CN213715451U - Automobile radar calibration system - Google Patents
Automobile radar calibration system Download PDFInfo
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- CN213715451U CN213715451U CN202022861935.2U CN202022861935U CN213715451U CN 213715451 U CN213715451 U CN 213715451U CN 202022861935 U CN202022861935 U CN 202022861935U CN 213715451 U CN213715451 U CN 213715451U
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Abstract
The utility model discloses an automobile radar calibration system, which comprises a calibration device and a limiting device, wherein the calibration device can be used for calibrating a radar arranged at the front end of a calibrated automobile; the limiting device is positioned in front of the calibration device, an automobile limiting surface is arranged on one side of the limiting device, which is far away from the calibration device, and a radar calibration area is formed between the limiting device and the calibration device; before calibration, the calibration device and the limiting device ascend, and a calibrated automobile drives to an automobile limiting surface; in the calibration process, the calibrated automobile abuts against an automobile limiting surface, the distance between the radar and the calibration device when the radar enters a radar calibration area is within a preset range, and the calibration device finishes radar calibration; after calibration, the calibration device and the limiting device contract, and the calibrated automobile drives away from the radar calibration area. The utility model discloses a calibration device and stop device's position and structural feature have realized that this car radar calibration system demarcation cycle is short, the high purpose of the degree of accuracy.
Description
Technical Field
The utility model relates to a technical field is markd to the radar, and specific theory relates to an automobile radar calibration system.
Background
The radar device has an important function on the automobile, can detect the distance between the automobile and surrounding objects so as to send out alarm signals, prevent collision with other vehicles or objects, and is also favorable for protecting the life safety of pedestrians around the automobile.
However, in the process of assembling the radar for the automobile, due to position and angle errors in the process of assembling the whole automobile, the radar may not achieve the effect consistent with the expectation, so the radar needs to be detected and calibrated after the automobile is off-line, and the axis of the installed radar and the driving axis of the automobile coincide in the horizontal and vertical directions or are within an allowable range. The existing calibration device has the problems of low automation degree, excessive participation procedures of technicians in the debugging process, large labor amount of the technicians, low manual debugging accuracy and long calibration period.
Therefore, whether to design a calibration system or equipment is a problem that the patent wants to solve, and the calibration period is short and the accuracy is high.
Disclosure of Invention
To the above defect that prior art exists, the utility model provides an automobile radar calibration system has realized that this system marks the cycle weak point, purpose that the degree of accuracy is high.
The utility model provides a technical scheme as follows:
an automotive radar calibration system, comprising: the calibration device can be telescopically arranged on the automobile running surface and can be used for calibrating the radar arranged at the front end of the calibrated automobile; the limiting device is telescopically arranged on the automobile traveling surface and used for limiting the distance between the calibrated automobile and the calibrating device so that a radar calibration area is formed between the limiting device and the calibrating device; before calibration, the calibration device and the limiting device ascend to the position above the automobile advancing surface, and the calibrated automobile drives to the limiting device; in the calibration process, the calibrated automobile abuts against the limiting device, the radar enters the radar calibration area, the distance between the radar and the calibration device is within a preset range, the calibration device detects the position of the radar, and the radar is calibrated by adjusting to the optimal calibration posture according to the position; after calibration, the calibration device and the limiting device are contracted below the automobile advancing surface, and the calibrated automobile continues to advance towards the calibration device and drives away from the radar calibration area.
The technical scheme discloses an automobile radar calibration system, on one hand, a calibrated automobile can drive in and out of a radar calibration area along an automobile advancing surface through a calibration device and a limiting device which are arranged in a telescopic mode, the automobile runs on a production line, after the automobile radar calibration is finished, the automobile radar directly flows into a next work station along the line, the calibration period is short, and the working efficiency is high; on the other hand, to different motorcycle types, because automobile radar's the installation position is different with navigating mate's distance, and difficult manual observation judgement. Therefore, the distance between the calibrated automobile of different automobile types and the calibration device can be limited within a certain range through the limiting device, so that the calibration device can calibrate the automobile radar quickly. In addition, in the calibration process, the calibration device firstly detects the position of the radar and then adjusts to the optimal calibration posture according to the position, so that the calibration device and the radar are in the optimal angle and distance, the calibration period is further reduced, and the calibration accuracy is improved.
