CN212624151U - 360-degree panoramic image calibration test bench with vehicle centering and positioning functions - Google Patents
360-degree panoramic image calibration test bench with vehicle centering and positioning functions Download PDFInfo
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- CN212624151U CN212624151U CN202021353182.8U CN202021353182U CN212624151U CN 212624151 U CN212624151 U CN 212624151U CN 202021353182 U CN202021353182 U CN 202021353182U CN 212624151 U CN212624151 U CN 212624151U
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Abstract
A360-degree panoramic image calibration test bench with vehicle centering and positioning functions comprises: the device comprises a framing setting target image, an operating station, an industrial control system, a human-computer interaction module, a steel structure platform, a steel structure vertical frame, a centering and positioning mechanism, a surrounding device and a lighting system, wherein the steel structure vertical frame covers a test bin formed above the steel structure platform, the centering and positioning mechanism corresponds to the positions of wheels of a vehicle respectively and consists of a V-shaped groove, an air cylinder and a shearing type connecting rod mechanism, the V-shaped groove is transversely arranged along the vehicle, the cylinder body of the air cylinder is fixed on the steel structure platform, and push rods at two ends of the air cylinder are in contact connection with the wheels and tires on the corresponding side; the industrial control system is connected with the centering and positioning mechanism through control signals, the enclosure device is installed around the rigid structure stand, and the lighting system is installed at the top of the test bin. The utility model discloses can realize that the vehicle accuracy is berthhed and is markd the target position framing to avoid external interference factor to demarcate the destruction that the target image caused to framing, effectively improve the success rate of demarcation.
Description
Technical Field
The utility model belongs to the technical field of the 360 panoramic image calibration equipment of driving vehicle auxiliary function, concretely relates to 360 panoramic image calibration testboards with vehicle centering and locate function.
Background
In the driving process, backing up is always a problem of headache of a majority of car owners and drivers, and experienced drivers can also generate over-scratching.
According to incomplete statistics, traffic accidents caused by blind areas behind vehicles account for about 30% in China and 20% in the United states. Many novices are afraid of driving and backing a car, and are in a mess of hands and feet when backing a car. Even if the reversing radar exists, children, stones, large pits and the like behind the vehicle cannot be identified by the reversing radar, and accidents are easily caused.
Therefore, the backing auxiliary system is developed and advanced from the original backing voice to the ultrasonic probe and then to the popular visible backing radar.
At present, the visible reversing radar product of a single rear-view camera is just one of the necessary safety equipment of an automobile, but the visible reversing radar based on the single rear-view camera can only see images at the right back of the automobile body, the surrounding conditions of the automobile body cannot be seen simultaneously, a viewing angle blind area exists, the driving requirement of a driver which is more and more demanding is difficult to meet, therefore, the requirement of 360-degree panoramic images around the automobile body exists, and the 360-degree panoramic reversing images are born from this.
The 360-degree panoramic image of the vehicle is collected and provided by 4 cameras which are arranged on a front bumper of the vehicle, below the left and right external rearview mirrors and on the rear bumper, and the quality of the panoramic image is influenced by the installation error generated when the cameras are installed, so that the calibration and calibration are needed before the vehicle is off-line.
The quality of marking the place is crucial to panoramic image's concatenation quality, evaluation effect, for realizing quick and good demarcation effect, and among the prior art, panoramic image marks the location structure of testboard and generally comprises simple and easy guider and front wheel stop device, and the vehicle parking position can't realize accurate symmetry placed in the middle for the panoramic calibration pattern.
