CN117152273B - Camera calibration equipment for automatic driving vehicle - Google Patents
Camera calibration equipment for automatic driving vehicle Download PDFInfo
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- CN117152273B CN117152273B CN202311434101.5A CN202311434101A CN117152273B CN 117152273 B CN117152273 B CN 117152273B CN 202311434101 A CN202311434101 A CN 202311434101A CN 117152273 B CN117152273 B CN 117152273B
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- sleeve
- camera calibration
- distance
- plate
- supporting rod
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- 238000005259 measurement Methods 0.000 claims abstract description 22
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/20—Undercarriages with or without wheels
- F16M11/24—Undercarriages with or without wheels changeable in height or length of legs, also for transport only, e.g. by means of tubes screwed into each other
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/02—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness
- G01B21/08—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring length, width, or thickness for measuring thickness
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
Abstract
The invention provides a camera calibration device for an automatic driving vehicle, which relates to the automatic driving field and comprises the following components: the device comprises a base, a lifting rod, a distance measurement adjusting device and a mounting frame; the ranging adjustment device comprises a shell, a second ranging sensor, an assembly frame and two first ranging sensors. According to the camera calibration equipment for the automatic driving vehicle, the distance measuring adjusting device is detachably arranged with the mounting frame on the lifting rod, so that when the lifting rod is moved, the first distance measuring sensor which is ninety degrees can be used for determining the distance value of the lifting rod in the X direction and the distance value of the lifting rod in the Y direction with the corresponding reference piece, the horizontal placement position can be rapidly determined, then the sleeve is lifted by the distance measuring adjusting device, the lifting height can be detected by the second distance measuring sensor, the lifting height of the calibration plate can be rapidly determined, and therefore the position and the height of the calibration plate can be rapidly and conveniently determined, and the use is convenient.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to camera calibration equipment for an automatic driving vehicle.
Background
Camera calibration is a process of estimating camera model parameters: a set of parameters describing the internal geometry of the image capture process; accurate camera calibration is essential for a variety of applications.
The existing method for calibrating the camera in the automatic driving vehicle comprises the steps of setting a calibration workshop, presetting a plurality of calibration plates at different distance positions in the workshop, and simultaneously carrying out calibration work, so that the calibration efficiency is improved, the calibration plates are mostly erected in the workshop through brackets, part of the calibration plates are arranged on the workshop wall, and the heights of the calibration plates at different positions are different; when each calibration plate is placed at a preset position, the horizontal placement distance of the calibration plate, the longitudinal distance from the camera of the vehicle to be calibrated, and the height of the calibration plate need to be measured.
At present, the placing position of each calibration plate and the height value of the calibration plate are required to be measured and determined through a measuring tool, the measuring tool is required to be adjusted to measure the calibration plates in sequence, and one calibration workshop usually places more calibration plates, so that the speed of placing the calibration plates is low, and the operation is troublesome.
Accordingly, there is a need to provide a camera calibration apparatus for an autonomous vehicle that solves the above-mentioned technical problems.
Disclosure of Invention
The invention provides camera calibration equipment for an automatic driving vehicle, which solves the problem that the camera calibration equipment for the automatic driving vehicle is troublesome to put and set a plurality of calibration plates.
In order to solve the above technical problems, the present invention provides a camera calibration apparatus for an autopilot vehicle, comprising: a base;
the lifting rod comprises a supporting rod, a sleeve, a locking device and a rotating piece, wherein the supporting rod is arranged on the base, the sleeve is sleeved on the supporting rod, and the locking device is arranged on the sleeve and used for locking the supporting rod and the sleeve;
the calibration plate is rotatably arranged at the top end of the sleeve through a rotating piece;
the mounting frame is fixedly arranged on the sleeve;
the distance measurement adjusting device comprises a shell, a second distance measurement sensor, an assembly frame and two first distance measurement sensors, wherein the second distance measurement sensor is fixedly arranged at the bottom of the shell, the two first distance measurement sensors are ninety degrees fixedly arranged on two adjacent side surfaces of the shell, and the assembly frame is fixedly arranged at the top of the shell;
when the device is used, the assembly frame in the ranging adjustment device is detachably arranged on the mounting frame, the horizontal placement position of the calibration plate is determined through the distance between the two first ranging sensors and the corresponding reference parts, then the sleeve is lifted up through the ranging adjustment device, the heights of the ranging adjustment device and the base are measured through the second ranging sensors, so that the lifting height of the calibration plate is determined, and the sleeve is fixedly locked on the supporting rod through the locking device.