Furthermore, the calibration device comprises a mechanical arm, a visual camera, a corner reflector and an industrial personal computer, wherein the visual camera and the corner reflector are arranged at one end of the mechanical arm, which faces the calibrated automobile, and the visual camera is in communication connection with the industrial personal computer, wherein in the calibration process, the visual camera transmits photographing information to the industrial personal computer for processing and analysis to obtain a compensation value of the camera center and the radar center; and adjusting the mechanical arm to an optimal calibration position, and determining the center of the radar and the distance between the radar and the corner reflector.
This technical scheme further discloses calibration device's concrete structure, seeks best demarcation position through the vision camera to adjust the arm through the industrial computer, reduce technical staff work load, increase work efficiency, reduce duty cycle.
Furthermore, the system also comprises a shielding device, wherein the shielding device comprises a shielding wall arranged on the automobile advancing surface, an automobile advancing channel is arranged on the inner side of the shielding wall, and the calibration device and the limiting device are positioned in the automobile advancing channel.
This technical scheme further discloses a concrete structure of this car radar calibration system, through install the shielding wall in the radar calibration regional outside, shields except that the noise of radar, can reduce external electromagnetic wave interference by a wide margin, increases the calibration accuracy.
Furthermore, the limiting device is a limiting step, the limiting step is arranged along the width direction of the automobile advancing surface, and one side, far away from the calibration device, of the limiting step is provided with an inclined surface used for being in contact with the tire of the calibrated automobile to form the automobile limiting surface.
Further, the arm is including stiff end, first linking arm, second linking arm, third linking arm and the free end of articulated connection in proper order, the fixed plate has been installed to the free end, the vision camera with the corner reflector is installed on the fixed plate, the vision camera with the corner reflector orientation is the same.
This technical scheme further discloses specific mounting structure of vision camera and corner reflector, fixes vision camera and corner reflector simultaneously through the fixed plate, both made things convenient for the installation angle of adjusting vision camera and corner reflector simultaneously, also can make its orientation the same, increase the accuracy of demarcation.
Further, the mechanical arm is a six-axis mechanical arm.
Furthermore, a calibration device accommodating groove is formed in the calibration device, and the calibration device is connected with the bottom surface of the calibration device accommodating groove through a telescopic device; the limiting device is provided with a limiting device accommodating groove, and the limiting device is connected with the bottom surface of the limiting device accommodating groove through a telescopic device.
This technical scheme further discloses calibration device and stop device's mounting structure, installs calibration device and stop device inside the holding tank through telescoping device. Before and after radar calibration, the calibration device and the limiting device can move up and down quickly, so that a calibrated automobile can reach and leave a calibration area quickly, the calibration period is shortened, and the working efficiency is increased.
Further, the telescopic device is a hydraulic cylinder or a lead screw.
Furthermore, wave-absorbing cotton is arranged inside the shielding wall.
This technical scheme further discloses the concrete structure of shielding wall, through set up in the shielding wall and inhale the ripples cotton, can completely cut off outside noise, and then increase the accuracy that the radar was markd.
Further, the corner reflector comprises three reflecting plates, the reflecting plates are metal plates of an isosceles right triangle, the right-angle sides of the reflecting plates are mutually spliced to form a triangular conical reflecting cavity with an open bottom surface, the vertex of the corner reflector is fixed on the surface of the fixed plate, and the opening of the reflecting cavity faces away from one side of the fixed plate.
The technical effects of the utility model reside in that:
1. the calibrated automobile can pass through a radar calibration area along the automobile advancing surface through the calibration device and the limiting device which are arranged in a telescopic mode, the assembly line runs, the automobile directly flows into the next work station along the line after the radar calibration of the automobile is completed, the calibration period is short, and the working efficiency is high; in addition, the distance between the calibrated automobile of different automobile types and the calibration device can be limited within a certain range through the limiting device, so that the calibration device can be used for calibrating the automobile radar quickly, the calibration period is further shortened, and the calibration accuracy is improved.
2. The shielding wall is arranged outside the radar calibration area to shield noise except radar, so that the interference of external electromagnetic waves can be greatly reduced, and the calibration precision is improved.
3. The optimal calibration position is found through the vision camera, and the mechanical arm is adjusted through the industrial personal computer, so that the workload of technicians is reduced, the working efficiency is increased, and the working period is shortened.
4. The vision camera and the corner reflector are fixed through the fixing plate, so that the installation angles of the vision camera and the corner reflector can be conveniently and simultaneously adjusted, the orientations of the vision camera and the corner reflector can be the same, and the calibration accuracy is improved.
5. Install calibration device and stop device inside the holding tank through telescoping device. Before and after radar calibration, the calibration device and the limiting device can move up and down quickly, so that a calibrated automobile can reach and leave a calibration area quickly, the calibration period is shortened, and the working efficiency is increased.
