CN207832204U - A kind of in-vehicle camera composite calibration monitor station - Google Patents
A kind of in-vehicle camera composite calibration monitor station Download PDFInfo
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- CN207832204U CN207832204U CN201721871919.3U CN201721871919U CN207832204U CN 207832204 U CN207832204 U CN 207832204U CN 201721871919 U CN201721871919 U CN 201721871919U CN 207832204 U CN207832204 U CN 207832204U
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Abstract
The utility model is related to a kind of in-vehicle camera composite calibration monitor stations,Including demarcating platform,2D calibration systems,3D calibration systems and rear view camera calibration system,Parking station is equipped on the calibration platform,And the front and back end of the parking station is equipped with centralising device,It is equipped with 2D calibration systems in the front and back end both sides of the calibration platform,And the 2D calibration systems are equipped with moveable 2D scaling boards,Rear view camera calibration system is equipped in the middle part of the calibration platform rear end,And the rear view camera calibration system is equipped with moveable rear view camera scaling board,On the calibration platform,Side is respectively equipped with a calibration frame before and after the parking station,It is respectively equipped with a 3D calibration system in the left and right ends of the calibration frame,And the 3D calibration systems set there are one have X,Y,The 3D calibrating blocks of tri- direction degree of freedom of Z.The utility model can be automatically positioned car body centering, and scaling board is adjustable, can be compatible with various calibration detection mode, greatly improve vehicle calibration detection efficiency and applicable vehicle range.
Description
Technical field
The utility model is related to DAS (Driver Assistant System)s to demarcate detection field, specifically a kind of in-vehicle camera composite calibration
Monitor station.
Background technology
Automobile assistant driving system is one of the Main way of current automotive technology development, and (panorama is looked around for 360 ° with automobile
Image) system, Lane Departure Warning System (LDWS) and front collision early warning system (FCW) be representative automobile assistant driving
System is increasingly becoming the standard configuration of family-sized car.
It is by 4 groups of wide-angle cameras mounted on automobile body all around that 360 ° of automobile, which looks around (full-view image) system,
The image of collection vehicle surrounding simultaneously, and by image procossing splicing, complete vehicle Zhou Quanjing birds-eye views are ultimately formed, from
And sensing capability of the driver to vehicle-surroundings environment is expanded, it avoids because blind area causes safety accident.Deviation is pre-
Alert system (LDWS) is carried in automotive run-off-road using the position of lane line in onboard sensor detection vehicle travel process
The driver that wakes up carries out corresponding safety operation, avoids the safety accident caused by driving fatigue.
Onboard sensor used in above-mentioned driving ancillary technique is both needed to be demarcated in advance, to establish sensor with
True position relationship between vehicle and ambient enviroment.The calibration of wherein in-vehicle camera is by the setting flag in place
Plate builds the transformation relation of vehicle body coordinate system and earth axes, then establishes vehicle-mounted phase by in-vehicle camera identification tag
Position relationship between machine and earth axes, and then position of the in-vehicle camera relative to vehicle body coordinate system is obtained by coordinate transform
Relationship is set, the calibration of system is completed.
Currently, the method for position relationship mainly has introducing external between conventional determination vehicle body coordinate system and earth axes
It measures camera and guides vehicle two class methods of positioning in demarcating place, wherein introducing the method for externally measured camera to environment
It is required that it is high, and since the lacquer painting of vehicle body is reflective, cause the stability measured poor, measurement accuracy is not high, applies in practical applications
It is limited in scope.And the method for vehicle guiding positioning is mostly designed just for single vehicle, it is difficult to which it is more to adapt to nowadays differentiation
The design of vehicle mixed production needs.Therefore how to ensure the vehicles of different automobile types in same calibration place rapidly to vehicle-mounted
It is a technical problem urgently to be resolved hurrily that camera, which carries out calibration,.
Utility model content
The purpose of this utility model is to provide a kind of in-vehicle camera composite calibration monitor stations, can make the vehicle of different automobile types
Body is rapidly and accurately automatically positioned on calibration platform, and scaling board can be adjusted according to different automobile types, and simultaneous
Hold various calibration detection mode, greatly improve vehicle calibration detection efficiency and applicable vehicle range, improves vehicle calibration detection
The intelligent level of operation.
