting a calibration rod of 1-3 km through a radar, forming an echo target of the calibration rod on the radar, observing through a traditional optical sighting telescope arranged on the radar, and reading out the scale value of the calibration rod on a center cross dividing line through naked eye observation of the position of the calibration rod on the optical sighting telescope, thereby obtaining the deviation between the detection angle of the radar wave and the optical observation angle, and correcting the deviation to coincide the detection angle of the radar wave and the optical observation angle, so that the aim of calibrating the radar precision is fulfilled.
Because the traditional optical sighting telescope is used at present, an observed target is close to naked eyes, deviation of the target is interpreted by means of scales on cross reticle, errors observed by human eyes exist, the observation and measurement precision is low, all-weather functions are not achieved, adaptability is poor, and operation and use are inconvenient. In addition, a common analog imaging device is adopted as a television calibration mirror of the sensor, but the sensitization range is limited, the spectrum band is limited to visible light, calibration cannot be carried out at night, and the use requirement after all days cannot be met.
Disclosure of Invention
The invention aims to provide a multi-wave segment calibration mirror for radar calibration, which comprises the following components: the system comprises a continuous zoom imaging component, a multiband CMOS imaging device, an image processing board, a system control circuit and a band switching lens.
The continuous zooming imaging component comprises a zooming group, a zooming motor, a potentiometer I, a potentiometer II, a zooming group, a focusing motor, a focusing group and a compensation group.
And the zoom group of the continuous zoom and zoom imaging assembly is sequentially connected with the compensation group, the zoom group and the focusing group.
The zoom group of the continuous zoom imaging component is fixedly connected with a zoom motor and a potentiometer I.
And the focusing group of the continuous zoom imaging component is fixedly connected with the potentiometer II and the focusing motor.
And one end of the focusing group of the continuous zooming imaging component is fixedly connected with a band switching lens.
The multiband CMOS imaging device is fixed at one end of the main control circuit board.
One side of the multiband CMOS imaging device for receiving imaging is fixedly connected with one end of a zoom group of the continuous zoom imaging component.
And the two sides of the multiband CMOS imaging device are respectively fixed with an image processing board and a system control circuit.
The system control circuit is communicated with the image processing board through a serial port.
The continuous zoom imaging component of the multi-wave band calibration mirror images scenes on the multi-wave band CMOS imaging device, the multi-wave band CMOS imaging device transmits video signals to the image processing board, and the image processing board processes the video signals and outputs the processed video signals.
Further, the multi-wave segment calibration mirror further comprises an upper computer.
The image processing board processes the video signal and transmits the processed video signal to the upper computer.
The system control circuit and the upper computer are converted and transmit signals through the image processing board.
Further, the continuously variable magnification zoom imaging assembly further comprises a zoom member.
The zoom piece is used for adjusting the distance between the zoom group and the image plane.
Further, the receiving wave band of the multiband CMOS imaging device has a wavelength range of 400 nm-1000 nm, the color wave band presents a color image, and the near infrared wave band presents a near infrared wave band image.
Further, the multi-wave-segment calibration mirror is packaged through an aluminum alloy shell, a window is reserved at the front end of the aluminum alloy shell, protective glass is arranged on the window, and the detector is sealed inside the aluminum alloy shell.
Further, the band-switching lens includes a daytime mode and a nighttime mode.
Further, when the band-switching lens switches the daytime mode, the spectrum with the wavelength range of the band smaller than 400nm and the wavelength range of the band larger than 650nm is filtered through the band-pass filter, so that the spectrum entering the multiband CMOS imaging device is ensured to be in the wavelength range of the color band of 400-650 nm.
Further, when the band-switching lens switches the night mode, all the color band and the near infrared band with the wavelength range of 400 nm-1000 nm are received through the band-pass filter.
Further, when the radar is calibrated, a light source auxiliary radar with a wave band invisible to human eyes is arranged at the position of the marker post for calibration.
The technical effects of the invention are undoubtedly that the invention adopts the multiband CMOS imaging device and adopts the imaging assembly formed by not more than 15 lens elements, the invention adopts the multiband CMOS imaging device to receive visible light and near infrared wave bands, the light is subjected to light splitting and filtering treatment on optical design, the exposure control, gain control, white balance and color correction are respectively carried out on images automatically at night and daytime, the 905nm human eye invisible light emitted by a marker post is utilized, the conventional radar calibration is carried out at daytime, and the hidden calibration is carried out at night.