Drawings
The invention will be described in further detail with reference to the following drawings and embodiments:
FIG. 1 is a schematic diagram of the system of the present invention during calibration;
FIG. 2 is an enlarged view of a portion of the area a of FIG. 1;
FIG. 3 is a schematic diagram of the system of the present invention after calibration;
FIG. 4 is a schematic view of the system of FIG. 1 from another perspective;
fig. 5 is a schematic external view of the system of the present invention;
fig. 6 is an exploded view of fig. 5.
The reference numbers illustrate:
10. the method comprises the following steps of (1) calibrating an automobile, 11. an automobile traveling surface, 12. a radar, 13. a calibrating device accommodating groove, 14. a limiting device accommodating groove and 15. a telescopic device;
20. the device comprises a calibration device, 21, a mechanical arm, 21-a, a fixed end, 21-b, a first connecting arm, 21-c, a second connecting arm, 21-d, a third connecting arm, 21-e, a free end, 22, a vision camera, 23, a corner reflector and 24, a fixing plate;
30. the method comprises the following steps of (1) a limiting device, 31, an automobile limiting surface, 32, a radar calibration area, 33, a limiting step and 34, an inclined plane;
40. the wave absorbing cotton comprises a shielding device, 41 parts of shielding walls, 42 parts of automobile inlets, 43 parts of automobile outlets, 44 parts of automobile channels and 45 parts of wave absorbing cotton.
Detailed Description
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
For the sake of simplicity, only the parts related to the utility model are schematically shown in the drawings, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
In this context, it is to be understood that, unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not intended to indicate or imply relative importance.
In order to more clearly illustrate embodiments of the present invention or technical solutions in the prior art, specific embodiments of the present invention will be described below with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be obtained from these drawings without inventive effort.
As a specific embodiment, as shown in fig. 1 to 6, there is provided an automotive radar calibration system, preferably for calibrating a radar 12 installed in a bumper of an automotive head, the system comprising: a calibration device 20 and a limiting device 30.
Specifically, as shown in fig. 1 and 2, the calibration device 20 is telescopically installed on the vehicle traveling surface 11, the calibrated vehicle 10 can approach the calibration device 20 in front of the calibration device 20, and the calibration device 20 can be used for calibrating the radar 12 installed at the front end of the calibrated vehicle 10. The vehicle traveling surface 11 is a ground surface on which the vehicle can travel, including a ground surface of a vehicle assembly plant.
Further, the limiting device 30 is telescopically arranged on the automobile traveling surface 11 and located in front of the calibration device 20, an automobile limiting surface 31 is arranged on one side, away from the calibration device 20, of the limiting device 30, and a radar calibration area 32 is formed between the limiting device 30 and the calibration device 20. It should be noted that the limiting device 30 and the calibration device 20 can be telescopically arranged by various devices such as a hydraulic cylinder, an air cylinder, a lead screw, and the like.
Specifically, the calibration process can be divided into three stages, namely before calibration, during calibration and after calibration.
Before calibration, the calibration device 20 and the limiting device 30 are lifted above the automobile traveling surface 11, and the calibrated automobile 10 drives to the automobile limiting surface 31.
In the calibration process, as shown in fig. 1, 4, 5 and 6, the automobile 10 is calibrated to abut against the automobile limiting surface 31, the radar 12 enters the radar calibration area 32, the distance between the radar 12 and the calibration device 20 is within a preset range, firstly, the calibration device 20 detects the position of the radar 12, then, the calibration device 20 automatically adjusts to the optimal calibration posture according to the position of the radar 12, so that the corner reflector 23 on the calibration device 20 and the radar 12 are at the optimal calibration angle and distance, and finally, the calibration of the radar 12 is completed.
After calibration, as shown in fig. 3, the calibration device 20 and the limiting device 30 are retracted to below the automobile traveling surface 11, and the calibrated automobile 10 continues to travel toward the calibration device 20 and leaves the radar calibration area 32.
Further preferably, as shown in fig. 2, the calibration device 20 includes a mechanical arm 21, a vision camera 22, a corner reflector 23 and an industrial personal computer, the vision camera 22 and the corner reflector 23 are installed at one end of the mechanical arm 21 away from the vehicle traveling surface 11, the vision camera 22 and the corner reflector 23 are located at one end of the mechanical arm 21 facing the vehicle 10 to be calibrated, and the vision camera 22 is in communication connection with the industrial personal computer.