The purpose of this utility model is achieved through the following technical solutions：
A kind of in-vehicle camera composite calibration monitor station, including calibration platform, 2D calibration systems, 3D calibration systems and backsight
Camera calibration system is equipped with parking station on the calibration platform, and the front and back end of the parking station is equipped with centering dress
It sets, is equipped with 2D calibration systems in the front and back end both sides of the calibration platform, and the 2D calibration systems are equipped with moveable 2D
Scaling board is equipped with rear view camera calibration system in the middle part of the calibration platform rear end, and the rear view camera calibration system is equipped with
Moveable rear view camera scaling board, on the calibration platform, side is respectively equipped with a calibration before and after the parking station
Frame is respectively equipped with a 3D calibration system in the left and right ends of the calibration frame, and there are one the 3D calibration systems set
3D calibrating blocks with tri- direction degree of freedom of X, Y, Z.
It is set on the calibration platform there are two parallel wheel road, the parking station includes front wheel alignment roller group with after
Wheel support roller group, wherein two groups of front wheel alignment roller groups are set to parking station front end and are respectively arranged on different wheel roads,
Two groups of rear wheel support roller groups are set to parking station rear end and are respectively arranged on different wheel roads, fixed in two groups of front-wheels
It is equipped with centralising device between the roller group of position and between two groups of rear wheel support roller groups.
The centralising device includes centering bearing, centering strut, first slide, second slide, gear, the first rack,
Two racks and centering motor, the gear is driven by the centering motor to be rotated, and first rack and the second rack set up separately
It engages in the gear both sides and with the gear, first slide and second slide are movably arranged at centering bearing
On, and first slide and the first rack are connected, and second slide is connected with the second rack, in the first slide and second slide
Outside is equipped with centering strut.
The front wheel alignment roller group includes the first inclined-plane roller group, the second inclined-plane roller group and roller group pedestal, the first inclined-plane roller group
With the second inclined-plane roller group is V-shaped is installed on the roller group pedestal, side is equipped with roller group slope before and after the roller group pedestal；Institute
It includes multiple backing rolls in same level to state rear wheel support roller group.
The 2D calibration systems include 2D scaling boards, 2D adjusts straight line units and 2D demarcates cover board, and the 2D scaling boards are logical
It crosses the 2D and adjusts straight line units driving movement, the 2D calibration cover board is installed on calibration platform, and the 2D scaling boards are complete
It is placed at full reduced time below the 2D calibration cover board.
The 2D adjusts straight line units and is packed in a mounting seat, and leveling seat is equipped in the mounting seat；Institute
2D scaling boards are stated to be connected with the 2D adjusting sliders by a connection supporting plate.
The rear view camera calibration system includes rear view camera scaling board, backsight calibration adjustment straight line units and backsight calibration
Cover board, the rear view camera scaling board are driven by the backsight calibration adjustment straight line units and are moved, and the backsight demarcates cover board
It is installed on calibration platform, and when rear view camera scaling board is fully retracted is placed in below the backsight calibration cover board.
The 3D calibration systems include 3D calibrating blocks and straight line units component, and the 3D calibrating blocks are equipped with orthogonal
First 3D scaling boards and the 2nd 3D scaling boards, and the 3D calibrating blocks are moved by the straight line units Component driver, it is described straight
Line unit block is mounted on calibration frame.
The straight line units component include 3D calibration X-axis unit, X to Mobile base, 3D calibration Y-axis unit, Y-direction Mobile base,
3D demarcates Z axis unit and Z-direction mobile bar, and the X demarcates the driving movement of X-axis unit to Mobile base by the 3D, and 3D demarcates Y
Axle unit is mounted on the X on Mobile base, and the Y-direction Mobile base demarcates the driving movement of Y-axis unit by the 3D, and 3D is marked
Z axis unit is determined on the Y-direction Mobile base, the Z-direction mobile bar demarcates the driving lifting of Z axis unit by the 3D, and
3D calibrating blocks are installed in Z-direction mobile bar lower end.
Platform protective cover is equipped on the outside of the calibration platform, the protective cover ceiling of the platform protective cover is equipped with illumination
Lamp.