Preferably, the assembly frame is sleeved on the mounting frame, limiting shafts are arranged at the tops of the inner walls of the two ends of the assembly frame, and limiting grooves are formed in the two ends of the mounting frame.
Preferably, the assembly frame is provided with a handheld handle.
Preferably, the rotating member comprises a rotating sleeve, a fixing frame and a rotating shaft, the rotating sleeve is rotatably mounted on the top end of the sleeve, the fixing frame is fixed on the top end of the rotating sleeve, the rotating shaft is mounted on the fixing frame, and the calibration plate is sleeved on the rotating shaft through a connecting frame.
Preferably, the base is provided with a fine adjustment device, the fine adjustment device comprises a screw rod, a threaded sleeve, a toothed plate and a slave gear, one end of the screw rod is fixedly arranged on the base through a mounting block, the threaded sleeve is in threaded connection with the screw rod, the slave gear is fixed on the threaded sleeve, and one end of the toothed plate is rotatably connected to the bottom of the threaded sleeve and is positioned at one side of the slave gear; the lifting rod further comprises a connecting plate, one end of the connecting plate is fixedly connected with the supporting rod, and the other end of the connecting plate is in sliding connection with the side face of the toothed plate; the distance measuring adjusting device further comprises a motor and a main gear, wherein the motor is fixedly installed in the shell, and the output end of the motor penetrates through the shell and then is fixedly connected with the main gear.
Preferably, the locking device comprises a nut and a positioning shaft, wherein the nut is fixedly arranged on the sleeve, one end of the positioning shaft is in threaded connection with the nut, the other end of the positioning shaft penetrates through the sleeve and then extends into the sleeve, and one end of the positioning shaft is provided with a square groove; and a square shaft is fixedly arranged at the end part of the motor output shaft.
Preferably, the support rod is provided with a plurality of positioning grooves.
Preferably, the bottom of branch installs the gyro wheel.
Preferably, the support rod is provided with a pushing handle in a penetrating manner, the bottom of the pushing handle is provided with a low surface and a high surface, the low surface and the high surface are connected through an inclined plane, and the high surface is abutted to the top end of the roller.
Compared with the related art, the camera calibration device for the automatic driving vehicle has the following beneficial effects:
the invention provides camera calibration equipment for an automatic driving vehicle, which is characterized in that when the camera calibration equipment is used, a distance measuring and adjusting device is detachably arranged with a mounting frame on a lifting rod, so that when the lifting rod is moved, a first distance measuring sensor which is ninety degrees can be used for determining the distance value of the lifting rod in the X direction and the distance value of the lifting rod in the Y direction with a corresponding reference piece, thereby rapidly determining the horizontal placement position, then, a sleeve is lifted by the distance measuring and adjusting device, the lifted height can be detected by a second distance measuring sensor, the lifted height of a calibration plate is rapidly determined, then, the distance measuring and adjusting device is assembled with the lifting rods of other calibration plates to be determined, and the positions and the heights are determined in the same way, so that the positions and the heights of the calibration plate can be rapidly and conveniently determined, and the camera calibration equipment is convenient to use.
Drawings
FIG. 1 is a schematic view of a camera calibration apparatus for an autonomous vehicle according to a preferred embodiment of the present invention;
FIG. 2 is a schematic view of the ranging apparatus shown in FIG. 1;
FIG. 3 is a schematic view of the portion shown in FIG. 1;
fig. 4 is a schematic diagram of working steps of the camera calibration device for an automatic driving vehicle according to the present invention, wherein (4 a) in fig. 4 is a schematic diagram of a state in which a master gear is meshed with a slave gear, (4 b) in fig. 4 is a schematic diagram of a state in which a master gear is meshed with a toothed plate, and (4 c) in fig. 4 is a schematic diagram of a state in which a square shaft is inserted into a square groove;
FIG. 5 is a lower end cross-sectional view of the lifter of FIG. 1;
FIG. 6 is a cross-sectional view of the upper end of the lifter shown in FIG. 1;
fig. 7 is a schematic view of a lifting rod in a lifting state, wherein (7 a) in fig. 7 is a schematic view of a sleeve at the lowest end of a supporting rod, and (7 b) in fig. 7 is a schematic view of the sleeve ascending a preset height along the supporting rod;
fig. 8 is an enlarged view of fig. 7, wherein (8 a) of fig. 8 is an enlarged view of a portion a of (7 a) of fig. 7, and (8B) of fig. 8 is an enlarged view of a portion B of (7B) of fig. 7.