According to the invention, the target is calibrated in an image processing mode, and the resolution can be accurate to 1 pixel.
The calibration resolution of the single pixel can be obtained through calculation, and the precision of the calibration mirror is ensured.
According to the invention, by adopting a novel optical lens and a multiband CMOS imaging device and using an innovative digital image processing means, the radar calibration has an automation level, the calibration precision is improved, errors caused by human eye observation are effectively avoided, the calibration efficiency is greatly improved, the all-weather capability during radar calibration is improved, and the concealment of the radar calibrated at night is enhanced.
Drawings
FIG. 1 is an outline view of the present invention;
FIG. 2 is a block diagram of the system components of the present invention;
FIG. 3 is a system workflow diagram of the present invention;
FIG. 4 is a diagram of the internal components of the system of the present invention, with diagram (a) being a right side view and diagram (b) being a left side view;
FIG. 5 is a multi-band zoom lens of the present invention;
fig. 6 is an anatomic view of a lens of the present invention.
Detailed Description
The present invention is further described below with reference to examples, but it should not be construed that the scope of the above subject matter of the present invention is limited to the following examples. Various substitutions and alterations are made according to the ordinary skill and familiar means of the art without departing from the technical spirit of the invention, and all such substitutions and alterations are intended to be included in the scope of the invention.
Example 1:
referring to fig. 1 to 6, a multi-band calibration mirror for radar calibration, comprising: a continuous zoom imaging component 1, a multiband CMOS imaging device 2, an image processing board 3, a system control circuit 4 and a band switching lens 5.
The continuous zoom imaging component 1 comprises a zoom group 1-1, a zoom motor 1-2, a potentiometer I1-3, a potentiometer II1-4, a zoom group 1-5, a focusing motor 1-6, a focusing group 1-7 and a compensation group 1-8.
The zoom group 1-1 of the continuous zoom imaging component 1 is sequentially connected with the compensation group 1-8, the zoom group 1-5 and the focusing group 1-7.
The zoom group 1-1 of the continuous zoom imaging component 1 is fixedly connected with the zoom motor 1-2 and the potentiometer I1-3.
The focusing group 1-7 of the continuous zooming imaging component 1 is fixedly connected with the potentiometer II1-4 and the focusing motor 1-6.
One end of the focusing group 1-7 of the continuous zooming imaging component 1 is fixedly connected with the band switching lens 5.
The multiband CMOS imaging device 2 is fixed at one end of the main control circuit board.
One side of the multiband CMOS imaging device 2 for receiving imaging is fixedly connected with one end of the zoom group 1-1 of the continuous zoom imaging component 1.
The image processing board 3 and the system control circuit 4 are respectively fixed on two sides of the multiband CMOS imaging device 2.
The system control circuit 4 communicates with the image processing board 3 via a serial port.
The continuous zoom imaging component 1 of the multi-wave band calibration mirror images a scene on the multi-wave band CMOS imaging device 2, the multi-wave band CMOS imaging device 2 transmits video signals to the image processing board 3, and the image processing board 3 outputs the processed video signals.
The multi-wavelength band calibration mirror further comprises an upper computer 6.
The image processing board 3 processes the video signal and transmits the processed video signal to the upper computer 6.
The system control circuit 4 and the upper computer 6 convert and transmit signals through the image processing board 3.
The continuously variable magnification zoom imaging assembly 1 further comprises a zoom member 1-9.
The zoom component 1-9 is used for adjusting the distance between the zoom group 1-5 and the image plane.
The receiving wave band of the multiband CMOS imaging device 2 has a wavelength range of 400 nm-1000 nm, the color wave band presents a color image, and the near infrared wave band presents a near infrared wave band image. The multi-band CMOS imaging device has brightness, contrast adjustment, digital zooming, image overturning, automatic image exposure, automatic white balance, image gain, image noise reduction and image definition parameter output, and combines lens control and an automatic focusing algorithm to realize an automatic focusing function.