The advantages of the utility model is with good effect：
1, centering locating platform of the utility model using calibration platform as composite calibration, by identifying that vehicle information obtains
In-vehicle camera to required use demarcates mode, and adjusts corresponding scaling board and move to corresponding position, to complete to difference
The calibration of the in-vehicle camera of vehicle detects, and calibration is efficient, and compatibility is strong.
2, the core of composite calibration platform used by the utility model is to establish different automobile types automobile body coordinate system and its
The fixed conversion relationship of corresponding ground scaling board coordinate system, then identify that scaling board establishes in-vehicle camera and ground by in-vehicle camera
Relationship between the scaling board coordinate system of face, and the relationship of in-vehicle camera and vehicle body coordinate system is finally established, complete in-vehicle camera
Calibration.
3, the scaling board regulating mechanism in the 2D calibration modes in the utility model is embedded in calibration platform, being capable of basis
The position of 2D scaling boards is adjusted in vehicle information, and 2D scaling boards are adjusted to below hiding cover board when not needed.
4, scaling board regulating mechanism uses three axis truss in the 3D calibration modes in the utility model, can be to 3D calibrating blocks
Position in three directions is adjusted, and to adapt to the calibration needs of different automobile types, and 3D calibrating blocks rise to most when not needing
It is high-order.
5, the rear view camera scaling board in the utility model can set adjusting in the enterprising line position of vehicle traveling direction, and not
Rear view camera scaling board can be adjusted to when needing below hiding cover board.
6, the calibration platform of the utility model is equipped with centralising device, can treat calibration vehicle automatically and carry out centering positioning,
And various can be compatible with.
7, the utility model effectively avoids interfering between each calibration mode, a variety of to enable calibration platform to be compatible with
Calibration mode.
Description of the drawings
Fig. 1 is working state schematic representation when the utility model carries out 2D calibration,
Fig. 2 is working state schematic representation when the utility model carries out 3D calibration,
Working state schematic representation when Fig. 3 is the carry out rear view camera calibration of the utility model,
Fig. 4 is the vertical view that platform is demarcated in Fig. 1,
Fig. 5 is the structural schematic diagram of centralising device in Fig. 4,
Fig. 6 is the schematic diagram of front wheel alignment roller group in Fig. 4,
Fig. 7 is the structural schematic diagram of 2D calibration systems in Fig. 1,
Fig. 8 is the structural schematic diagram of 3D calibration systems in Fig. 1,
Fig. 9 is the structural schematic diagram of platform protective cover in Fig. 1.
Wherein, 1 is calibration place, and 2 be wheel guiding mechanism, and 3 be calibration platform, and 301 be centralising device, and 3011 be centering
Strut, 3012 is are oriented to push rod, and 3013 be the first rack, and 3014 be gear, and 3015 be first slide, and 3016 be the first sliding rail,
3017 be riser, and 3018 be the second sliding rail, and 3019 be the second sliding block, and 3020 be centering motor, and 3021 be second slide, 3022
It is the second rack for centering bearing, 3023,302 be front wheel alignment roller group, and 3021 be roller group pedestal, and 3022 be the first inclined-plane roller
Group, 3023 be the second inclined-plane roller group, and 3024 be roller group slope, and 303 be wheel road, and 304 be rear wheel support roller group, and 4 demarcate for 2D
System, 401 be 2D scaling boards, and 402 adjust straight line units for 2D, and 4021 be 2D regulation motors, and 4022 be 2D adjusting sliders,
403 be connection supporting plate, and 404 be mounting seat, and 405 be leveling seat, and 406 demarcate cover board for 2D, and 5 be calibration frame, and 6 mark for 3D
Determine system, 601 be 3D calibrating blocks, and 6011 be the first 3D scaling boards, and 6012 be the 2nd 3D scaling boards, and 602 demarcate Z axis list for 3D
Member, 603 demarcate Y-axis unit for 3D, and 604 demarcate X-axis unit for 3D, and 7 be platform protective cover, and 701 be protective cover frame, and 702 are
Protective cover baffle, 703 be protective cover ceiling, and 704 be headlamp, and 8 be rear view camera calibration system, and 801 demarcate for rear view camera
Plate, 9 be car body.
