CN206430715U - Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems - Google Patents
Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems Download PDFInfo
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- CN206430715U CN206430715U CN201621389453.9U CN201621389453U CN206430715U CN 206430715 U CN206430715 U CN 206430715U CN 201621389453 U CN201621389453 U CN 201621389453U CN 206430715 U CN206430715 U CN 206430715U
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- car body
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- monocular cam
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Abstract
The utility model belongs to automobile technical field, more particularly, to a kind of vehicle-mounted monocular camera and six axle sensor combination range-measurement systems.Including monocular cam, six axle sensors and control circuit, six axle sensor integrated installations on the instrument board of car body and six axle sensors include can measure the angle of pitch of car body, inclination angle, the gyroscope of yaw angle and the x-axis directional acceleration vector that car body can be measured, y-axis directional acceleration vector, the accelerometer of z-axis directional acceleration vector, the x-axis of accelerometer is parallel to each other with height of the carbody direction axis, y-axis is parallel to each other with width of the carbody direction axis, z-axis is parallel to each other with length over ends of body direction axis, monocular cam is installed on the front portion of car body, control circuit is connected with monocular cam and six axle sensors respectively.Advantage is compared with prior art：It is reasonable in design, it is possible to increase monocular cam range accuracy.
Description
Technical field
The utility model belongs to automobile technical field, is related to monitoring, more particularly, to a kind of vehicle-mounted monocular camera and six
Axle sensor combination range-measurement system.
Background technology
The detection and identification for the targets such as every trade people, vehicle of being gone forward side by side currently with camera shooting present road picture, simultaneously
It is simple to utilize monocular cam ranging be because imaging using the distance between this camera measurement Current vehicle and target vehicle
There is larger error in the problems such as head image quality；Also for example measured using binocular camera between Current vehicle and target vehicle
Distance, and utilize binocular camera ranging can be than many costs of camera ranging increase, and data processing also can be more
It is complicated.
For example, Chinese patent literature discloses a kind of vehicle-mounted camera [application number：201380015847.0], vehicle-mounted pick-up
Head due to setting lens in the prominent portion of projecting above vehicle-mounted camera main body, so with vehicle-mounted camera main body is overall
Compared when being configured at the lower section of bracket, lens can configured apart from windshield most short position.
Although such scheme can be by for shooting and monitoring.But, however it remains error is larger etc. that technology is asked
Topic.
The content of the invention
The purpose of this utility model is in view of the above-mentioned problems, providing a kind of reasonable in design, it is possible to increase monocular cam survey
Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems away from precision.
To reach above-mentioned purpose, the utility model employs following technical proposal：This vehicle-mounted monocular camera and six axles are passed
Sensor combination range-measurement system, is arranged on car body, it is characterised in that the system includes monocular cam, six axle sensors and control
Circuit processed, described six axle sensor integrated installations are on the instrument board of car body and six axle sensors include that car body can be measured
The angle of pitch, inclination angle, the gyroscope of yaw angle and can measure the x-axis directional acceleration vector of car body, y-axis directional acceleration arrow
Amount, the accelerometer of z-axis directional acceleration vector, the x-axis of described accelerometer are mutually put down with height of the carbody direction axis
Row, y-axis and width of the carbody direction axis is parallel to each other, z-axis and length over ends of body direction axis are parallel to each other, described monocular
Camera is installed on the front portion of car body, and described control circuit is connected with monocular cam and six axle sensors respectively, described
The pixel principal point of monocular cam is located on the optical center axis of monocular cam.
Above-mentioned vehicle-mounted monocular camera with six axle sensor combination range-measurement systems, described monocular cam is at least
It can realize and rotate upwardly and downwardly with the amendment of shooting angle above and below realization and/or can realize relative to car body left-right rotation relative to car body
To realize the amendment of left and right shooting angle.