Reference numerals in the drawings:
1. a base;
2. lifting rod, 21, support rod, 22, sleeve, 23, locking device, 24, connecting plate, 25 and rotating piece;
211. a positioning groove;
231. screw cap, 232, positioning shaft, 233, square groove;
251. a rotating sleeve 252, a fixing frame 253 and a rotating shaft;
3. a calibration plate;
4. the device comprises a ranging adjusting device 41, a shell 42, a first ranging sensor 43, a second ranging sensor 44, an assembly frame 45, a motor 46, a main gear 47, a square shaft 441 and a limiting shaft;
5. fine tuning device 51, screw rod 52, threaded sleeve 53, toothed plate 54, slave gear;
6. the mounting frame, 61, the limit groove;
7. a roller;
8. pushing handle, 81, inclined plane.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a camera calibration apparatus for an autonomous vehicle.
Referring to fig. 1 to 2 in combination, in an embodiment of the present invention, the camera calibration apparatus for an autonomous vehicle includes: a base 1;
the lifting rod 2 comprises a supporting rod 21, a sleeve 22, a locking device 23 and a rotating piece 25, wherein the supporting rod 21 is arranged on the base 1, the sleeve 22 is sleeved on the supporting rod 21, and the locking device 23 is arranged on the sleeve 22 and used for locking the supporting rod 21 and the sleeve 22;
the calibration plate 3 is rotatably arranged at the top end of the sleeve 22 through a rotating piece 25;
the mounting frame 6 is fixedly arranged on the sleeve 22;
the distance measurement adjusting device 4, wherein the distance measurement adjusting device 4 comprises a shell 41, a second distance measurement sensor 43, an assembly frame 44 and two first distance measurement sensors 42, the second distance measurement sensor 43 is fixedly arranged at the bottom of the shell 41, the two first distance measurement sensors 42 are fixedly arranged at ninety degrees on two adjacent side surfaces of the shell 41, and the assembly frame 44 is fixedly arranged at the top of the shell 41;
when the device is used, the assembly frame 44 in the distance measuring and adjusting device 4 is detachably arranged on the mounting frame 6, the distance between the two first distance measuring sensors 42 and the corresponding reference parts is measured, the horizontal placement position of the calibration plate 3 is determined, then the sleeve 22 is lifted up through the distance measuring and adjusting device 4, the heights of the distance measuring and adjusting device 4 and the base 1 are measured through the second distance measuring sensors 43, so that the lifting height of the calibration plate 3 is determined, and the sleeve 22 is fixedly locked on the supporting rod 21 through the locking device 23.
The reference member in this embodiment includes two side walls, a detection table and a base 1 in the calibration workshop, the two first ranging sensors 42 correspond to the side walls and the detection table in the calibration workshop, and can determine the distance value in the X direction and the distance value in the Y direction of the calibration board 3, that is, the horizontal placement position, and the second ranging sensor 43 can measure the lifting height of the calibration board 3 by acting with the base 1 for reference. The detection platform is a platform for bearing the automatic driving vehicle to be calibrated.
Naturally, a reference plate can be arranged in ninety degrees in an auxiliary mode, the two first distance measuring sensors and the reference plate corresponding to 42 serve as references, and a distance value is determined;
the first ranging sensor 42 and the second ranging sensor 43 employ a laser sensor, an infrared ranging sensor, a radar sensor, or the like;
referring to fig. 2, a control display screen is disposed on the housing 41, and can display measured distance values of each direction in real time, including an X-direction distance value, a Y-direction distance value, and a height value of the calibration plate 3, so that a placement position of the calibration plate 3 can be quickly determined, distance parameters and the like can be set, and a processing module is disposed inside the housing 41, and is electrically connected with the first ranging sensor 42, the second ranging sensor 43, and the display screen.
During the use, through the mounting bracket 6 demountable installation on with range finding adjusting device 4 and lifter 2 to when removing lifter 2, be ninety degrees first range finding sensor 42 that sets up can confirm the distance value of the X direction and the distance value of Y direction of lifter 2 this moment with corresponding reference piece, thereby confirm the horizontal position of placing fast, then lift sleeve pipe 22 through range finding adjusting device 4, the height of lifting up can be detected to the second range finding sensor 43 this moment, the height of lifting up of quick determination calibration board 3, then assemble range finding adjusting device 4 with other calibration boards 3's that wait to confirm lifter 2 of position, the same reason carries out the determination of position and height, thereby can be convenient the position and the height of the determination calibration board 3 fast, convenient to use.