Specific implementation mode
The utility model is described in further detail below in conjunction with the accompanying drawings.
As shown in Fig. 1~9, the utility model includes calibration platform 3,2D calibration systems 4,3D calibration systems 6 and backsight phase
Machine calibration system 8, the calibration platform 3 is set on calibration place 1, as shown in figure 4, being equipped with two on the calibration platform 3
A parallel wheel road 303 is equipped with parking station on the wheel road 303, and is all provided in the front and back end of the parking station
There is centralising device 301, is equipped with 2D calibration systems 4 in the front and back end both sides of the calibration platform 3, the 2D calibration systems 4 are set
There are moveable 2D scaling boards 401, rear view camera calibration system 8, the backsight phase are equipped in the middle part of 3 rear end of calibration platform
Machine calibration system 8 is equipped with moveable rear view camera scaling board 801, on the calibration platform 3, before and after the parking station
Side is respectively equipped with a calibration frame 5, and a 3D calibration system 6 is respectively equipped in the left and right ends of the calibration frame 5, described
3D calibration systems 6 set there are one with tri- direction degree of freedom of X, Y, Z 3D calibrating blocks 601.
As shown in figure 4, the parking station includes front wheel alignment roller group 302 and rear wheel support roller group 304, wherein before two groups
Wheel positioning roller group 302 is set to parking station front end and is respectively arranged on different wheel roads 303, two groups of rear wheel support roller groups
304 are set to parking station rear end and are respectively arranged on different wheel roads 303, in two groups of front wheel alignment roller groups 302
Between and two groups of rear wheel support roller groups 304 between be equipped with centralising device 301.
As shown in figure 5, the centralising device 301 include centering bearing 3022, centering strut 3011, first slide 3015,
Second slide 3021, gear 3014, the first rack 3013, the second rack 3023 and centering motor 3020, the gear 3014 are logical
The driving of centering motor 3020 rotation is crossed, first rack, 3013 and second rack 3023 is divided into the gear 3014
It both sides and is engaged with the gear 3014, first slide 3015 and second slide 3021 are movably arranged at centering branch
On seat 3022, and first slide 3015 and the first rack 3013 are connected, and second slide 3021 and the second rack 3023 are connected, described
First slide 3015 and second slide 3021 drive synchronous backward movement, the centering motor by the centering motor 3020
3020 transmit torque by the gear 3014, the first rack 3013 and the second rack 3023, in 3015 He of the first slide
The outside of second slide 3021 is equipped with centering strut 3011, and the centering strut 3011 is ajusted for offseting with both sides wheel
9 position of car body.
As shown in figure 5, the centering bearing 3022 be equipped with parallel the first sliding rail 3016 and the second sliding rail 3018, first
The downside of slide 3015 is equipped with the first sliding block coordinate with first sliding rail 3016, and 3021 downside of second slide is equipped with described the
Second sliding block 3019 of two sliding rails 3018 cooperation.
As shown in figure 5, being equipped with riser 3017, the first slide 3015 and second slide to 3022 both sides of middle bearing
3021 respectively by being oriented to push rod 3012 and different centering struts 3011, and the guiding push rod 3012 passes through the riser
It is connected with centering strut 3011 after 3017, is equipped in the riser 3017 and supports the guide bearing for being oriented to push rod 3012.
As shown in Figure 4 and Figure 6, the front wheel alignment roller group 302 includes the first inclined-plane roller group 3022, the second inclined-plane roller group
3023 and roller group pedestal 3021, the first inclined-plane roller group 3022 and the second inclined-plane roller group 3023 is V-shaped is installed on the roller group pedestal
On 3021, side is equipped with roller group slope 3024, first inclined-plane roller group 3022 and second before and after the roller group pedestal 3021
Each roller in inclined-plane roller group 3023 is axial parallel with the wheel road 303.The rear wheel support roller group 304 includes multiple is in
The backing roll of same level, and each backing roll is axial parallel with the wheel road 303.
