CN213582248U

CN213582248U - Radar and camera calibration device

Info

Publication number: CN213582248U
Application number: CN202022970568.XU
Authority: CN
Inventors: 梁海鹏; 王帅; 于彦权
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-06-29
Anticipated expiration: 2030-12-10

Abstract

The utility model belongs to the technical field of commercial car detects, concretely relates to radar and camera calibration device, including support body, leveling supporting component, demarcation subassembly and alignment subassembly. The frame body comprises a workbench; the leveling support component is used for leveling the workbench; the calibration assembly comprises a camera calibration target and a radar calibration target, and the camera calibration target and the radar calibration target are slidably connected with the workbench; the alignment assembly comprises a laser target and a reflector, the laser target is arranged on the workbench, the reflector is fixed on a rear wheel of the vehicle to be calibrated, the laser target is used for emitting laser and receiving reflected laser, and the reflector is used for reflecting the laser emitted by the laser target. The utility model discloses a radar and camera calibration device, whether the axis that target, radar were markd to the testable camera of alignment subassembly target and need mark the vehicle is perpendicular, and completion device is ajusted, marks when can be applied to the preceding radar of off-line commercial car and preceding camera, need not move the vehicle, and easy operation marks the precision height.

Description

Radar and camera calibration device

Technical Field

The utility model relates to a commercial car detects technical field, especially relates to a radar and camera calibration device.

Background

In the production and assembly of commercial vehicles, due to the fact that the front radar and the front camera often have the unqualified condition of overlarge machining tolerance and the like, the installation angles of the front radar and the front camera of each vehicle on a production line are different, the front radar and the front camera need to be calibrated through a standard appliance, and then the requirement for accurate identification of the front radar and the front camera is met. However, in some off-line scenes, such as a production line jam or a fault, and a maintenance shop without a large vehicle calibration device, it is very difficult to calibrate the front radar and the front camera, because the calibration can be performed only by adjusting the axis of the vehicle and the calibration target to be perpendicular, the vehicle calibration operation is inconvenient and inefficient, and a special calibration device is lacked to calibrate the front radar and the front camera at the same time.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a radar and camera calibration device can be applied to and mark in the plantago radar of the commercial car under the line and plantago camera, does not need to move the vehicle and puts in place, and easy operation marks the precision height.

To achieve the purpose, the utility model adopts the following technical proposal:

a radar and camera calibration apparatus, comprising:

a frame comprising a table;

a leveling support assembly configured to level and support the work table;

the calibration assembly comprises a camera calibration target and a radar calibration target, and the camera calibration target and the radar calibration target are connected with the workbench in a sliding manner; the camera calibration target is used for calibrating a camera in front of a vehicle, the radar calibration target is used for calibrating a radar in front of the vehicle, and the camera calibration target is parallel to the radar calibration target; and

the alignment assembly comprises a laser target and a reflector, the laser target is arranged on the workbench, the reflector is fixed on a rear wheel of a vehicle to be calibrated, the laser target is configured to emit laser and receive reflected laser, and the reflector is configured to reflect the laser emitted by the laser target; the alignment assembly is configured to test whether the camera calibration target, the radar calibration target and an axis of a vehicle to be calibrated are perpendicular.

As a preferred structure of the utility model, the frame body further comprises a turntable and a first slide rail assembly, the turntable is fixedly connected with the workbench, the first slide rail assembly is fixedly connected with the turntable, and the turntable can drive the first slide rail assembly to rotate; the camera calibration target, the radar calibration target and the laser target are connected with the first sliding rail component in a sliding mode.

As a preferred structure of the utility model, first slide rail set spare includes:

the camera calibration target can slide along the first slide rail;

the second slide rail is fixed at one end of the first slide rail, the second slide rail is perpendicular to the first slide rail, and the radar calibration target can slide along the second slide rail.

As a preferred structure of the utility model, the alignment subassembly has second slide rail set spare, second slide rail set spare includes:

the third sliding rail is fixedly connected with the first sliding rail;

the fourth slide rail can slide along the third slide rail, the laser target can slide along the fourth slide rail, and the first slide rail, the third slide rail and the fourth slide rail are mutually vertical in pairs.