Above-mentioned vehicle-mounted monocular camera with six axle sensor combination range-measurement systems, described monocular cam includes
Mounting seat and camera lens, described mounting seat is provided with left-right rotation controlling organization and described left-right rotation controlling organization is by first
Servomotor is driven, and described left-right rotation controlling organization, which is provided with, to be rotated upwardly and downwardly controlling organization and described rotate upwardly and downwardly control
Mechanism is driven by the second servomotor, and described camera lens, which is arranged on, to be rotated upwardly and downwardly on controlling organization.
Above-mentioned vehicle-mounted monocular camera with six axle sensor combination range-measurement systems, described monocular cam is installed
In on the front windshield of car body and for narrow angle lens camera, provided with list can be made between described mounting seat and front windshield
The moving connecting mechanism that mesh camera is laterally moved left and right along front windshield, described left-right rotation controlling organization, up and down
Rotation controling mechanism and moving connecting mechanism are connected with control circuit.
Compared with prior art, this vehicle-mounted monocular camera is with the advantage of six axle sensor combination range-measurement systems：
1st, it is reasonable in design, it is possible to increase monocular cam range accuracy；2nd, while detection performance is improved, reduce manufacture and use
Cost；3rd, in real time monitoring car posture, correct the shooting angle of camera in real time according to the attitude angle of car, with avoid because
The target missing inspection situation that vision dead zone is caused, ensures monitoring correctness, safe and reliable.
Brief description of the drawings
Fig. 1 is the structured flowchart that the utility model is provided.
Fig. 2 is the structural representation that the utility model is provided.
In figure, car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5, accelerometer 6.
Embodiment
As shown in Figure 1, 2, this vehicle-mounted monocular camera and six axle sensor combination range-measurement systems, are arranged on car body 1, bag
Monocular cam 2, six axle sensors 3 and control circuit 4 are included, the integrated installation of six axle sensor 3 is on the instrument board of car body 1 and six
Axle sensor 3 includes that the angle of pitch of car body 1, inclination angle, the gyroscope 5 of yaw angle can be measured and can measure the x-axis of car body 1
Directional acceleration vector, y-axis directional acceleration vector, the accelerometer 6 of z-axis directional acceleration vector, the x-axis of accelerometer 6
It is parallel to each other with the short transverse axis of car body 1, y-axis and the width axis of car body 1 are parallel to each other, z-axis and the length of car body 1
Direction axis is parallel to each other, and monocular cam 2 is installed on the front portion of car body 1, control circuit 4 respectively with monocular cam 2 and
Six axle sensors 3 are connected, and the pixel principal point of monocular cam 2 is located on the optical center axis of monocular cam 2.
In particular, monocular cam 2 can at least be realized and rotated upwardly and downwardly relative to car body 1 with shooting angle above and below realization
Amendment and/or can realize relative to the left-right rotation of car body 1 to realize the amendment of left and right shooting angle.Automobile will reach slope
The moment of top/bottom of slope, if camera is fixed, what its field range was largely photographed is sky/above ground portion, slope
The road surface at top/bottom will turn into vision dead zone, and front truck image is can't detect this moment, there is hidden danger, but according to six axle sensors 3
Camera angle can be adjusted in real time after carrying out location sensitive, then can photograph the road surface at slope top/bottom, detect the obstacle existed
The targets such as thing, to ensure safety, i.e.,：When going up a slope, camera is tilted down when reaching slope top, is imaged before can so avoiding
The motionless target missing inspection situation that can only be photographed sky and cause；When turning, if camera is fixed, on bend
Car or other target detections less than, produce vision dead zone missing inspection target and cause danger.
When car body 1 will reach the moment on slope top, according to being arranged at the reality that six anterior axle sensors 1 of car body 1 are collected
When attitude data control monocular cam 2 shooting angle relative to car body 1 downwards adjust so that monocular cam 2 in time adjust
The position that road is pushed up on slope can extremely be shot；When car body 1 will reach the moment of bottom of slope, according to six axles for being arranged at the front portion of car body 1
The shooting angle for the real-time attitude data control monocular cam 2 that sensor 1 is collected is adjusted upward relative to car body 1 so that single
Mesh camera 2 is adjusted to can shoot the position of bottom of slope road in time；When car body 1 travels on bend, according to being arranged at car body 1
The shooting angle for the real-time attitude data control monocular cam 2 that six anterior axle sensors 1 are collected is with the bending of bend
Direction is relative to the adjustment of car body 1 or so so that monocular cam 2 is adjusted to can photograph the shooting angle of bend in time.