The multi-wave-segment calibration mirror is packaged through an aluminum alloy shell, a window is reserved at the front end of the aluminum alloy shell, and is provided with protective glass, and the detector is sealed inside the aluminum alloy shell.
The band switching lens 5 includes a daytime mode and a nighttime mode.
The function of the system is realized by means of the multiband zoom optical lens, and the focal length is 33 mm-197 mm. In order to meet the broadband working requirement, a broadband achromatic scheme is adopted for the lens, and the optical filter switching technology is adopted for imaging in two wavebands of 400-650 nm color and 850-920 nm infrared light supplementing black and white. The multiband CMOS imaging device must ensure that the focal length range can be continuously varied and that good imaging can be achieved throughout the focal length range; and the image plane position must be fixed during zooming. The optical compensation type zoom lens has the advantages of simple structure, strong processability and low cost, and can not realize continuous zooming and ensure constant image plane position.
The above requirements can be met by a mechanically compensated zoom form, wherein a four-component mechanically compensated form is the preferred way. The four-component-based mechanical compensation type can meet the zoom ratio and ensure a quite simple mechanical cam device. 2-3 positive group compensation type zooming modes in four-component mechanical compensation type are selected. The zoom lens sequentially comprises a front fixed group, a zoom group, a compensation group and a rear fixed group from an object side to an image side. When the zoom group moves to a position close to the image plane, the focal length value of the system continuously becomes larger.
When the band-switching lens 5 switches the daytime mode, the spectrum with the wavelength range of the band smaller than 400nm and the wavelength range larger than 650nm is filtered through the band-pass filter, so that the spectrum entering the multiband CMOS imaging device 2 is ensured to be in the wavelength range of the color band of 400-650 nm. Meanwhile, the color gain of the multi-band CMOS imaging device can be greatly increased, the black-white balance can be stabilized, and the response of the multi-band CMOS imaging device to hundred-degree adjustment can be reduced. Ensure that the phenomena of overexposure, dizziness and the like do not occur in daytime imaging.
When the band-switching lens 5 switches the night mode, the luminous flux is opened to the maximum range through the band-pass filter, and all the color band and the near infrared band with the wavelength range of 400 nm-1000 nm are received without any filtering of other spectrums.
When the radar is calibrated, a light source auxiliary radar with a wave band invisible to human eyes is arranged at the position of the marker post to calibrate. The light emitted at night can not be found, and has extremely high concealment, but the multiband camera has near infrared detection capability, and meanwhile, the high gain adjustment is started, so that the multiband camera is extremely sensitive to weak near infrared light. Therefore, the radar can be well assisted in calibrating at night.
The pixel size of the multiband CMOS imaging device is 2.7 mu m, the standard focal length value of the small view field is 197.3mm, and the calibration resolution of a single pixel is calculated according to the following formula:
at this point, the single pel calibration mirror accuracy was 0.013mil. At this time, it corresponds to placing 1 marker post with a diameter of 30mm at a distance of about 2200m, and also corresponds to standing a finger with a thickness of 10mm at a position of about 730m,
example 2:
referring to fig. 1 to 6, a multi-band calibration mirror for radar calibration is as follows: the present invention selects visible light (400 nm-650 nm) to be a color image during the day by using a multi-band CMOS imaging device by employing an imaging assembly of no more than 15 lens elements. Black and white images are formed through the near infrared band (700 nm-1000 nm) at night. The imaging assembly completes the switching between visible light and near infrared light by means of the optical filter, and in order to meet the miniaturization requirement, the total optical length is controlled within 197mm, and the maximum caliber is smaller than 50mm. The outline is shown in figure 1.
The television calibration mirror mainly comprises a multiband CMOS imaging device, a continuous zooming imaging component (comprising a zooming group and a focusing group), an image processing board and a system control circuit. The zoom group and the focusing group form a continuous zoom imaging assembly, video signals are output to the image processing board through the multi-band CMOS imaging device, converted and processed into digital signals through the image processing board, and the digital signals are output to the upper computer through the Ethernet. The system component block diagram is shown in fig. 2.