Specifically, in the calibration process, the visual camera 22 transmits the photographing information to the industrial personal computer for processing and analysis, and a compensation value of the camera center and the radar center is obtained; the robotic arm 21 is adjusted to the optimum nominal position, determining the radar 12 center and distance from the corner reflector 23.
In practical applications, the calibrated automobile 10 is driven to the position of the limiting device 30, and the radar 12 is mounted on the bumper and cannot be observed, so that a reference object is found out in front of the automobile body, and the position distance between the reference object and the radar 12 is known. Light sources are given by utilizing light of different angles, the vision camera 22 on the mechanical arm 21 shoots, the shot information is transmitted to vision software in the industrial personal computer for processing and analysis, a compensation value of the camera center and the radar center is obtained, and the center position and the distance of the radar 12 are determined. When the industrial personal computer determines the center position and the distance of the radar 12 by photographing, the industrial personal computer controls the mechanical arm 21 to adjust the corner reflector 23 on the other side to the center of the radar 12, and the industrial personal computer communicates with the radar 12 to send a command to start automatic calibration.
Further, the free end of the robot arm 21 is provided with a fixing plate 24, and the vision camera 22 and the corner reflector 23 are mounted on the fixing plate 24, with the vision camera 22 and the corner reflector 23 facing the same direction. Preferably, the robotic arm 21 is a six-axis robotic arm. The position angle can be adjusted by 360 degrees, so that the vision camera 22 shoots, and the adjustment is more accurate.
Specifically, the mechanical arm 21 includes a fixed end, a first connecting arm, a second connecting arm, a third connecting arm and a free end, which are hinged in sequence, the free end is provided with a fixing plate 24, the vision camera 22 and the corner reflector 23 are mounted on the fixing plate 24, and the directions of the vision camera 22 and the corner reflector 23 are the same. The corner reflector 23 comprises three reflecting plates, the reflecting plates are metal plates of isosceles right triangles, the right-angle sides of the three reflecting plates are spliced with each other to form a reflecting cavity of a triangular cone with an open bottom surface, the vertex of the corner reflector 23 is fixed on the surface of the fixing plate 24, and the opening of the reflecting cavity faces to one side far away from the fixing plate 24.
Further preferably, the limiting device 30 is a limiting step 33, the limiting step 33 is disposed along the width direction of the automobile traveling surface 11, and a side of the limiting step 33 away from the calibration device 20 has an inclined surface 34 for contacting with a tire of the calibrated automobile 10 to form an automobile limiting surface 31.
Further preferably, as shown in fig. 1 and 3, the automobile traveling surface 11 is provided with a calibration device receiving groove 13, the calibration device 20 is installed in the calibration device receiving groove 13, and the bottom surface of the calibration device receiving groove 13 is connected with the calibration device 20 through a telescopic device 15. Similarly, the automobile traveling surface 11 is provided with a limiting device accommodating groove 14, the limiting device 30 is arranged in the limiting device accommodating groove 14, and the bottom surface of the limiting device accommodating groove 14 is connected with the limiting device 30 through a telescopic device 15. Preferably, the telescopic means 15 are hydraulic cylinders or lead screws.
In practical application, when the calibrated automobile 10 starts to enter the calibration area, the hydraulic cylinder is lifted, the limit step 33 and the mechanical arm 21 are lifted, the automobile is driven to the limit step 33, and shooting calibration is started. After the calibration is finished, the mechanical arm 21 descends in advance, after the mechanical arm 21 descends, the limiting step 33 begins to descend again, the automobile can be directly driven out of the calibration area, and the backing time is saved.
In a preferred embodiment, as shown in fig. 5 and 6, a shielding device 40 is further disposed outside the radar calibration area 32 based on the above-mentioned automobile radar calibration system.
Specifically, the shielding device 40 includes a plurality of shielding walls 41, and the shielding walls 41 are installed outside the radar calibration area 32, and have a vehicle entrance 42 and a vehicle exit 43 in the traveling direction of the calibrated vehicle 10, and form a vehicle passage 44 inside. Preferably, the wave-absorbing cotton 45 is arranged inside the shielding wall 41. The wave-absorbing cotton 45 is arranged on the left, right and above the radar calibration area 32, so that the interference of external electromagnetic waves can be greatly reduced, and the calibration precision is improved.