And the ranging adjusting device 4 is detachably connected, so that the position and the height of each calibration plate 3 can be conveniently adjusted, and one ranging adjusting device 4 does not need to be arranged corresponding to each calibration plate 3.
Wherein, when the second distance measuring sensor 43 determines the height of the calibration plate 3, since the distance measuring and adjusting device 4 is installed at the lower end of the supporting rod 21 with a distance from the calibration plate 3, and the second distance measuring sensor 43 is referenced by the base 1, when measuring the height value, the distance value between the distance measuring and adjusting device 4 and the center of the calibration plate 3 and the thickness value of the base 1 are added, and the initial height value can be set by a program,
referring to fig. 2 and 3, in this embodiment, the mounting frame 44 is sleeved on the mounting frame 6, limiting shafts 441 are disposed on top of inner walls of two ends of the mounting frame 44, and limiting grooves 61 are disposed at two ends of the mounting frame 6.
When the distance measuring adjusting device 4 is assembled with the lifting rod 2, the assembly frame 44 is directly sleeved on the installation frame 6, the limiting shaft 441 is correspondingly inserted into the limiting groove 61, and the distance measuring adjusting device is limited, so that the assembly is simple and convenient, and the assembly and the disassembly can be fast.
Wherein, the mounting frame 6 comprises two L-shaped frames which are symmetrically arranged at two ends of the sleeve 22, and the limiting groove 61 is arranged on the L-shaped frames; the two sides of the assembly frame 44 are correspondingly provided with square sleeves matched with the L-shaped frame, the limiting shafts 441 are correspondingly arranged at the top of the inner wall of each square sleeve, two limiting shafts 441 are preferably arranged in each square sleeve, the height value of the inner cavity of each square sleeve is larger than the thickness value of the sleeved part of the L-shaped frame, and the difference value is not smaller than the height of each limiting shaft 441.
In other embodiments, the two sides of the sleeve 22 may be provided with bearing plates, the bearing plates are provided with assembly holes, the two sides of the assembly frame 44 are provided with inserting shafts, and the inserting shafts are inserted into the assembly holes during assembly, so that assembly is realized, and operation is simple and convenient.
Preferably, the mounting bracket 44 is provided with a hand-held handle.
Through setting up handheld handle, be convenient for hold range adjustment device 4, and be convenient for drive sleeve pipe 22 through range adjustment device 4 and lift height-adjusting.
Referring to fig. 6, in the present embodiment, the rotating member 25 includes a rotating sleeve 251, a fixing frame 252 and a rotating shaft 253, the rotating sleeve 251 is rotatably mounted on the top end of the sleeve 22, the fixing frame 252 is fixed on the top end of the rotating sleeve 251, the rotating shaft 253 is mounted on the fixing frame 252, and the calibration plate 3 is sleeved on the rotating shaft 253 through a connecting frame.
Through setting up the swivel 251 and being connected with sleeve pipe 22 rotation to can adjust the horizontal orientation of demarcation board 3 as required, and establish demarcation board 3 through the adapter sleeve cover on pivot 253, thereby can adjust the pitch angle of demarcation board 3 as required.
Wherein, the rotating sleeve 251 is sleeved on the top end of the sleeve 22 to form a rotating fit, the inner wall of the rotating sleeve 251 is provided with a rubber sleeve, and the inner wall of the connecting frame and the rotating shaft 253 is provided with a rubber sleeve, thereby increasing friction, and the rotating sleeve can not rotate at will under the action of external force, and can stably maintain the adjusted angle.
Wherein, the link includes connecting pipe portion and T shaped plate portion, and connecting pipe portion fixes the one end at T shaped plate portion, and connecting pipe portion cover is established on pivot 253, and calibration board 3 fixed mounting is at the other end of T shaped plate portion.
In other embodiments, an annular flange can be arranged outside the upper end of the sleeve 22, an annular cover is sleeved outside the annular flange to form a running fit, a mounting tube is fixed on the annular cover, a rotating shaft is mounted on the back surface of the calibration plate 3, and the mounting tube is sleeved on the rotating shaft.