Disclosure of Invention
To the defect that exists among the above-mentioned prior art, the utility model provides a 360 panoramic image mark testboards with vehicle centering and locate function can realize that the vehicle accuracy is berthhed and is being looked the frame and mark the target position to effectively avoid external interference factor to the destruction of looking the frame and marking the target and causing, effectively improve the success rate of demarcation. With the attached drawings, the technical scheme of the utility model is as follows:
a360-degree panoramic image calibration test bench with vehicle centering and positioning functions comprises: the target image, operation station, industrial control system and man-machine interaction module are markd in the framing, the calibration testboard still includes: the device comprises a steel structure platform, a steel structure vertical frame, a centering positioning mechanism, a fence device and a lighting system;
the steel structure vertical frame covers the steel structure platform to form a test bin;
the centering and positioning mechanism is positioned in the middle position in the test bin and respectively corresponds to the positions of a front shaft and a rear shaft of the vehicle, and the centering mechanism consists of a V-shaped groove, an air cylinder and a shearing type connecting rod mechanism;
the V-shaped groove is arranged along the transverse direction of the vehicle, so that the longitudinal positioning of the vehicle is realized;
the cylinder body of the air cylinder is fixed on the steel structure platform, push rods at two ends of the air cylinder are in contact connection with the wheel tires at the corresponding side through a shear type connecting rod mechanism, and centering control on the vehicle is achieved;
in the centering and positioning mechanism, a gas circuit electric control assembly of a cylinder is in signal connection with an industrial control system so as to control the cylinder to act and further control the centering and positioning mechanism to act;
the enclosure device is arranged around the rigid structure stand;
the lighting system is installed on the top of the test bin.
Further, the steel structure platform is a platform constructed by steel sectional materials;
the steel structure vertical frame is a cover type vertical frame structure constructed by steel sectional materials;
furthermore, the view-finding calibration target image is flatly laid on the upper surface of the steel structure platform and is respectively laid in front of and behind the two transverse sides of the vehicle calibration area and at the front end and the rear end of the vehicle calibration area in the longitudinal direction, so that the view-finding calibration target image surrounds the vehicle, and the 360-degree panoramic calibration target image is acquired by the vehicle 360-degree panoramic image camera.
Furthermore, the viewfinder target image is a checkerboard standard pattern formed by alternately staggering black and white solid squares.
Furthermore, enclose fender device by a plurality of enclosure baffle along steel construction grudging post below is installed all around and is constituteed, right it encloses the fender structure to form all around the test bin.
Further, the lighting system is composed of a plurality of lighting lamps;
the light is evenly distributed and is installed in the top below of steel construction grudging post matrix ground.
Furthermore, the operating station is fixedly arranged on a steel structure vertical frame in the test bin through a bracket;
the operating station consists of a normally-on code scanning gun, EOL detection equipment and an operating panel;
the normally-on code scanning gun is used for identifying vehicle VIN codes and sending vehicle VIN code information to an industrial control system through EOL detection equipment;
the EOL detection equipment is in signal connection with the industrial control system and a test board external data server respectively;
and the operating panel is provided with control buttons which are respectively in signal connection with the industrial control system.
Still further, the control buttons respectively include: the centering starting button, the centering withdrawing button and the emergency stopping button respectively correspond to the centering, withdrawing and resetting or emergency stopping control of the centering and positioning mechanism.
Furthermore, red, yellow and green three-color equipment state indicator lamps are respectively arranged on the industrial control system to prompt the running state of the equipment.
Furthermore, the man-machine interaction module is in signal connection with the industrial control system to display the running state of the panoramic calibration table.
Compared with the prior art, the beneficial effects of the utility model reside in that:
1. 360 the testboard is markd to panoramic image realizes accurate centering and location to the vehicle through setting up centering positioning mechanism, and it is accurate to the position of finding a view and demarcating the target image when guaranteeing the vehicle to stop.
2. 360 the testboard is markd to panoramic image has the jam-proof light through the setting and encloses the fender device and can effectively avoid the vehicle when the panorama is markd, the demarcation interference that the camera brought is looked a view in the interference light irradiation.
3. 360 the testboard is markd to panoramic image cooperatees through centering positioning mechanism with enclosing fender device, can effectively avoid appearing the vehicle and roll the destruction that the interference factor including the condition such as target image of demarcation caused to the target image of demarcation of finding a view, effectively improves and marks the success rate.