In practical application, before calibration, the mechanical arm 21 and the limiting step 33 are lifted to be above the automobile traveling surface 11, and the calibrated automobile 10 drives to the automobile limiting surface 31. In the calibration process, the front tire of the calibrated automobile 10 abuts against the automobile limiting surface 31, the front bumper of the calibrated automobile 10 and the radar 12 in the front bumper extend into the radar calibration area 32, the vision camera 22 starts to take a picture, and the picture taking information is transmitted to the data transmission vision software of the industrial personal computer for analysis. And transmitting the analyzed compensation value to the mechanical arm 21, and controlling the mechanical arm 21 to adjust the corner reflector 23 to the center of the radar 12 by the industrial personal computer. The industrial personal computer is connected with the radar 12 to send out a command, and automatic calibration is started. After calibration is completed, the mechanical arm 21 and the limiting step 33 descend sequentially, and the following calibration of the next vehicle is started.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. An automotive radar calibration system, comprising:
the calibration device can be telescopically arranged on the automobile running surface and can be used for calibrating the radar arranged at the front end of the calibrated automobile;
the limiting device is telescopically arranged on the automobile traveling surface and used for limiting the distance between the calibrated automobile and the calibrating device so that a radar calibration area is formed between the limiting device and the calibrating device; wherein the content of the first and second substances,
before calibration, the calibration device and the limiting device ascend to the position above the automobile advancing surface, and the calibrated automobile drives to the limiting device;
in the calibration process, the calibrated automobile abuts against the limiting device, the radar enters the radar calibration area, the distance between the radar and the calibration device is within a preset range, the calibration device detects the position of the radar, and the radar is calibrated by adjusting to the optimal calibration posture according to the position;
after calibration, the calibration device and the limiting device are contracted below the automobile advancing surface, and the calibrated automobile continues to advance towards the calibration device and drives away from the radar calibration area.
2. An automotive radar calibration system according to claim 1, comprising:
the calibration device comprises a mechanical arm, a vision camera, a corner reflector and an industrial personal computer, wherein the vision camera and the corner reflector are arranged at one end of the mechanical arm facing the calibrated automobile, the vision camera is in communication connection with the industrial personal computer, wherein,
in the calibration process, the visual camera transmits the photographing information to an industrial personal computer for processing and analysis to obtain a compensation value of a camera center and a radar center; and adjusting the mechanical arm to an optimal calibration position, and determining the center of the radar and the distance between the radar and the corner reflector.
3. An automotive radar calibration system according to claim 1,
the shielding device comprises a shielding wall arranged on the automobile advancing surface, an automobile advancing channel is arranged on the inner side of the shielding wall, and the calibration device and the limiting device are positioned in the automobile advancing channel.
4. An automotive radar calibration system according to claim 1,
the limiting device is a limiting step, the limiting step is arranged along the width direction of the automobile advancing surface, and one side, away from the calibrating device, of the limiting step is provided with an inclined surface used for being in contact with the tire of the calibrated automobile to form an automobile limiting surface.
5. An automotive radar calibration system according to claim 2,
the arm is including stiff end, first linking arm, second linking arm, third linking arm and the free end of articulated connection in proper order, the fixed plate has been installed to the free end, the vision camera with the corner reflector is installed on the fixed plate, the vision camera with the corner reflector orientation is the same.
6. An automotive radar calibration system according to claim 2,
the mechanical arm is a six-axis mechanical arm.
7. An automotive radar calibration system according to claim 1,
a calibration device accommodating groove is formed in the calibration device, and the calibration device is connected with the bottom surface of the calibration device accommodating groove through a telescopic device;
the limiting device is provided with a limiting device accommodating groove, and the limiting device is connected with the bottom surface of the limiting device accommodating groove through a telescopic device.
8. An automotive radar calibration system according to claim 7,
the telescopic device is a hydraulic cylinder or a lead screw.
9. An automotive radar calibration system according to claim 3,
wave-absorbing cotton is arranged inside the shielding wall.
10. An automotive radar calibration system according to claim 5,
the corner reflector comprises three reflecting plates, the reflecting plates are metal plates and three metal plates of isosceles right triangles, the right-angle sides of the reflecting plates are mutually spliced to form a triangular conical reflecting cavity with an open bottom surface, the vertex of the corner reflector is fixed on the surface of the fixed plate, and the opening of the reflecting cavity faces away from one side of the fixed plate.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022861935.2U CN213715451U (en) | 2020-12-03 | 2020-12-03 | Automobile radar calibration system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022861935.2U CN213715451U (en) | 2020-12-03 | 2020-12-03 | Automobile radar calibration system |
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| CN213715451U true CN213715451U (en) | 2021-07-16 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023226382A1 (en) * | 2022-05-23 | 2023-11-30 | 华为技术有限公司 | Calibration method and apparatus |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023226382A1 (en) * | 2022-05-23 | 2023-11-30 | 华为技术有限公司 | Calibration method and apparatus |
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