Referring to fig. 2 and 3 again, the base 1 is provided with a fine adjustment device 5, the fine adjustment device 5 includes a screw rod 51, a threaded sleeve 52, a toothed plate 53 and a slave gear 54, one end of the screw rod 51 is fixedly mounted on the base 1 through a mounting block, the threaded sleeve 52 is in threaded connection with the screw rod 51, the slave gear 54 is fixed on the threaded sleeve 52, and one end of the toothed plate 53 is rotatably connected to the bottom of the threaded sleeve 52 and is located at one side of the slave gear 54; the lifting rod 2 further comprises a connecting plate 24, one end of the connecting plate 24 is fixedly connected with the supporting rod 21, and the other end is in sliding connection with the side face of the toothed plate 53; the distance measuring adjusting device 4 further comprises a motor 45 and a main gear 46, the motor 45 is fixedly installed inside the shell 41, and the output end of the motor 45 penetrates through the shell 41 and is fixedly connected with the main gear 46.
When the position of the calibration plate 3 is adjusted, firstly, the base 1 can be roughly placed at a corresponding position according to the distance value measured by the first distance measuring sensor 42, if the base is required to be placed at 2 m in the X direction and 2.5 m in the Y direction, the base 1 can be directly placed at the position when 1.96 m in the X direction and 2.45 m in the Y direction are detected, and at the moment, the base is accurately adjusted through the fine adjustment device 5, and manual adjustment to an accurate position is not required, so that the accurate placement speed can be improved;
specific: referring to fig. 4 (4 a), when the ranging regulator 4 is assembled on the lifting rod 2, the main gear 46 is meshed with the auxiliary gear 54, after the base 1 is placed, a target distance value in the Y direction is set on the control display screen, at this time, the motor 45 drives the main gear 46 to rotate clockwise or anticlockwise, so as to drive the threaded sleeve 52 to rotate along with the threaded rod 51 to move horizontally, and drives the lifting rod 2 to move along with the toothed plate 53, so as to drive the calibration plate 3 to move, and after the calibration plate moves to a set target distance, the motor 45 is stopped, so that the distance value in the Y direction is accurately regulated;
referring to fig. 4b, after the distance value in the Y direction is adjusted, the distance adjusting device 4 is moved toward the lifting rod 2, and when the distance is adjusted, the distance adjusting device 4 is lifted slightly, the limiting shaft 441 moves out of the limiting groove 61 on the mounting frame 6, then moves, the main gear 46 is separated from the slave gear 54 and meshed with the toothed plate 53, then the target distance value in the X direction is set on the control display screen, and when the motor 45 rotates again, the main gear 46 acts with the toothed plate 53 to drive the whole lifting rod 2 to move along the X direction and drive the calibration plate 3 to move along with the set distance value, and the motor 45 stops, so that the distance value in the X direction is accurately adjusted.
The inside of shell 41 is provided with the battery and is motor 45, first range finding sensor 42, second range finding sensor 43 and controls power supply such as display screen, and the battery preferably has the function of charging, and is provided with the switch and is used for controlling opening of motor 45 to stop, and motor 45 is connected with processing module, can through setting up distance parameter, when motor 45 drive micromatic setting 5 drives lifter 2 and removes to the distance value of corresponding direction, motor 45 self-closing.
The outside of the threaded sleeve 52 is fitted with a rotary connection, and one end of the toothed plate 53 is fixed to the bottom of the rotary connection.
In one embodiment, the rotary connector may be a bearing, the bearing inner ring is fixed on the threaded sleeve 52, and the toothed plate 53 is fixed at the bottom of the bearing outer ring;
in another embodiment, the rotary connection comprises an annular flange and an annular housing, the annular flange being secured to the threaded sleeve 52, the annular housing being arranged over the annular flange in a running fit, one end of the toothed plate 53 being secured to the bottom of the annular housing.
In this example, the supporting rod 21 contacts with the base 1 and can move along with the fine adjustment device 5, a sliding rail is arranged on one side of the toothed plate 53 facing the supporting rod 21, a sliding groove is correspondingly arranged on one end of the connecting plate 24 facing the toothed plate 53, and the sliding groove is sleeved on the sliding rail to form sliding fit.