4. 360 the testboard is markd to panoramic image is through setting up the steel construction platform to set up on the steel construction platform and find a view and mark the target image, make and find a view and mark the target image and have better roughness, more be favorable to demarcating and find a view and mark the procedure and calculate.
5. 360 the testboard is markd to panoramic image sets up lighting system through mark the target like top in finding a view, for the calibration process provides necessary illumination, improves 360 panoramic image and marks the quality.
5. 360 the testboard is markd to panoramic image possesses function and the characteristic that traditional panorama was markd the technique, has reserved the operating space who carries out 360 panoramic image through the IO instruction simultaneously, can carry out data reading and upload the database to the calibration result, is convenient for inquire and trace back.
6. 360 the testboard is markd to panoramic image improves on the basis that 360 present panoramic image markd the testboard, and the structure that changes increases, and the calibration process is practical, convenient and swift, and it is effectual to mark, and navigating mate need not to get off the bus, practices thrift operating time, has comparatively extensive application prospect.
Drawings
Fig. 1 is a schematic three-dimensional structure diagram of a 360-degree panoramic image calibration test bench with vehicle centering and positioning functions according to the present invention;
fig. 2 is a top view of the 360 ° panoramic image calibration test bench with vehicle centering and positioning functions according to the present invention;
fig. 3 is a front view of the 360 ° panoramic image calibration test board with vehicle centering and positioning functions of the present invention;
fig. 4 is a side view of the 360 ° panoramic image calibration test stand with vehicle centering and positioning functions according to the present invention;
fig. 5 is the utility model discloses a 360 panoramic image marks testboard's work flow block diagram with vehicle centering and locate function.
In the figure:
1-framing and calibrating a target image, 2-centering and positioning mechanism, 3-baffle,
4-a lighting lamp, 5-an operation station, 6-an industrial control system,
7-a man-machine interaction module, 8-a steel structure platform and 9-a steel structure vertical frame.
Detailed Description
For clear and complete description of the technical solution and the specific working process of the present invention, the following embodiments are provided in conjunction with the accompanying drawings of the specification:
in the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The utility model discloses a 360 panoramic image mark testboard with vehicle centering and locate function is to current 360 panoramic image mark testboard and improve, include: the system comprises a steel structure platform, a steel structure vertical frame, a view finding calibration target image, a centering positioning mechanism, a fence device, an illuminating system, an operating station, an industrial control system and a human-computer interaction module.
As shown in fig. 1, the steel structure platform 8 is a platform constructed by steel profiles, the steel structure vertical frame 9 is a cover type vertical frame structure constructed by steel profiles, the steel structure vertical frame 9 covers and is fixed around the steel structure platform 8, the steel structure platform 8 and the steel structure vertical frame 9 form a test chamber of a calibration test table, and a vehicle inlet and a vehicle outlet are formed in the front and the back of the test chamber.
As shown in fig. 2, the view-finding calibration target image 1 is a checkerboard standard pattern formed by black and white solid squares in a staggered manner at intervals, the view-finding calibration target image 1 is flatly laid on the upper surface of the steel structure platform 8 and is respectively laid on the front and back positions of the two transverse sides of the vehicle calibration area and the front and back positions of the longitudinal direction of the vehicle calibration area in a penetrating manner, and the 360-degree panoramic image camera of the vehicle can acquire the 360-degree panoramic calibration target image.
