CN215677105U

CN215677105U - Driving-assisted flexible calibration equipment

Info

Publication number: CN215677105U
Application number: CN202121253877.3U
Authority: CN
Inventors: 陈睿鹏; 冯东明; 陈国锐; 牛海东; 郭东成; 龙培
Original assignee: GAC Motor Co Ltd
Current assignee: GAC Motor Co Ltd
Priority date: 2021-06-04
Filing date: 2021-06-04
Publication date: 2022-01-28
Anticipated expiration: 2031-06-04

Abstract

The invention provides a driving-assisted flexible calibration device, which comprises a vehicle centering device and a ground calibration reference object which are arranged on the ground, and further comprises a control device and calibration frames positioned at two ends of the vehicle centering device, wherein the calibration frames are provided with movable space calibration reference objects, and the vehicle centering device and the calibration frames are both connected with the control device. The invention further provides a flexible calibration method for driving assistance. The calibration device integrates the calibration reference object of the calibration device, can complete calibration by various driving auxiliary functions, has high integration level, and is suitable for calibration of various vehicle types.

Description

Driving-assisted flexible calibration equipment

Technical Field

The invention relates to the technical field of automobile driving auxiliary calibration, in particular to flexible calibration equipment for driving assistance.

Background

The current mainstream driving auxiliary functions of the vehicle comprise panoramic images, front collision early warning, lane deviation, blind area monitoring and the like. In a host factory, after the whole vehicle is assembled, various driving auxiliary functions of the vehicle need to be calibrated by using equipment. The aim of calibration is to eliminate assembly errors so that each function operates normally. The principle of calibration is mainly divided into two types according to vehicle-mounted sensors: camera class: the vehicle-mounted camera collects image data (reference object) of a black and white chessboard of the equipment, and corrects self assembly errors through position comparison; chinese patent publication No. CN112037286A, published as 2020, 12 months and 4 days, discloses a vehicle-mounted panoramic image calibration method based on angular point identification, wherein after an automobile is assembled with a full-view image camera on a production line, the automobile is driven into a calibration area of a calibration site; according to the arrangement requirement of a calibration site, black squares are respectively arranged in the front, the rear, the left side and the right side of the vehicle to be used as calibration objects; starting a calibration program, loading the front camera video, the rear camera video, the left camera video and the right camera video of the vehicle in sequence, identifying four corner point coordinates of the black square block, calculating parameters and completing calibration; the video processing part processes the video image according to the calculated parameters; (vii) radar type: the vehicle-mounted radar transmits radar waves, the front equipment reflects the radar waves according to the reference object, and the assembly errors of the radar are corrected through position comparison. However, at present, the calibration of each function of the driving assistance of the automobile is completed through independent equipment, so that the integration level is insufficient, and the applicability is not strong.

Disclosure of Invention

The invention aims to overcome the defects of insufficient flexibility and integration degree of the conventional driving assistance function calibration equipment and provides driving assistance flexible calibration equipment. The calibration device integrates the calibration reference object of the calibration device, can complete calibration by various driving auxiliary functions, has high integration level, and is suitable for calibration of various vehicle types.

In order to solve the technical problems, the invention adopts the technical scheme that: the driving-assisted flexible calibration equipment comprises a vehicle centering device and a ground calibration reference object which are arranged on the ground, a control device and calibration frames positioned at two ends of the vehicle centering device, wherein the calibration frames are provided with movable space calibration reference objects, and the vehicle centering device and the calibration frames are connected with the control device.

In the technical scheme, as a basic condition of calibration is to fix the vehicle to a reference position, a control device in the calibration equipment starts a vehicle centering device to perform centering movement on the vehicle, so that the center line of the vehicle is superposed with the center line of the calibration equipment, the positions of a ground calibration reference object and a space calibration reference object are recorded into the control device, the ground calibration reference object calibrates the panoramic image and lane deviation of the vehicle, a camera of the vehicle acquires image data of the ground calibration reference object, and calibration is completed through position comparison; the space calibration reference object moves on the calibration frame, the front collision early warning and the blind area monitoring of the vehicles can be calibrated, radar waves are sent out by the vehicle radar, the space calibration reference object reflects the radar waves, and calibration is completed through position comparison. The vehicle centering device enables the equipment to be suitable for vehicles of different vehicle types, the equipment can calibrate a plurality of auxiliary driving functions, the equipment cost is reduced, the occupied area is reduced, and the maintenance work is reduced.