Wherein when the main gear 46 is separated from the slave gear 54 and meshed with the toothed plate 53, and when the teeth of the main gear 46 do not correspond to the tooth grooves on the toothed plate 53, the main gear 46 is separated from the slave gear 54, the main gear 46 is rotated and adjusted so that the teeth of the main gear correspond to the tooth grooves on the toothed plate 53, and when the distance measuring and adjusting device 4 is moved toward the lifting rod 2 to enable the main gear 46 to mesh with the toothed plate 53,
two sets of limiting grooves 61 are respectively formed at two ends of the mounting frame 6, each set of limiting grooves is correspondingly formed in two sets, and the two sets of limiting grooves can respectively limit the distance measuring and adjusting device 4 when the main gear 46 is meshed with the slave gear 54 and limit the distance measuring and adjusting device 4 when the main gear 46 is meshed with the toothed plate 53.
Referring to fig. 5, in the present embodiment, the locking device 23 includes a nut 231 and a positioning shaft 232, the nut 231 is fixedly mounted on the sleeve 22, one end of the positioning shaft 232 is in threaded connection with the nut 231, the other end extends into the sleeve 22 after penetrating through the sleeve 22, and a square groove 233 is formed at one end of the positioning shaft 232; the end of the output shaft of the motor 45 is fixedly provided with a square shaft 47.
Referring to fig. 4c, (7 a) to 7 b) of fig. 7 and (8 a) to 8b of fig. 8, after the placement position of the calibration plate 3 is determined, the distance measurement adjusting device 4 is continuously moved towards one side of the lifting rod 2 to separate the main gear 46 from the toothed plate 53, when the main gear 46 is just separated from the toothed plate 53, the square shaft 47 is not inserted into the square groove 233 on the positioning shaft 232, at this time, the angle of the square shaft 47 can be rotationally adjusted to align the edge of the square shaft 47 with the edge of the groove cavity of the square groove 233, after the alignment, the distance measurement adjusting device 4 is pushed to insert the square shaft 47 into the square groove 233, at this time, the motor 45 drives the anticlockwise positioning shaft 232 to rotate, the positioning shaft 232 acts with the nut 231 to move outwards, the sleeve 22 and the supporting rod 21 are unlocked, then the sleeve 22 is driven by the handheld handle lifting distance measurement adjusting device 4 to move upwards, when the upward height reaches the set height, the motor 45 is started again to drive the supporting rod of the positioning shaft 232 to rotate reversely, the positioning shaft 232 to move towards the supporting rod 21, the sleeve 22 is locked by the supporting rod 21 and the other calibration plate 3 can be locked and adjusted by the manual operation of the lifting rod 3, and the manual operation can be simultaneously locked to the calibration plate 3 and the calibration plate 3 can be adjusted to be locked and unlocked, and the calibration plate 3 can be adjusted to be more than 3 in turn;
when the square shaft 47 is inserted into the square groove 233 and is not fully inserted into the square groove 233, the square shaft 47 is fully inserted into the square groove 233 when the positioning shaft 232 is driven to rotate by the subsequent square shaft 47, and the positioning shaft 232 and the nut 231 move along the square shaft 47 after acting.
Preferably, the supporting rod 21 is provided with a plurality of positioning grooves 211.
By providing the positioning groove 211, when the sleeve 22 and the supporting rod 21 are fixedly locked through the positioning shaft 232, the positioning shaft 232 can be directly inserted into the positioning groove 211, so that the stability of the locking is improved.
The positioning grooves 211 can be correspondingly formed according to the height value which is conventionally adjusted.
Referring again to fig. 5, the bottom end of the supporting rod 21 is provided with a roller 7.
By providing the roller 7 at the bottom end of the strut 21, thereby adjusting the position of the lifting rod 2 at the fine adjustment device 5, the strut 21 is convenient to follow the fine adjustment device 5.
Referring to fig. 5 and (8 a) of fig. 8, in a preferred embodiment, the supporting rod 21 is provided with a pushing handle 8 therethrough, the bottom of the pushing handle 8 is provided with a low surface and a high surface, the low surface and the high surface are connected by an inclined surface 81, and the high surface is abutted against the top end of the roller 7.