As shown in fig. 1, 2 and 4, the centering and positioning mechanism 2 is composed of a V-shaped groove, a cylinder and a shear type link mechanism, the V-shaped groove is arranged along the transverse direction of the vehicle, when a front wheel of the vehicle drives into the V-shaped groove, the longitudinal positioning of the front wheel can be realized, and further, the motion limitation of the advancing direction of the vehicle can be realized; the cylinder and the shearing type connecting rod mechanisms are arranged in groups, and two groups of the cylinder and the shearing type connecting rod mechanisms are arranged at the front shaft position and the rear shaft position of the vehicle respectively, wherein the cylinder body of the cylinder is fixed on the steel structure platform 8, the push rod ends at the two ends of the cylinder are in contact connection with the wheel tires on one corresponding side through the shearing type connecting rod mechanisms respectively, when the wheels of the vehicle move to the V-shaped groove, the shearing type connecting rod mechanisms are in contact with the inner end surfaces of the wheel tires on one corresponding side through the cylinder, and the wheels on the two sides are driven to accurately enter the centering position along the transverse movement under the driving of the cylinder, so that the transverse.
As shown in fig. 1, 3 and 4, the enclosure device is formed by installing a plurality of enclosure plates 3 around the lower part of the steel structure vertical frame 9, a relatively closed enclosure structure is formed around the test chamber, and the enclosure device is used for shielding an interference light source which may exist outside, so that interference caused by calibration of a 360-degree panoramic image of a vehicle is avoided, and calibration failure is avoided.
As shown in fig. 1 and 3, the lighting system is composed of a plurality of lighting lamps 4, the lighting lamps 4 are uniformly distributed in a matrix form and are installed below the top of the steel structure vertical frame 9, and the lighting system provides necessary lighting for the calibration process so as to improve the 360 ° panoramic image calibration quality;
the lighting system is provided with relatively independent lighting control switches, and the lighting control switches are installed on a steel structure vertical frame 9 on one side of the test outlet.
As shown in fig. 4, the operation station 5 is located in the test chamber and is fixedly mounted on the steel structure stand 9 through a bracket, and the operation station 5 includes: a normally-on code scanning gun, an EOL (end Of line) detection device and an operation panel;
a detection program is arranged in the EOL detection equipment;
the normally-on code scanning gun scans a check card label on a test Vehicle to be calibrated, identifies VIN (Vehicle Identification Number) information of the Vehicle through the EOL detection equipment, and transmits the identified VIN information of the Vehicle to the industrial control system through a wired network;
in addition, the EOL detection equipment is in signal connection with a data server outside the test platform through an I/O port, so that a calibration test record is uploaded to the data server for query and trace;
the operation panel is provided with: a "start centered" button, a "retract centered" button, and an "emergency stop" button, wherein:
the centering starting button is used for sending a control instruction to the industrial control system, and further sending a centering starting instruction to the centering positioning mechanism 2 through the industrial control system to control the centering positioning mechanism 2 to perform centering work;
the centering retraction button is used for sending a control instruction to the industrial control system, and further sending a reset instruction to the centering positioning mechanism 2 through the industrial control system to control the centering positioning mechanism 2 to be centered and retracted;
the emergency stop button is used for sending a control instruction to the industrial control system, and further sending an emergency stop instruction to the centering and positioning mechanism 2 through the industrial control system to control the centering and positioning mechanism 2 to stop working;
as shown in fig. 1, fig. 2 and fig. 3, the industrial control system 6 is disposed outside the test chamber, and the industrial control system 6 is in signal connection with the EOL detection device through a wired network, and is configured to receive the vehicle VIN information identified by the EOL detection device;
the industrial control system 6 is also in signal connection with the cylinder control end of the centering and positioning mechanism 2, on one hand: the industrial control system 6 determines accurate centering and positioning information of the vehicle according to the received vehicle VIN information, sends a control signal to an air cylinder air channel control component (such as an electromagnetic valve and the like) of the centering and positioning mechanism 2 under the control triggering of a centering start button on the operation station 5 or under the control of an internal program, controls the air cylinder to act, and realizes accurate centering and positioning of the vehicle through the centering and positioning mechanism 2; on the other hand: the industrial control system 6 controls the air cylinder of the centering and positioning mechanism 2 to reset according to a received centering and withdrawing control instruction sent by a centering and withdrawing button on the operating station 5, so as to realize centering and withdrawing; in another aspect: the industrial control system 6 controls the cylinder of the centering and positioning mechanism 2 to stop working according to the received emergency stop control instruction sent by the emergency stop button on the operation station 5;
still be equipped with red, yellow, green three-colour equipment status indicator lamp on the industry control system 6 to suggestion equipment running state does in proper order: equipment failure, equipment suspension and normal operation of the equipment.