Furthermore, the calibration frame comprises a frame, a movable plate and a movable rod, wherein first slide rails arranged in the vertical direction are arranged on two sides of the frame, the movable plate moves on the first slide rails through a sliding block, second slide rails transversely arranged on the movable plate are arranged on the movable plate, a movable support is arranged on the second slide rails, the movable rod penetrates through the support, the space calibration reference object is arranged on the movable rod, a first motor for driving the movable plate to move on the first slide rails is arranged on the calibration frame, a second motor for driving the support to move on the second slide rails is arranged on the movable plate, a third motor for driving the movable rod to move on the support is arranged on the support, and the first motor, the second motor and the third motor are all connected with the control device.

In the technical scheme, the first motor drives the moving plate to move on the first slide rail, namely the space calibration reference object moves in the Z-axis direction, the second motor drives the support to move on the second slide rail, namely the space calibration reference object moves in the X-axis direction, the moving rod moves on the support, namely the space calibration reference object moves in the Y-axis direction, therefore, the moving range of the space calibration reference object is expanded, and different vehicle types can be calibrated.

Further, the vehicle centering device comprises a front axle centering assembly and a rear axle centering assembly which are arranged in parallel.

Furthermore, the front axle centering assembly comprises a horizontal pushing mechanism extending out of the pushing plate from two sides through a cylinder, rollers are arranged on two sides of the horizontal pushing mechanism, clamping structures for clamping wheels are arranged on two sides of each roller, and the clamping structures and the cylinder are connected with the control device. Among this technical scheme, the tire of vehicle front axle parks on front axle centering subassembly, the inside slurcam of flat push structure stretches out to both sides under the drive of cylinder, the tire that drives the vehicle front axle moves on the roller, because the slurcam is the same in the length that both sides stretch out, when the vehicle is parked and is had the deviation, the slurcam can drive the tire of front axle and move on the roller, until the center line of vehicle front axle and the center line coincidence of front axle centering subassembly, the clamping structure of roller both sides was tight to the tire of vehicle front axle this moment. The clamping structure of both sides can be fixed the tire, fixes the zero point position on the Y axle direction with the vehicle, if the vehicle takes place the skew on the Y axle, and clamping structure can drive the vehicle and move to zero point position on the roller.

Furthermore, rear axle centering subassembly includes that stretch out the flat push mechanism of slurcam to both sides through the cylinder, the both sides of flat push mechanism all are equipped with the roller, the cylinder with controlling means connects. The rear shaft centering assembly is matched with the front shaft centering assembly, a push plate of the front shaft centering assembly moves together with a push plate follower of the rear shaft centering assembly until the center line of the rear shaft of the vehicle is overlapped with the center line of the rear shaft centering assembly, and the front shaft centering assembly and the rear shaft centering assembly enable the center line of the vehicle to be overlapped with the center line of the calibration equipment.

Furthermore, one end of the roller, which is far away from the horizontal pushing mechanism, is provided with a photoelectric sensor for detecting a vehicle.

Furthermore, the ground calibration reference object is a checkerboard which is a plate with black and white patterns painted on the surface and is fixed at a designated position on the ground.

Furthermore, the space calibration reference object is a triangular cone, and the triangular cone is fixed on the moving rod through a universal joint. The triangle awl passes through universal joint to be connected on the carriage release lever, and the angle can be adjusted to the triangle awl, adapts to each motorcycle type scaling-off.

Furthermore, the surface of the calibration frame and the periphery of the triangular cone are provided with sponges for absorbing radar waves. The radar of the vehicle sends out radar waves, and in order to prevent the radar waves reflected by other parts of the calibration frame from influencing calibration work, sponges used for absorbing the radar waves are arranged on the surface of the calibration frame and the periphery of the triangular cone, so that only the triangular cone can reflect the radar waves, the radar waves reflected by the triangular cone are collected in a centralized mode by the radar of the vehicle, and position comparison is completed.

Furthermore, a chessboard lattice which is fixedly arranged is also arranged on the calibration frame. The checkerboard that sets up on the calibration frame can carry out the position to the vehicle camera and compare, accomplishes the demarcation.

Compared with the prior art, the invention has the beneficial effects that:

the ground calibration reference object and the space calibration reference object are integrated into one device, so that various driving auxiliary functions of the vehicle are calibrated, the cost of the device is reduced, the occupied area is reduced, and the maintenance work is reduced; according to the invention, the space calibration reference object on the positioning frame can move in the XYZ axial direction, and the angle can be adjusted through the universal joint, so that the moving range of the space calibration reference object is expanded, and the space calibration reference object can be used for calibrating different vehicle types; the invention can complete the calibration work of various driving auxiliary functions, can carry out different calibration work on vehicles of different types, and has strong flexibility.