When the square shaft 47 is inserted into the square groove 233, the main gear 46 pushes the pushing handle 8, the inclined surface 81 of the pushing handle 8 presses the roller 7 downwards, so that the top end of the roller 7 is abutted against the lower surface part of the pushing handle 8, the roller 7 is abutted against the base 1, the lifting rod 2 can be stably kept at the current position, and when the position of the lifting rod 2 is regulated again later, the pushing handle 8 can be pulled outwards in advance, so that the top end of the roller 7 is contacted with the upper surface of the pushing handle 8 again, and at the moment, the pushing handle 8 does not apply downward abutting force to the roller 7;
the roller 7 comprises an outer support and balls, the balls are embedded in the bottom of the outer support, the top end of the outer support is abutted against the high surface of the bottom of the pushing handle 8, the surface of each ball is sleeved with a rubber sleeve, and when the roller 7 is extruded downwards by the pushing handle 8, the rubber sleeve is in a compressed state;
wherein, the bottom inclined plane 81 of the pushing handle 8 is smaller, so that the rubber sleeve is in a compressed state;
the pushing handle 8 is provided with a round angle towards one end of the main gear 46 and is provided smoothly, so that friction force when the pushing handle acts on the side surface of the main gear 46 is greatly reduced.
In other embodiments, a spring may be sleeved on the upper portion of the support of the roller 7, and the pushing handle 8 is pressed against the roller 7 by compressing the spring, so that the roller 7 is pressed against the base 1, and the current position of the roller is stably maintained.
The working principle of the camera calibration device for the automatic driving vehicle provided by the invention is as follows:
when the distance measuring and adjusting device is used, the assembly frame 44 in the distance measuring and adjusting device 4 is directly sleeved on the mounting frame 6, the limiting shaft 441 is correspondingly inserted into the limiting groove 61 to limit the distance measuring and adjusting device, then the calibration plate 3 is moved through the lifting rod 2, the base 1 can be roughly placed at a corresponding position according to the measured distance value measured by the first distance measuring sensor 42, if the base 1 needs to be placed at the position of 2 m in the X direction and 2.5 m in the Y direction, and when the base 1 can be directly placed at the position after the base 1 is detected to be 1.96 m in the X direction and 2.45 m in the Y direction, and at the moment, the base 1 can be accurately adjusted through the fine adjusting device 5;
specific: referring to fig. 4 (4 a), when the ranging regulator 4 is assembled on the lifting rod 2, the main gear 46 is meshed with the auxiliary gear 54, after the base 1 is placed, a target distance value in the Y direction is set on the control display screen, at this time, the motor 45 drives the main gear 46 to rotate clockwise or anticlockwise, so as to drive the threaded sleeve 52 to rotate along with the threaded rod 51 to move horizontally, and drives the lifting rod 2 to move along with the toothed plate 53, so as to drive the calibration plate 3 to move, and after the calibration plate moves to a set target distance, the motor 45 is stopped, so that the distance value in the Y direction is accurately regulated;
referring to fig. 4b in combination, after the distance value in the Y direction is adjusted, the distance adjusting device 4 is moved toward the lifting rod 2, during adjustment, the distance adjusting device 4 is lifted slightly, the limiting shaft 441 is moved out of the limiting groove 61 on the mounting frame 6, then moved, the main gear 46 is separated from the slave gear 54 and meshed with the toothed plate 53, then the target distance value in the X direction is set on the control display screen, at this time, when the motor 45 rotates again, the main gear 46 acts with the toothed plate 53 to drive the whole lifting rod 2 to move along the X direction and drive the calibration plate 3 to move along with the set distance value, the motor 45 stops, and thus the distance value in the X direction is accurately adjusted;
referring to fig. 4c, (7 a) to 7 b) and (8 a) to 8b, after the placement position of the calibration plate 3 is determined, the distance measurement adjusting device 4 is continuously moved towards one side of the lifting rod 2, so that the main gear 46 is separated from the toothed plate 53, the square shaft 47 is inserted into the square groove 233, the counterclockwise positioning shaft 232 is driven by the motor 45 to rotate, the positioning shaft 232 acts on the nut 231 to move outwards, the sleeve 22 and the supporting rod 21 are unlocked, the sleeve 22 is driven to move upwards by lifting the distance measurement adjusting device 4 by a hand-held handle, and when the upward movement height reaches a set height, the motor 45 is started again, the positioning shaft 232 is driven to reversely rotate, the positioning shaft 232 is inserted into the positioning groove 211, and the sleeve 22 and the supporting rod 21 are fixedly locked;
then the height of other calibration plates 3 can be adjusted in the same way, so that the height of the calibration plates 3 can be adjusted quickly, and the locking and unlocking operation of the locking device 23 in the lifting rod 2 of each calibration plate 3 can be avoided;
when the square shaft 47 is inserted into the square groove 233, the main gear 46 pushes the pushing handle 8, and the inclined surface 81 of the pushing handle 8 presses the roller 7 downwards, so that the top end of the roller 7 is positioned at the lower part of the pushing handle 8, and the roller 7 abuts against the base 1, so that the lifting rod 2 can be stably kept at the current position.