2D calibration systems 4 are equipped in the front and back end both sides of the calibration platform 3, and the 2D calibration systems 4 are respectively provided with
In 303 outside of wheel road.As shown in fig. 7, the 2D calibration systems 4 include 2D scaling boards 401,2D adjustings straight line units 402, adjust
Flat seat 405 and 2D demarcate cover board 406, and the 2D adjusts straight line units 402 and is equipped with moveable 2D adjusting sliders 4022, institute
401 downside of 2D scaling boards to be stated to be connected with the 2D adjusting sliders 4022, the 2D calibration cover board 406 is installed on calibration platform 3,
And the 2D scaling boards 401 are placed in 406 lower section of 2D calibration cover board when being fully retracted, it is solid that the 2D adjusts straight line units 402
In a mounting seat 404, the mounting seat 404 is installed on calibration place 1, is set in the mounting seat 404
There is leveling seat 405, and 405 lower plane of the leveling seat is connected with the mounting seat 404, upper plane adjusts straight line with the 2D
Unit 402 is connected, four groups of threaded holes and four groups of bolts hole on the leveling seat 405, and straight line units are adjusted for 2D described in leveling
402。
As shown in fig. 7, it includes 2D regulation motors 4021,2D adjusting sliders 4022,2D that the 2D, which adjusts straight line units 402,
Adjustment base and 2D adjusting screws, the 2D adjusting screws are mounted on 2D adjustment bases and are driven by 2D regulation motors 4021
Rotation, 2D adjusting sliders 4022 are equipped with the screw coordinated with the 2D adjusting screws.
As shown in fig. 7, the 2D scaling boards 401 are realized and the 2D adjusting sliders 4022 by a connection supporting plate 403
It is connected, the connection supporting plate 403 is in I-shaped, and 2D adjusting sliders 4022 are placed in the 403 side recess of connection supporting plate, described
403 upside of supporting plate is connected to be connected with the 2D scaling boards 401.
As shown in Figures 1 to 3, rear view camera calibration system 8, the backsight phase are equipped in the middle part of 3 rear end of calibration platform
Machine calibration system 8 includes that rear view camera scaling board 801, backsight calibration adjustment straight line units and backsight demarcate cover board, the backsight
Camera calibration plate 801 is driven by the backsight calibration adjustment straight line units and is moved, and the backsight calibration cover board is installed in calibration
On platform 3, and when rear view camera scaling board 801 is fully retracted, is placed in below the backsight calibration cover board.The present embodiment
In, it is identical that the backsight calibration adjustment straight line units and the 2D adjust 402 structure of straight line units.
As shown in Fig. 1~3 and Fig. 8, the left and right ends of the calibration frame 5 are respectively equipped with a 3D calibration system 6, described
3D calibration systems 6 include a 3D calibrating block 601 and a straight line units component, and the 3D calibrating blocks 601 are square, described
3D calibrating blocks 601 are equipped with the first 3D scaling boards 6011 and the 2nd 3D scaling boards 6012, and the first 3D scaling boards 6011 and second
3D scaling boards 6012 are set in 3D calibrating blocks 601 on orthogonal two faces.The straight line units component includes 3D calibration X
Axle unit 604, X demarcate Z axis unit 602 and Z-direction mobile bar to Mobile base, 3D calibration Y-axis unit 603, Y-direction Mobile base, 3D,
The X demarcates X-axis unit 604 by the 3D to Mobile base and movement, 3D is driven to demarcate Y-axis unit 603 and be mounted on the X to shifting
On dynamic seat, the Y-direction Mobile base demarcates Y-axis unit 603 by the 3D and movement, 3D calibration Z axis unit 602 is driven to be mounted on
The Y on Mobile base, demarcate Z axis unit 602 by the 3D and drive lifting, 3D calibrating blocks 601 solid by the Z-direction mobile bar
Loaded on Z-direction mobile bar lower end.In the present embodiment, the 3D calibration X-axis unit 604 and 3D demarcate Y-axis unit 603 and institute
It is identical to state 2D adjustings 402 structure of straight line units, the 3D calibration Z axis unit 602 includes Z-direction motor, Z-direction screw and Z-direction leading screw,
The Z-direction motor and Z-direction screw are mounted on the Y-direction Mobile base, and the Z-direction screw is driven by the Z-direction motor and revolved
Turn, the Z-direction leading screw with Z-direction screw cooperation is the Z-direction mobile bar.