The television calibration mirror is used for imaging scenes on a multiband CMOS imaging device through a continuous zooming imaging component, the imager transmits video signals to an image processing board, and the image processing board converts the processed video signals into RTSP video push streams which are transmitted to an upper computer through an Ethernet. The system control circuit is used as the center of the whole television calibration mirror to process the brain, is communicated with the image processing board through the serial port, and is also used for converting and transmitting data communicated with the upper computer through the image processing board, and the main control circuit board is used for simultaneously completing the functions of power supply, lens zooming, focusing, filter switching and the like of each component of the whole television calibration mirror and is also used for calculating information such as calibration angles and the like.
The multi-band CMOS imaging device is adopted, the receiving wave band is from 400nm to 1000nm, and near infrared wave band images can be displayed at night. The camera movement is packaged by an independent aluminum alloy shell, a window is reserved at the front end, and protective glass is arranged on the window to seal the detector in the shell. Color band (400 nm-650 nm), color image, near infrared band (700 nm-1000 nm) and near infrared band image. The internal composition of the system is shown in fig. 4. The multi-band CMOS imaging device has brightness, contrast adjustment, digital zooming, image overturning, automatic image exposure, automatic white balance, image gain, image noise reduction and image definition parameter output, and combines lens control and an automatic focusing algorithm to realize an automatic focusing function.
When the system works in daytime, the band switching lens is switched to a daytime mode, and the spectrum of the wave band from less than 400nm to more than 650nm is filtered through the switching band-pass filter, so that the spectrum entering the multiband CMOS imaging device is ensured to be in a color wave band from 400nm to 650 nm. Meanwhile, the color gain of the multi-band CMOS imaging device can be greatly increased, the black-white balance can be stabilized, and the response of the multi-band CMOS imaging device to hundred-degree adjustment can be reduced. Ensure that the phenomena of overexposure, dizziness and the like do not occur in daytime imaging.
When the system works at night, the band-switching lens can be switched to a night mode, the luminous flux is switched to the maximum range through the band-pass filter, other spectrums are not filtered, and all the color bands and the near infrared bands of 400 nm-1000 nm can be received. When the radar is calibrated, a 905nm light source is required to be arranged at the position of the marker post, the light source with the wave band is invisible to human eyes, light emitted at night cannot be found, and the radar has extremely high concealment, but because the multiband camera has near infrared detection capability, high gain adjustment is started at the same time, and the radar is extremely sensitive to weak near infrared light. Therefore, the radar can be well assisted in calibrating at night.
The function of the system is realized by means of the multiband zoom optical lens, and the focal length is 33 mm-197 mm. In order to meet the broadband working requirement, a broadband achromatic scheme is adopted for the lens, and the optical filter switching technology is adopted for imaging in two wavebands of 400-650 nm color and 850-920 nm infrared light supplementing black and white. The multiband CMOS imaging device must ensure that the focal length range can be continuously varied and that good imaging can be achieved throughout the focal length range; and the image plane position must be fixed during zooming. The optical compensation type zoom lens has the advantages of simple structure, strong processability and low cost, and can not realize continuous zooming and ensure constant image plane position. The optical system is shown in fig. 5.
The above requirements can be met by a mechanically compensated zoom form, wherein a four-component mechanically compensated form is the preferred way. The four-component-based mechanical compensation type can meet the zoom ratio and ensure a quite simple mechanical cam device. 2-3 positive group compensation type zooming modes in four-component mechanical compensation type are selected. The zoom lens sequentially comprises a front fixed group, a zoom group, a compensation group and a rear fixed group from an object side to an image side. When the zoom group moves to a position close to the image plane, the focal length value of the system continuously becomes larger. Lens anatomy is shown in fig. 6.
The multi-band CMOS imaging device is used for receiving visible light and near infrared bands, light is split and filtered on the optical design, exposure control, gain control, white balance and color correction are respectively and automatically carried out on images at night and in daytime, the 905nm human eye invisible light emitted by the marker post is utilized for carrying out conventional radar calibration in daytime, and hidden calibration is carried out at night.
By means of image processing, the target is calibrated, and the resolution can be accurate to 1 pixel.
The pixel size of the multiband CMOS imaging device is 2.7 mu m, the standard focal length value of the small view field is 197.3mm, and the calibration resolution of a single pixel is calculated according to the following formula:
at this point, the single pel calibration mirror accuracy was 0.013mil. At this time, 1 marker post with a diameter of 30mm was placed at a distance of about 2200m, and a finger with a thickness of 10mm was set up at a position of about 730m, and the finger was observed by the calibration mirror. Thereby ensuring the precision of the calibration mirror.