The foregoing description is only illustrative of the present invention and is not intended to limit the scope of the invention, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present invention.
Claims (7)
1. A camera calibration apparatus for an autonomous vehicle, comprising: a base;
the lifting rod comprises a supporting rod, a sleeve, a locking device and a rotating piece, wherein the supporting rod is arranged on the base, the sleeve is sleeved on the supporting rod, and the locking device is arranged on the sleeve and used for locking the supporting rod and the sleeve;
the calibration plate is rotatably arranged at the top end of the sleeve through a rotating piece;
the mounting frame is fixedly arranged on the sleeve;
the distance measurement adjusting device comprises a shell, a second distance measurement sensor, an assembly frame and two first distance measurement sensors, wherein the second distance measurement sensor is fixedly arranged at the bottom of the shell, the two first distance measurement sensors are ninety degrees fixedly arranged on two adjacent side surfaces of the shell, and the assembly frame is fixedly arranged at the top of the shell;
when the device is used, the assembly frame in the ranging adjustment device is detachably arranged on the mounting frame, the distance between the two first ranging sensors and the corresponding reference parts is measured, the horizontal placement position of the calibration plate is determined, then the sleeve is lifted by the ranging adjustment device, the heights of the ranging adjustment device and the base are measured by the second ranging sensors, so that the lifting height of the calibration plate is determined, and the sleeve is fixedly locked on the supporting rod by the locking device;
the base is provided with a fine adjustment device, the fine adjustment device comprises a screw rod, a threaded sleeve, a toothed plate and a slave gear, one end of the screw rod is fixedly arranged on the base through a mounting block, the threaded sleeve is in threaded connection with the screw rod, the slave gear is fixed on the threaded sleeve, and one end of the toothed plate is rotatably connected to the bottom of the threaded sleeve and is positioned at one side of the slave gear; the lifting rod further comprises a connecting plate, one end of the connecting plate is fixedly connected with the supporting rod, and the other end of the connecting plate is in sliding connection with the side face of the toothed plate; the distance measuring adjusting device further comprises a motor and a main gear, wherein the motor is fixedly arranged in the shell, and the output end of the motor penetrates through the shell and is fixedly connected with the main gear;
the locking device comprises a nut and a positioning shaft, wherein the nut is fixedly arranged on the sleeve, one end of the positioning shaft is in threaded connection with the nut, the other end of the positioning shaft penetrates through the sleeve and then extends into the sleeve, and a square groove is formed in one end of the positioning shaft; and a square shaft is fixedly arranged at the end part of the motor output shaft.
2. The camera calibration apparatus for an autonomous vehicle according to claim 1, wherein the mounting frame is sleeved on the mounting frame, limiting shafts are respectively arranged at the tops of the inner walls at two ends of the mounting frame, and limiting grooves are respectively formed at two ends of the mounting frame.
3. The camera calibration apparatus for an autonomous vehicle of claim 1, wherein a hand grip is provided on the mounting bracket.
4. The camera calibration apparatus for an autonomous vehicle according to claim 1, wherein the rotating member includes a rotating sleeve rotatably mounted to a top end of the sleeve, a fixing frame fixed to the top end of the rotating sleeve, and a rotating shaft mounted to the fixing frame, the calibration plate being sleeved on the rotating shaft through a connection frame.
5. The camera calibration apparatus for an autonomous vehicle of claim 1, wherein the strut has a plurality of detents formed thereon.
6. The camera calibration apparatus for an autonomous vehicle of claim 1, wherein a roller is mounted to a bottom end of the strut.
7. The camera calibration apparatus for an autonomous vehicle according to claim 6, wherein a push handle is provided through the strut, a lower surface and an upper surface are provided at a bottom of the push handle, and the lower surface and the upper surface are connected by an inclined surface, and the upper surface is abutted against a top end of the roller.
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| CN202311434101.5A CN117152273B (en) | 2023-11-01 | 2023-11-01 | Camera calibration equipment for automatic driving vehicle |
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| CN202311434101.5A CN117152273B (en) | 2023-11-01 | 2023-11-01 | Camera calibration equipment for automatic driving vehicle |
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