As shown in Figures 1 to 3, it is equipped with platform protective cover 7 in 3 outside of the calibration platform, as shown in figure 9, the platform is protected
Shield 7 includes protective cover frame 701, protective cover baffle 702 and protective cover ceiling 703, wherein the protective cover frame 701 4
Protective cover baffle 702 is installed, 701 upside of the protective cover frame is equipped with protective cover ceiling 703, in the protective cover week
Ceiling 703 is equipped with headlamp 704.
As shown in Figures 1 to 3,3 rear end of calibration platform is 9 input terminal of car body, is equipped in 3 rear end of calibration platform
Two wheel guiding mechanisms corresponding with two wheel roads 303 2 respectively.
The operation principle of the utility model is：
Operating personnel drive car body 9 to be calibrated and enter calibration place 1, and drive into calibration under the guiding of wheel guiding mechanism 2
Platform 3 stops at parking station after the front-wheel of car body 9 enters front wheel alignment roller group 302, after 9 trailing wheel of car body passes through at this time
Wheel support roller group 304 supports, and operating personnel get off, and OBD (vehicle diagnosing system) interfaces are connected with car body 9, control system
System identifies 9 vehicle information of car body by OBD interfaces, and then two centralising devices 302 of control parking station front and back end synchronize dynamic
Car body 9 is ajusted, so that the center line of car body 9 is overlapped with the center line of calibration platform 3, is demarcated after the completion of 9 centering of car body.
When carrying out 2D calibration, as shown in Figure 1, car body 9 is placed in parking station, the 2D calibration systems 4 of 9 front end both sides of car body are adjusted
Whole 2D scaling boards 401 are moved to car body 9, make it apart from 9 front end of car body distance be setpoint distance, while car body 9 rear end both sides
2D calibration systems 4 adjust 2D scaling boards 401 and are moved to car body 9, it is made apart from 9 rear end of car body distance to be setpoint distance, this process
In for avoid 3D calibrating blocks 601 and rear view camera scaling board 801 to 2D calibration impact, need four groups of 3D calibrating blocks 601
Highest order is risen to, while the retraction of rear view camera scaling board 801 is hidden to back-sight visual system cover board.Control system is confirming items
Setting in place after the completion of, start to demarcate in-vehicle camera, due to car body 9 positioning in after, front and back 2D scaling boards 401 away from
The distance of vehicle body is fixed, therefore the transformational relation between earth axes and vehicle body coordinate system by in-vehicle camera it has been determined that known
Other 2D scaling boards 401 obtain the position relationship between camera and earth axes, and finally obtain vehicle-mounted phase by coordinate transform
Parameter information of the machine relative to vehicle body coordinate system, then demarcated by the panoramic looking-around of the technologies such as image mosaic completion in-vehicle camera,
The marking of cars to that can not complete calibration is unqualified vehicle, and vehicle detection is completed while to vehicle calibration.
To smoothly complete the 2D panoramic looking-around staking-out works of vehicle, it is also necessary to following subsidiary conditions：Four groups of 2D calibration
Plate 401 is in wheel bottom tangent in same level；The upper surface of the calibration platform 3 is coated with white dumb light paint, to keep away
Exempt to influence 401 profile of in-vehicle camera identification 2D scaling boards；The platform protective cover 7 provides uniform and stable unit area illumination,
Suitable lighting environment is provided for in-vehicle camera calibration；The 2D scaling boards 401 of 9 front and rear sides of the car body can be in vehicle row
It is adjusted on into direction, to adapt to the vehicle calibration of different wheelbases.