As a preferred structure of the utility model, the leveling supporting component includes:

the two support arms are fixedly connected with the workbench and are respectively arranged at two ends of the workbench;

the four support screw rods are arranged at the end parts of the support arms, one ends of the support screw rods are abutted against the ground, and the support screw rods can slide perpendicular to the support arms;

the four first hand wheels are fixed at one end, far away from the ground, of the support screw rod, and the support screw rod can be driven to rotate by rotating the first hand wheels; and

a level bubble affixed to the table, the level bubble configured to indicate whether the table is level.

As a preferred structure of the utility model, the turntable comprises a second hand wheel, and the second hand wheel is rotated to drive the turntable to rotate; the second hand wheel has a rotation angle scale configured to indicate a rotation angle of the turntable.

As a preferred structure of the utility model, first slide rail has the scale, the scale is configured to mark the camera is markd the sliding distance of target.

As a preferred structure of the utility model, the frame body further comprises a height adjusting assembly, and the height adjusting assembly comprises a support frame and a piston rod; the support frame is fixedly connected with the workbench, and the piston rod can drive the support frame to rotate; the height adjustment assembly is configured to adjust a height of the table.

As a preferred structure of the utility model, the frame body further comprises a plurality of universal wheels and handrails, and the universal wheels are arranged at the bottom of the frame body; the handrail is fixedly connected with the frame body.

As an optimized structure of the utility model, the camera is markd the target and is had the target surface, the target surface is the plane, the target surface has the checkerboard pattern.

The utility model has the advantages that: the radar and camera calibration device provided by the utility model has the parallel camera calibration target and the radar calibration target, and can simultaneously calibrate the front camera and the front radar; the device is provided with an adjusting component, and the alignment of the device is realized by testing whether the axis of the camera calibration target and the radar calibration target are vertical to the axis of the vehicle to be calibrated through the laser target, so that the device can be applied to the simultaneous calibration of the front radar and the front camera of the off-line commercial vehicle, the vehicle does not need to be moved, the operation is simple, and the calibration precision is high.

Drawings

Fig. 1 is a first schematic structural diagram of a radar and camera calibration device provided in an embodiment of the present invention;

fig. 2 is a schematic structural diagram ii of a radar and camera calibration apparatus provided by the embodiment of the present invention.

In the figure:

1. a frame body; 11. a work table; 12. a turntable; 13. a first slide rail assembly; 131. a first slide rail; 132. a second slide rail; 14. a height adjustment assembly; 141. a support frame; 142. a piston rod; 15. a universal wheel; 16. a handrail;

2. leveling the support assembly; 21. a support arm; 22. a support screw rod; 23. a first hand wheel;

3. calibrating the component; 31. calibrating a target by a camera; 32. calibrating a target by a radar;

4. an alignment assembly; 41. laser target; 42. a second slide rail assembly; 421. a third slide rail; 422. and a fourth slide rail.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used in the orientation or positional relationship shown in the drawings only for convenience of description and simplicity of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.

As shown in fig. 1-2, the embodiment of the utility model provides a radar and camera calibration device, including support body 1, leveling supporting component 2, calibration component 3 and alignment component 4. The frame 1 comprises a table 11 as a working plane of the device. The leveling support assembly 2 is configured to level and support the work table 11. The calibration component 3 comprises a camera calibration target 31 and a radar calibration target 32, and the camera calibration target 31 and the radar calibration target 32 are slidably connected with the workbench 11; the camera is markd target 31 and is used for demarcating the camera before the car, and radar calibration target 32 is used for demarcating the radar before the car, and camera calibration target 31 is on a parallel with radar calibration target 32, can accomplish simultaneously the demarcation to camera before the car and radar before the car. The calibration of the camera needs to be performed twice with different distances, in this embodiment, the automobile diagnostic apparatus requires that the camera calibrate the near target of the target 31 to be 1.7 meters away from the camera, and the far target to be 2.7 meters away from the camera; the distance between the radar calibration target 32 and the front radar is 1.2 meters, and the best calibration precision can be achieved. The camera calibration target 31 can be adjusted to be far or near from the front camera by sliding on the workbench 11, so that two times of calibration and comparison are completed; the positions of the camera calibration target 31 and the radar calibration target 32 on the workbench 11 are respectively adjusted so that the camera calibration target and the radar calibration target can simultaneously meet the calibration distance requirement. The alignment assembly 4 comprises a laser target 41 and a reflector, the laser target 41 is arranged on the workbench 11, the reflector is fixed on a rear wheel of the vehicle to be calibrated, the laser target 41 is configured to emit laser and receive reflected laser, and the reflector is configured to reflect the laser emitted by the laser target 41; the alignment assembly 4 is configured to test whether the camera calibration target 31, the radar calibration target 32 are perpendicular to the axis of the vehicle to be calibrated. Preferably, a chuck is mounted on the rear wheel of the vehicle to be calibrated, and the mirror is fixed to the chuck. In the embodiment, the left and right rear wheels of the vehicle are required to be calibrated and are provided with the reflecting mirrors. Before calibration, the surface center normal of the radar calibration target 32 needs to be ensured to be coincident with the center normal of the surface of the radar in front of the vehicle, and the normal of the camera calibration target 31 is parallel to the optical axis of the camera in front of the vehicle. After the laser of the point emitted by the laser target 41 is reflected by the reflector, according to the linear propagation principle of light, if the reflected laser falls on the demarcated area of the laser target 41, the alignment assembly 4 is perpendicular to the axis of the vehicle to be demarcated, and the device can be demarcated. The calibration process does not need to adjust the position of the vehicle, the vehicle front radar and the vehicle front camera can be calibrated simultaneously, the calibration operation is convenient, and the calibration precision is high.