Claims (9)
1. A multi-band calibration mirror for radar calibration, comprising: the system comprises a continuous zoom imaging component (1), a multiband CMOS imaging device (2), an image processing board (3), a system control circuit (4) and a band switching lens (5).
The continuous zoom imaging component (1) comprises a zoom group (1-1), a zoom motor (1-2), a potentiometer I (1-3), a potentiometer II (1-4), a zoom group (1-5), a focusing motor (1-6), a focusing group (1-7) and a compensation group (1-8).
The zoom group (1-1) of the continuous zoom imaging component (1) is sequentially connected with the compensation group (1-8), the zoom group (1-5) and the focusing group (1-7);
the zoom group (1-1) of the continuous zoom imaging component (1) is fixedly connected with a zoom motor (1-2) and a potentiometer I (1-3);
the focusing group (1-7) of the continuous zoom and zoom imaging component (1) is fixedly connected with the potentiometer II (1-4) and the focusing motor (1-6);
one end of a focusing group (1-7) of the continuous zoom imaging component (1) is fixedly connected with a wave band switching lens (5);
the multiband CMOS imaging device (2) is fixed at one end of the main control circuit board;
one side of the multiband CMOS imaging device (2) for receiving imaging is fixedly connected with one end where a zoom group (1-1) of the continuous zoom imaging component (1) is positioned;
two sides of the multiband CMOS imaging device (2) are respectively provided with an image processing board (3) and a system control circuit (4);
the system control circuit (4) is communicated with the image processing board (3) through a serial port;
the continuous zoom imaging component (1) of the multi-wave band calibration mirror images a scene on the multi-wave band CMOS imaging device (2), the multi-wave band CMOS imaging device (2) transmits video signals to the image processing board (3), and the image processing board (3) outputs the processed video signals.
2. The multi-band calibration mirror for radar calibration according to claim 1, characterized in that the multi-band calibration mirror further comprises an upper computer (6);
the image processing board (3) processes the video signals and transmits the processed video signals to the upper computer (6);
the system control circuit (4) and the upper computer (6) are converted and transmit signals through the image processing board (3).
3. A multi-band calibration mirror for radar calibration according to claim 1, characterized in that the continuously variable magnification zoom imaging assembly (1) further comprises a zoom member (1-9);
the zoom component (1-9) is used for adjusting the distance between the zoom group (1-5) and the image plane.
4. The multi-band calibration mirror for radar calibration according to claim 1, wherein the receiving band of the multi-band CMOS imaging device (2) has a wavelength range of 400nm to 1000nm, the color band exhibits a color image, and the near infrared band exhibits a near infrared band image.
5. The multi-wavelength band calibration mirror for radar calibration according to claim 1, wherein the multi-wavelength band calibration mirror is packaged by an aluminum alloy shell, a window is reserved at the front end of the aluminum alloy shell, and a protective glass is arranged on the window and seals the detector inside the aluminum alloy shell.
6. A multi-band calibration mirror for radar calibration according to claim 1, characterized in that the band-switching lens (5) comprises a daytime mode and a nighttime mode.
7. The multi-band calibration mirror for radar calibration according to claim 6, wherein when the band-switching lens (5) switches the daytime mode, the spectrum with the wavelength range of the band smaller than 400nm and the wavelength range of the band larger than 650nm is filtered out by the band-pass filter, so that the spectrum entering the multi-band CMOS imaging device (2) is ensured to be in the wavelength range of the chromatic band of 400nm-650 nm.
8. The multi-band calibration mirror for radar calibration according to claim 6, wherein the band-switching lens (5) receives all of the color band and the near infrared band having wavelengths in the range of 400nm to 1000nm through the band-pass filter when switching the night mode.
9. A multi-band calibration mirror for radar calibration according to claim 1, wherein a light source assisting radar of a band invisible to human eyes is provided at the marker post for radar calibration.
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| CN202211736532.2A CN116256706A (en) | 2022-12-31 | 2022-12-31 | Multi-wave-segment calibration mirror for radar calibration |
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