The panoramic looking-around calibration of part vehicle demarcates mode using 3D.When the utility model carries out 3D calibration, such as
Shown in Fig. 2, it is arranged four perpendicular in the 3D calibrating blocks 601 demarcated platform 3 and be square by the way that side is total before and after car body 9
Camera is looked around to vehicle-mounted panoramic to demarcate, each 3D calibrating blocks 601 are equipped with orthogonal one group of 3D scaling board.Its is calibrated
Journey is similar with 2D calibration process：Car body 9 drives into calibration platform 3 and completion positioning centering work of stopping, and then makes after being located at car body 9
Two 3D calibrating blocks 601 of side adjust the position of 3D scaling boards according to vehicle information, make in the first 3D scaling boards 6011 and vehicle body
Heart wire spacing and the 2nd 3D scaling boards 6012 reach setting value with body rear end distance, are located at two 3D of 9 front side of car body
Synchronous adjustment 3D demarcates Board position to calibrating block 601 simultaneously, makes between the first 3D scaling boards 6011 and body center line distance and the
Two 3D scaling boards 6012 reach setting value with body structure distance, and four 601 bottom edges of 3D calibrating blocks need to be close to calibration ground at this time
Platform 3.During this, it is similarly and 2D scaling boards 401 and rear view camera scaling board 801 is avoided to have an impact 3D calibration, 2D marks
Fixed board 401 and rear view camera scaling board 801 are fully retracted to various cover boards.Then control system is confirming every setting
After the completion of in place, start to carry out 3D calibration to in-vehicle camera, the marking of cars that equally will be unable to complete calibration is unqualified vehicle.
In the present embodiment, for the 3D panoramic looking-around staking-out works of compatible various, the 3D calibrating blocks 601 have tri- sides X, Y, Z
To adjustment degree of freedom.
As shown in figure 3, the rear view camera calibration of car body 9 is by the way that the rear view camera scaling board in 9 dead astern of car body is arranged
801 realizations, calibration process is similar with the panoramic looking-around camera calibration process of vehicle：Car body 9 drives into calibration platform 3 first,
And complete to complete positioning on calibration platform 3 to middle work, it is then within 8 basis of rear view camera calibration system in vehicle dead astern
Vehicle information adjusts the position of rear view camera scaling board 801, and it is setpoint distance value to make its distance away from tail of the body.It is similarly and keeps away
Exempt from 2D scaling boards 401 and 3D calibrating blocks 601 to have an impact rear view camera calibration, 2D scaling boards 401 are fully retracted to lid at this time
Below plate, while 3D calibrating blocks 601 rise to highest order.Then control system is after the completion of confirming every setting in place, starts pair
Vehicle-mounted back vision camera is demarcated, and the marking of cars that will be unable to complete calibration is unqualified vehicle.
Claims (10)
1. a kind of in-vehicle camera composite calibration monitor station, it is characterised in that：Including calibration platform (3), 2D calibration systems (4), 3D
Calibration system (6) and rear view camera calibration system (8) are equipped with parking station, and the parking work on the calibration platform (3)
The front and back end of position is equipped with centralising device (301), and 2D calibration systems are equipped in the front and back end both sides of the calibration platform (3)
(4), and the 2D calibration systems (4) are equipped with moveable 2D scaling boards (401), are set in the middle part of calibration platform (3) rear end
There is rear view camera calibration system (8), and the rear view camera calibration system (8) is equipped with moveable rear view camera scaling board
(801), on the calibration platform (3), side is respectively equipped with a calibration frame (5) before and after the parking station, described
The left and right ends of calibration frame (5) are respectively equipped with a 3D calibration system (6), and the 3D calibration systems (6) set that there are one tools
There are the 3D calibrating blocks (601) of tri- direction degree of freedom of X, Y, Z.
2. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that：In the calibration platform (3)
On set there are two parallel wheel road (303), the parking station includes front wheel alignment roller group (302) and rear wheel support roller group
(304), wherein two groups of front wheel alignment roller groups (302) are set to parking station front end and are respectively arranged at different wheel roads
(303) on, two groups of rear wheel support roller groups (304) are set to parking station rear end and are respectively arranged at different wheel roads (303)
On, it is equipped with centralising device between two groups of front wheel alignment roller groups (302) and between two groups of rear wheel support roller groups (304)
(301)。
3. in-vehicle camera composite calibration monitor station according to claim 1 or 2, it is characterised in that：The centralising device
(301) include centering bearing (3022), centering strut (3011), first slide (3015), second slide (3021), gear
(3014), the first rack (3013), the second rack (3023) and centering motor (3020), it is described right that the gear (3014) passes through
Middle motor (3020) driving rotation, first rack (3013) and the second rack (3023) are divided into the gear (3014) two
It side and is engaged with the gear (3014), first slide (3015) and second slide (3021) are movably arranged at centering
On bearing (3022), and first slide (3015) is connected with the first rack (3013), second slide (3021) and the second rack
(3023) it is connected, centering strut (3011) is equipped on the outside of the first slide (3015) and second slide (3021).