Further, the frame body 1 further comprises a rotary table 12 and a first slide rail assembly 13, the rotary table 12 is fixedly connected with the workbench 11, the first slide rail assembly 13 is fixedly connected with the rotary table 12, and the rotary table 12 can drive the first slide rail assembly 13 to rotate; the camera calibration target 31, the radar calibration target 32 and the laser target 41 are slidably connected with the first sliding rail assembly 13. When the alignment component 4 is not perpendicular to the axis of the vehicle to be calibrated, the rotation of the turntable 12 can make the surface center normal of the radar calibration target 32 coincide with the center normal of the surface of the vehicle front radar, and the normal of the camera calibration target 31 is parallel to the optical axis of the vehicle front camera, so as to achieve the alignment purpose.

Further, the first slide rail assembly 13 includes a first slide rail 131 and a second slide rail 132. As shown in fig. 1, the camera calibration target 31 can slide along the first slide rail 131; the second slide rail 132 is fixed at one end of the first slide rail 131, the second slide rail 132 is perpendicular to the first slide rail 131, and the radar calibration target 32 can slide along the second slide rail 132. In this embodiment, the first slide rail 131 is parallel to the ground, the camera calibration target 31 is fixed on an upright post, and the upright post can drive the camera calibration target 31 to slide on the first slide rail 131, so as to adjust the distance between the camera calibration target 31 and the front camera, and complete the far target and near target calibration; the second slide rail 132 is perpendicular to the first slide rail 131, and the height of the radar calibration target 32 from the ground can be adjusted by sliding the radar calibration target 32 along the second slide rail 132, so that the calibration requirements of the front radars with different heights can be met.

Further, the alignment assembly 4 has a second slide rail assembly 42, and the second slide rail assembly 42 includes a third slide rail 421 and a fourth slide rail 422. As shown in fig. 1, the third slide rail 421 is fixedly connected to the first slide rail 131, the fourth slide rail 422 can slide along the third slide rail 421, the laser target 41 is slidably connected to the fourth slide rail 422, and the first slide rail 131, the third slide rail 421 and the fourth slide rail 422 are perpendicular to each other two by two. In this embodiment, the device has two laser targets 41 corresponding to the reflectors of the left and right rear wheels of the vehicle to be calibrated. The distance between the two laser targets 41 can be adjusted by sliding the laser targets 41 along the fourth slide rail 422, and the distance is adapted to the wheel track of the vehicle to be calibrated, so that the laser targets 41 are aligned to the respective reflectors.

Further, the leveling support assembly 2 includes two support arms 21, four support screws 22, four first hand wheels 23, and a level bubble. The two supporting arms 21 are fixedly connected with the workbench 11, and the two supporting arms 21 are respectively arranged at two ends of the workbench 11; the four support screw rods 22 are respectively arranged at the end parts of the two support arms 21, one end of each support screw rod 22 is abutted against the ground, and the support screw rods 22 can slide perpendicular to the support arms 21; the first hand wheel 23 is fixed at one end of the support screw rod 22 far away from the ground, and the support screw rod 22 can be driven to rotate by rotating the first hand wheel 23. A level bubble (not shown) is fixed to the table 11 for indicating whether the table 11 is level or not. The four supporting screw rods 22 are located at four corners of the workbench 11, stable support can be provided for the workbench 11, the lower end faces of the four supporting screw rods 22 are located on the same horizontal plane through rotation of the first hand wheel 23, and the device is quickly leveled and fixed and cannot shake in a calibration process.