The industrial control system 6 is also in signal connection with the human-computer interaction module, and displays the running state of the panoramic calibration table in real time through the human-computer interaction module;
as shown in fig. 4, the human-computer interaction module 7 is located in the test chamber and is fixedly mounted on the steel structure vertical frame 9 through a bracket, and the human-computer interaction module 7 is in signal connection with the industrial control system 6 to display the operating state of the panoramic calibration platform, for example: if the centering and positioning mechanism is displayed to be in the working process at the moment, prompting that the calibration test is in progress and asking for moving the vehicle; if the centering and positioning mechanism is withdrawn at the moment, the calibration test is prompted to be completed, and the vehicle can be driven away from the test cabin.
As shown in FIG. 5, 360 panoramic image marks testboard's working process as follows with vehicle centering and locate function:
1. the vehicle slowly runs into the test bin, and the wheels fall into the V-shaped grooves of the centering and positioning mechanism to realize longitudinal positioning;
2. after the vehicle is flamed out, the vehicle is in an IGON state again, namely the vehicle is in a power-on state but not in a sparking state, the vehicle gear is shifted into an N gear (the manual gear vehicle is in a neutral gear), and a hand brake is released;
3. the normally-on code scanning gun scans a vehicle VIN code label on a vehicle inspection card to obtain vehicle VIN information, and controls an industrial control system to start a centering positioning mechanism and start the vehicle to be transversely centered;
4. turning on a vehicle high beam, carrying out 360-degree panoramic image calibration by long pressing a 360-degree panoramic image switch on a vehicle central control handrail, acquiring a chessboard-type standard pattern of a calibrated view target image 1 by a panoramic image system carried by a vehicle through a 360-degree panoramic camera, splicing and calculating the standard pattern through an algorithm written in a vehicle panoramic controller, finally obtaining a clear and real-time displayed panoramic image, and prompting calibration success or failure information by a vehicle auxiliary instrument screen after the current calibration is finished;
if the calibration is successful, the calibration process is finished; if the calibration is failed, the operator can choose to repeat the step to realize the recalibration, or directly choose to finish the calibration process;
5. after the calibration process is finished, a centering recovery button on the operation station is triggered to control the industrial control system to send a centering recovery control instruction to the centering positioning mechanism, and the centering positioning mechanism recovers and resets;
6. after the centering and positioning mechanism is centered and retracted, a display screen of the man-machine interaction module displays that the centering and positioning mechanism is retracted at the moment, and a driver drives the vehicle away from the test cabin according to display information of the display screen of the man-machine interaction module.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
The above description of the present invention does not limit the scope of the present invention. Any other corresponding changes and modifications made according to the technical idea of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A360-degree panoramic image calibration test bench with vehicle centering and positioning functions comprises: the framing calibration target image, the operation station, the industrial control system and the human-computer interaction module are characterized in that:
the calibration test bench further comprises: the device comprises a steel structure platform, a steel structure vertical frame, a centering positioning mechanism, a fence device and a lighting system;
the steel structure vertical frame covers the steel structure platform to form a test bin;
the centering and positioning mechanism is positioned in the middle position in the test bin and respectively corresponds to the positions of a front shaft and a rear shaft of the vehicle, and the centering mechanism consists of a V-shaped groove, an air cylinder and a shearing type connecting rod mechanism;
the V-shaped groove is arranged along the transverse direction of the vehicle, so that the longitudinal positioning of the vehicle is realized;
the cylinder body of the air cylinder is fixed on the steel structure platform, push rods at two ends of the air cylinder are in contact connection with the wheel tires at the corresponding side through a shear type connecting rod mechanism, and centering control on the vehicle is achieved;
in the centering and positioning mechanism, a gas circuit electric control assembly of a cylinder is in signal connection with an industrial control system so as to control the cylinder to act and further control the centering and positioning mechanism to act;
the enclosure device is arranged around the rigid structure stand;
the lighting system is installed on the top of the test bin.
2. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 1, wherein:
the steel structure platform is a platform constructed by steel sectional materials;
the steel structure vertical frame is a cover type vertical frame structure constructed by steel sectional materials.
3. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 2, wherein:
the view-finding calibration target image is flatly laid on the upper surface of the steel structure platform and is respectively laid in the front and at the back of the two transverse sides of the vehicle calibration area in a penetrating manner and at the front and back ends of the vehicle calibration area in the longitudinal direction, so that the view-finding calibration target image is surrounded around the vehicle, and the 360-degree panoramic image camera of the vehicle acquires the 360-degree panoramic calibration target image.
4. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 3, wherein:
the view finding calibration target image is a checkerboard standard pattern formed by black and white solid squares in a staggered mode at intervals.
5. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 1, wherein:
enclose fender device by a plurality of enclosure baffle along install all around the steel construction grudging post below and constitute, right test chamber forms all around encloses fender structure.
6. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 1, wherein:
the lighting system consists of a plurality of lighting lamps;
the light is evenly distributed and is installed in the top below of steel construction grudging post matrix ground.
7. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 1, wherein:
the operation station is fixedly arranged on a steel structure vertical frame in the test bin through a bracket;
the operating station consists of a normally-on code scanning gun, EOL detection equipment and an operating panel;
the normally-on code scanning gun is used for identifying vehicle VIN codes and sending vehicle VIN code information to an industrial control system through EOL detection equipment;
the EOL detection equipment is in signal connection with the industrial control system and a test board external data server respectively;
and the operating panel is provided with control buttons which are respectively in signal connection with the industrial control system.
8. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 7, wherein:
the control buttons respectively include: the centering starting button, the centering withdrawing button and the emergency stopping button respectively correspond to the centering, withdrawing and resetting or emergency stopping control of the centering and positioning mechanism.
9. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 1, wherein:
be equipped with red, yellow, green trichromatic equipment status indicator lamp on the industry control system respectively to suggestion equipment running state.
10. The 360 ° panoramic image calibration test stand with vehicle centering and positioning functions as claimed in claim 7, wherein:
and the human-computer interaction module is in signal connection with the industrial control system so as to display the running state of the panoramic calibration table.
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| CN202021353182.8U CN212624151U (en) | 2020-07-11 | 2020-07-11 | 360-degree panoramic image calibration test bench with vehicle centering and positioning functions |
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| CN202021353182.8U CN212624151U (en) | 2020-07-11 | 2020-07-11 | 360-degree panoramic image calibration test bench with vehicle centering and positioning functions |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109057A (en) * | 2021-04-09 | 2021-07-13 | 深圳市豪恩汽车电子装备股份有限公司 | Automobile panoramic system calibration and test device |
| CN113459948A (en) * | 2021-05-31 | 2021-10-01 | 广汽菲亚特克莱斯勒汽车有限公司广州分公司 | Panoramic calibration device for vehicle |
-
2020
- 2020-07-11 CN CN202021353182.8U patent/CN212624151U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113109057A (en) * | 2021-04-09 | 2021-07-13 | 深圳市豪恩汽车电子装备股份有限公司 | Automobile panoramic system calibration and test device |
| CN113459948A (en) * | 2021-05-31 | 2021-10-01 | 广汽菲亚特克莱斯勒汽车有限公司广州分公司 | Panoramic calibration device for vehicle |
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