4. in-vehicle camera composite calibration monitor station according to claim 2, it is characterised in that：The front wheel alignment roller group
(302) include the first inclined-plane roller group (30202), the second inclined-plane roller group (30203) and roller group pedestal (30201), the first inclined-plane roller
Group (30202) and the second inclined-plane roller group (30203) is V-shaped is installed on the roller group pedestal (30201), in the roller group pedestal
(30201) side is equipped with roller group slope (30204) before and after；The rear wheel support roller group (304) includes multiple in same level
The backing roll in face.
5. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that：The 2D calibration systems (4)
Straight line units (402) and 2D calibration cover boards (406) are adjusted including 2D scaling boards (401), 2D, the 2D scaling boards (401) pass through
The 2D adjusts straight line units (402) and movement, the 2D calibration cover boards (406) is driven to be installed on calibration platform (3), and described
2D scaling boards (401) are placed in when being fully retracted below the 2D calibration cover boards (406).
6. in-vehicle camera composite calibration monitor station according to claim 5, it is characterised in that：The 2D adjusts straight line units
(402) it is packed on a mounting seat (404), leveling seat (405) is equipped in the mounting seat (404)；The 2D tune
It saves straight line units (402) and is equipped with 2D adjusting sliders (4022), the 2D scaling boards (401) pass through a connection supporting plate (403)
It is connected with the 2D adjusting sliders (4022).
7. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that：Rear view camera calibration system
System (8) includes rear view camera scaling board (801), backsight calibration adjustment straight line units and backsight calibration cover board, the rear view camera
Scaling board (801) is driven by the backsight calibration adjustment straight line units and is moved, and the backsight calibration cover board is installed in calibration ground
On platform (3), and when rear view camera scaling board (801) is fully retracted, is placed in below the backsight calibration cover board.
8. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that：The 3D calibration systems (6)
Including 3D calibrating blocks (601) and straight line units component, the 3D calibrating blocks (601) are equipped with orthogonal first 3D scaling boards
(6011) and the 2nd 3D scaling boards (6012), and the 3D calibrating blocks (601) are moved by the straight line units Component driver, institute
Straight line units component is stated on calibration frame (5).
9. in-vehicle camera composite calibration monitor station according to claim 8, it is characterised in that：The straight line units component packet
Include 3D calibration X-axis units (604), X demarcates Z axis unit to Mobile base, 3D calibration Y-axis units (603), Y-direction Mobile base, 3D
(602) X-axis unit (604) is demarcated by the 3D to Mobile base and drives movement, and 3D calibration Y-axis with Z-direction mobile bar, the X
Unit (603) is mounted on the X on Mobile base, and the Y-direction Mobile base demarcates Y-axis unit (603) by the 3D and drives shifting
It is dynamic, and 3D calibration Z axis units (602) are mounted on the Y-direction Mobile base, the Z-direction mobile bar demarcates Z axis list by the 3D
First (602) driving lifting, and 3D calibrating blocks (601) are installed in Z-direction mobile bar lower end.
10. in-vehicle camera composite calibration monitor station according to claim 1, it is characterised in that：The calibration platform (3) is outside
Side is equipped with platform protective cover (7), and the protective cover ceiling (703) of the platform protective cover (7) is equipped with headlamp (704).
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| CN109118547A (en) * | 2018-11-01 | 2019-01-01 | 百度在线网络技术（北京）有限公司 | Multi-cam combined calibrating system and method |
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| CN109974745A (en) * | 2017-12-28 | 2019-07-05 | 中国科学院沈阳自动化研究所 | In-vehicle camera composite calibration monitor station |
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| CN109118547A (en) * | 2018-11-01 | 2019-01-01 | 百度在线网络技术（北京）有限公司 | Multi-cam combined calibrating system and method |
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