When car body 1 will reach the moment of bottom of slope and be in bend, six axle sensors anterior according to car body 1 is arranged at
The 3 real-time attitude data collected control the bending direction of six axle sensors 3 relative to car body 1 upwards and with bend or so to adjust
It is whole so that monocular cam 2 is adjusted to can shoot the position of bend bottom of slope road in time；When car body 1 will reach the wink of bottom of slope
Between and during in bend, taken the photograph according to the real-time attitude data control monocular that six anterior axle sensors 1 of car body 1 collect is arranged at
As first 2 relative to car body 1 upwards and bending directions with bend or so adjustment is so that monocular cam 2 is adjusted to can in time
Shoot the position of bend bottom of slope road.
Monocular cam 2 includes mounting seat and camera lens, and mounting seat is provided with left-right rotation controlling organization and left-right rotation control
Mechanism processed is driven by the first servomotor, and left-right rotation controlling organization is provided with rotating upwardly and downwardly controlling organization and rotate upwardly and downwardly control
Mechanism is driven by the second servomotor, and camera lens, which is arranged on, to be rotated upwardly and downwardly on controlling organization.
Monocular cam 2 is installed on the front windshield of car body 1 and is narrow angle lens camera, mounting seat and front windshield
The moving connecting mechanism that monocular cam 2 is laterally moved left and right along front windshield, left-right rotation can be made by being provided between glass
Controlling organization, rotate upwardly and downwardly controlling organization and moving connecting mechanism with control circuit 4 be connected.
Previous moment accelerometer 6 measures the x-axis directional acceleration vector of car body 1 at this moment for v0x, y-axis direction accelerate
Degree vector is v0y, z-axis directional acceleration vector be v0z, gyroscope 5 measures the angle of pitch of car body 1 at this moment and isInclination angle
For ω1, yaw angle be κ1, and the picpointed coordinate of this moment target point is (x1,y1)；Later moment in time accelerometer 6 measures car body 1
X-axis directional acceleration vector at this moment is ax, y-axis directional acceleration vector be ay, z-axis directional acceleration vector be az, top
Spiral shell instrument 5 measures the angle of pitch of car body 1 at this momentInclination angle is ω2, yaw angle be κ2, and the picture of this moment target point
Point coordinates is (x2,y2)；The time interval of previous moment and later moment in time is t；The earth is sat where previous moment monocular cam 2
It is S'(X', Y', Z' to be designated as S (X, Y, Z) and the place geodetic coordinates of later moment in time monocular cam 2), then calculated by location algorithm
The spacing gone out between target point and monocular cam 2 is (Δ X, Δ Y, Δ Z).
Location algorithm is as follows：Previous moment geodetic coordinates S (X, Y, Z) and later moment in time geodetic coordinates S'(X', Y', Z') it
Between distance be (BX,BY,BZ), then：Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') the distance between (BX,BY,
BZ) value calculation formula it is as follows：
Respectively calculate geodetic coordinates S (X, Y, Z) with geodetic coordinates S'(X', Y', Z') spin matrix R, R', so as to try to achieve
Geodetic coordinates S (X, Y, Z) and geodetic coordinates S'(X', Y', Z') value, calculation formula difference is as follows：
Wherein, f is the focal length of monocular cam 2；
Projection coefficient N and N' calculation formula difference are as follows：
Then the distance between monocular cam 2 and car body 1 are
Specific embodiment described herein is only to the utility model spirit explanation for example.The utility model institute
Category those skilled in the art can make various modifications or supplement or using similar to described specific embodiment
Mode substitute, but without departing from spirit of the present utility model or surmount scope defined in appended claims.