Further, the turntable 12 comprises a second hand wheel (not shown in the figures), and the rotation of the second hand wheel can drive the turntable 12 to rotate; the second hand wheel has a rotation angle scale configured to calibrate the rotation angle of the turntable 12. The angle of the calibration component 3 can be precisely rotated according to the scale through the second hand wheel.

Further, the first slide rail 131 has a scale configured to calibrate a sliding distance of the camera calibration target 31. In this embodiment, scale length is 1.5 meters, can satisfy the demarcation demand of the plantago camera of different distances, and through the numerical value of scale, the camera of can adjusting fast is markd far away target position and the nearly target position of target 31.

Further, the rack 1 further includes a height adjustment assembly 14, and the height adjustment assembly 14 is configured to adjust the height of the work table 11. The height adjusting assembly 14 comprises a support frame 141 and a piston rod 142, the support frame 141 is composed of two X-shaped crossed brackets, and the support frame 141 is fixedly connected with the workbench 11; the tip of two supports is connected respectively to the both ends of piston rod 142, and when the expansion end of piston rod 142 was flexible, two supports of drive took place relative rotation around the intersection point, and the contained angle of X type support changes to change support frame 141's height, realize the altitude mixture control to workstation 11, the calibration altitude requirement of the preceding radar of the car that adapts to different vehicle models and the camera of car. The piston rod 142 can be driven mechanically, which is a common device in the art, and the detailed structure thereof is not described again.

Further, the frame body 1 further comprises a plurality of universal wheels 15 and an armrest 16, and the universal wheels 15 are arranged at the bottom of the frame body 1; the handrail 16 is fixedly connected with the frame body 1. Preferably, four universal wheels 15 are arranged at four corners of the bottom of the frame body 1, so that the frame body 1 can move freely. The operator pushes the handrail 16 to move the device easily, and the device is convenient to use and suitable for various scenes of offline calibration.

Further, the camera calibration target 31 has a target surface, the target surface is a plane, and the target surface has a checkerboard pattern. In this embodiment, according to the calibration precision requirement of the diagnostic apparatus, the camera calibration target 31 adopts a checkerboard pattern of 1.7 meters by 0.3 meters, which is convenient for the pixel identification of the diagnostic apparatus, and the calibration result is more accurate.

The radar and camera calibration device of the embodiment has the following working process: placing the calibration device at the front end of the vehicle head of a vehicle to be calibrated, adjusting the position of the rack 1 to ensure that the radar calibration target 32 is about 1.2 meters away from the surface of the radar in the vehicle head, and adjusting the position of the camera calibration target 31 on the first slide rail 131 to ensure that the camera calibration target 31 is about 1.7 meters away from the camera in the vehicle head; the height of the workbench 11 is adjusted through the height adjusting component 14, so that the height from the lower edge of the camera calibration target 31 to the ground is 0.9 m; adjusting the positions of the two laser targets 41 on the second sliding rail assembly 42 to be adapted to the wheel track of the vehicle to be calibrated; adjusting the four support screw rods 22 to make the support screw rods abut against the ground, and observing whether the horizontal bubble is centered or not until the leveling of the workbench 11 is completed; the laser target 41 emits point laser, the point laser is reflected by the reflector, the second hand wheel is rotated to drive the rotary table 12 to rotate at the same time, the alignment component 4 and the calibration component 3 are driven to rotate until the reflected laser falls on the demarcated area of the laser target 41, at the moment, the alignment of the device is completed, the surface center normal of the radar demarcating target 32 is coincided with the center normal of the surface of the radar in front of the vehicle, and the normal of the camera demarcating target 31 is parallel to the optical axis of the camera in front of the vehicle; starting a radar calibration program before starting the automobile diagnostic instrument to finish the calibration of the front radar of the automobile; utilize the automotive diagnostic appearance to accomplish the near target calibration of camera, again with camera calibration target 31 slip 1 meter on first slide rail 131 for camera calibration target 31 is 2.7 meters apart from the preceding camera, utilizes the diagnostic appearance to accomplish the calibration of camera far target.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Numerous obvious variations, rearrangements and substitutions will now occur to those skilled in the art without departing from the scope of the invention. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A radar and camera calibration device, characterized by that includes:

the rack body (1), the rack body (1) includes a workbench (11);

a leveling support assembly (2), the leveling support assembly (2) being configured to level and support the work table (11);

the calibration assembly (3) comprises a camera calibration target (31) and a radar calibration target (32), and the camera calibration target (31) and the radar calibration target (32) are connected with the workbench (11) in a sliding manner; the camera calibration target (31) is used for calibrating a camera in front of a vehicle, the radar calibration target (32) is used for calibrating a radar in front of the vehicle, and the camera calibration target (31) is parallel to the radar calibration target (32); and

the alignment assembly (4) comprises a laser target (41) and a reflector, the laser target (41) is arranged on the workbench (11), the reflector is fixed on a rear wheel of a vehicle to be calibrated, the laser target (41) is configured to emit laser and receive reflected laser, and the reflector is configured to reflect the laser emitted by the laser target (41); the alignment assembly (4) is configured to test whether the camera calibration target (31), the radar calibration target (32) and an axis of a vehicle to be calibrated are perpendicular.

2. The radar and camera calibration device according to claim 1, wherein the frame body (1) further comprises a rotary table (12) and a first slide rail assembly (13), the rotary table (12) is fixedly connected to the working table (11), the first slide rail assembly (13) is fixedly connected to the rotary table (12), and the rotary table (12) can drive the first slide rail assembly (13) to rotate; the camera calibration target (31), the radar calibration target (32) and the laser target (41) are connected with the first sliding rail component (13) in a sliding mode.

3. The radar and camera calibration device according to claim 2, wherein the first slide rail assembly (13) comprises:

the camera calibration target (31) can slide along the first sliding rail (131);

the second sliding rail (132), the second sliding rail (132) is fixed to one end of the first sliding rail (131), the second sliding rail (132) is perpendicular to the first sliding rail (131), and the radar calibration target (32) can slide along the second sliding rail (132).

4. A radar and camera calibration arrangement according to claim 3 wherein the alignment assembly (4) has a second slide rail assembly (42), the second slide rail assembly (42) comprising:

the third sliding rail (421), the third sliding rail (421) is fixedly connected with the first sliding rail (131);

the fourth sliding rail (422) can slide along the third sliding rail (421), the laser target (41) can slide along the fourth sliding rail (422), and the first sliding rail (131), the third sliding rail (421) and the fourth sliding rail (422) are mutually perpendicular in pairs.

5. Radar and camera calibration device, according to claim 1, characterized in that said leveling support assembly (2) comprises:

the two supporting arms (21) are fixedly connected with the workbench (11), and the two supporting arms (21) are respectively arranged at two ends of the workbench (11);

the four support screw rods (22), the support screw rods (22) are arranged at the end parts of the support arms (21), one ends of the support screw rods (22) are abutted against the ground, and the support screw rods (22) can slide perpendicular to the support arms (21);

the four first hand wheels (23), the first hand wheels (23) are fixed at one ends of the support screw rods (22) far away from the ground, and the support screw rods (22) can be driven to rotate by rotating the first hand wheels (23); and

a level bubble fixed on the workbench (11), the level bubble configured to display whether the workbench (11) is leveled.

6. The radar and camera calibration device according to claim 2, wherein the turntable (12) comprises a second hand wheel, and rotating the second hand wheel can drive the turntable (12) to rotate; the second hand wheel has a rotation angle scale configured to indicate a rotation angle of the turn table (12).

7. The radar and camera calibration device of claim 3, wherein the first sliding rail (131) has a scale configured to calibrate a sliding distance of the camera calibration target (31).

8. The radar and camera calibration device according to any one of claims 1 to 7, wherein the frame body (1) further comprises a height adjustment assembly (14), and the height adjustment assembly (14) comprises a support frame (141) and a piston rod (142); the supporting frame (141) is fixedly connected with the workbench (11), and the piston rod (142) can drive the supporting frame (141) to rotate; the height adjustment assembly (14) is configured to adjust the height of the table (11).

9. The radar and camera calibration device according to any one of claims 1 to 7, wherein the frame body (1) further comprises a plurality of universal wheels (15) and an armrest (16), the plurality of universal wheels (15) are arranged at the bottom of the frame body (1); the handrail (16) is fixedly connected with the frame body (1).

10. Radar and camera calibration arrangement according to any one of claims 1 to 7, characterised in that the camera calibration target (31) has a target surface, the target surface being planar, the target surface having a checkerboard pattern.