Although more used herein car body 1, monocular cam 2, six axle sensors 3, control circuit 4, gyroscope 5,
The grade term of accelerometer 6, but it is not precluded from the possibility using other terms.Using these terms just for the sake of more easily
Describe and explain essence of the present utility model；Being construed as any additional limitation is all and the utility model spirit
Disagree.
Claims (4)
1. a kind of vehicle-mounted monocular camera and six axle sensor combination range-measurement systems, are arranged on car body (1), it is characterised in that
The system includes monocular cam (2), six axle sensors (3) and control circuit (4), described six axle sensors (3) integrated peace
On instrument board loaded on car body (1) and six axle sensors (3) include that the angle of pitch of car body (1), inclination angle, yaw angle can be measured
Gyroscope (5) and can measure car body (1) x-axis directional acceleration vector, y-axis directional acceleration vector, z-axis direction accelerate
Spend the accelerometer (6) of vector, x-axis and car body (1) short transverse axis of described accelerometer (6) are parallel to each other, y-axis
It is parallel to each other with car body (1) width axis, z-axis and car body (1) length direction axis are parallel to each other, described monocular
Camera (2) is installed on the front portion of car body (1), described control circuit (4) respectively with monocular cam (2) and six axle sensors
(3) it is connected, the pixel principal point of described monocular cam (2) is located on the optical center axis of monocular cam (2).
2. vehicle-mounted monocular camera according to claim 1 and six axle sensor combination range-measurement systems, it is characterised in that institute
The monocular cam (2) stated can at least realize rotated upwardly and downwardly relative to car body (1) with the amendment of shooting angle above and below realization and/or
It can realize relative to car body (1) left-right rotation to realize the amendment of left and right shooting angle.
3. vehicle-mounted monocular camera according to claim 2 and six axle sensor combination range-measurement systems, it is characterised in that institute
The monocular cam (2) stated includes mounting seat and camera lens, and described mounting seat is provided with left-right rotation controlling organization and described
Left-right rotation controlling organization is driven by the first servomotor, and described left-right rotation controlling organization, which is provided with, rotates upwardly and downwardly control machine
The structure and described controlling organization that rotates upwardly and downwardly is driven by the second servomotor, described camera lens, which is arranged on, rotates upwardly and downwardly controlling organization
On.
4. vehicle-mounted monocular camera according to claim 3 and six axle sensor combination range-measurement systems, it is characterised in that institute
The monocular cam (2) stated is installed on the front windshield of car body (1) and for narrow angle lens camera, described mounting seat with
The moving connecting mechanism that monocular cam (2) is laterally moved left and right along front windshield can be made by being provided between front windshield,
Described left-right rotation controlling organization, rotate upwardly and downwardly controlling organization and moving connecting mechanism and be connected with control circuit (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621389453.9U CN206430715U (en) | 2016-12-16 | 2016-12-16 | Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621389453.9U CN206430715U (en) | 2016-12-16 | 2016-12-16 | Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206430715U true CN206430715U (en) | 2017-08-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621389453.9U Expired - Fee Related CN206430715U (en) | 2016-12-16 | 2016-12-16 | Vehicle-mounted monocular camera and six axle sensor combination range-measurement systems |
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| Country | Link |
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| CN (1) | CN206430715U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595570A (en) * | 2016-12-16 | 2017-04-26 | 杭州奥腾电子股份有限公司 | Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof |
| CN111521414A (en) * | 2020-06-19 | 2020-08-11 | 上海机动车检测认证技术研究中心有限公司 | Projection measurement system |
-
2016
- 2016-12-16 CN CN201621389453.9U patent/CN206430715U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106595570A (en) * | 2016-12-16 | 2017-04-26 | 杭州奥腾电子股份有限公司 | Vehicle single camera and six-axis sensor combination range finding system and range finding method thereof |
| CN111521414A (en) * | 2020-06-19 | 2020-08-11 | 上海机动车检测认证技术研究中心有限公司 | Projection measurement system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170822 Termination date: 20201216 |