Drawings

Fig. 1 is a schematic structural diagram of a flexible calibration device for driving assistance according to the present invention.

The graphic symbols are illustrated as follows:

1. calibrating a reference object on the ground; 2. a calibration frame; 201. a first slide rail; 202. a support; 203. moving the plate; 204. a travel bar; 205. a second slide rail; 206. a triangular cone; 3. a front axle centering assembly; 301. a horizontal pushing mechanism; 302. a push plate; 303. a roller; 304. a clamping structure; 4. a rear axle centering assembly; 5. an electric cabinet.

Detailed Description

The present invention will be further described with reference to the following embodiments. Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.

The same or similar reference numerals in the drawings of the embodiments of the present invention correspond to the same or similar components; in the description of the present invention, it should be understood that if there is an orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. based on the orientation or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not intended to indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and are not to be construed as limiting the present patent, and the specific meaning of the terms may be understood by those skilled in the art according to specific circumstances.

Examples

Fig. 1 shows an embodiment of a flexible calibration device for driving assistance according to the present invention. The utility model provides a drive supplementary flexible calibration equipment, is including setting up vehicle centering device and ground calibration reference 1 on ground, and ground calibration reference 1 puts around vehicle centering device symmetry, and vehicle centering device's both ends all are equipped with calibration frame 2, are equipped with the space calibration reference that can remove on calibration frame 2, and controlling means is located the electric cabinet 5 of one side. The control device controls the activation of the vehicle centring device and the movement of the spatial calibration reference on the calibration frame 2. In the position recording control device of the ground calibration reference 1 and the space calibration reference, the vehicle centering device centers the vehicle so that the vehicle is positioned at a calibration zero position. The ground calibration reference object 1 is used for calibrating a panoramic image and lane deviation of a vehicle, and the panoramic image and the lane deviation are shot by a camera on the vehicle; the camera of the vehicle collects the image data of the ground calibration reference object 1, and the calibration is completed through position comparison; the space calibration reference object moves on the calibration frame 2, the front collision early warning and the blind area monitoring of the vehicles can be calibrated, radar waves are sent out by the vehicle radar, the space calibration reference object reflects the radar waves, and calibration is completed through position comparison. This embodiment can accomplish the demarcation of the driving assistance function that corresponds according to vehicle particular case, and the demarcation of camera is only done to some vehicles, and the demarcation of radar is only done to some vehicles, only need in advance at controlling means set for can, whole equipment flexibility is strong.

In one embodiment, the calibration frame 2 comprises a frame, a moving plate 203 and a moving rod 204, wherein first sliding rails 201 are arranged on two sides of the frame, the moving plate 203 moves on the first sliding rails 201 through a sliding block, and a first motor for driving the moving plate 203 to move on the first sliding rails 201 is arranged at the top of the calibration frame 2; a second slide rail 205 is arranged on the moving plate 203, the second slide rail 205 is perpendicular to the first slide rail 201, a support 202 is arranged on the second slide rail 205, and the moving rod 204 penetrates through the support 202; a second motor for driving the support 202 to move on the second slide rail 205 is arranged on the moving plate 203; the support 202 is provided with a third motor, and the rod 204 is driven by the third motor to freely shuttle in the support 202. The first motor drives the moving plate 203 to move on the first slide rail 201, namely, the space calibration reference object moves in the Z-axis direction, the second motor drives the support 202 to move on the second slide rail 205, namely, the space calibration reference object moves in the X-axis direction, and the moving rod 204 moves on the support 202, namely, the space calibration reference object moves in the Y-axis direction, so that the moving range of the space calibration reference object is expanded, and the calibration can be completed for radars of different vehicle types.

In one embodiment, the vehicle contrast device comprises a front axle centering assembly 3 and a rear axle centering assembly 4, wherein the front axle centering assembly 3 comprises a horizontal pushing mechanism 301, and rollers 303 are arranged on two sides of the horizontal pushing mechanism 301. The pushing plate 302 is arranged inside the horizontal pushing mechanism 301, and the air cylinder is further arranged inside the horizontal pushing mechanism 301 and drives the pushing plate 302 to extend outwards from two sides inside the horizontal pushing mechanism 301 under the control of the control device. The roller 303 is provided on both sides with gripping formations 304 for gripping the wheel. The rear axle centering component 4 also comprises a horizontal pushing mechanism, and rollers are arranged on two sides of the horizontal pushing mechanism. After the vehicle is driven in, the front axle tires are parked on the front axle centering component 3, and the rear axle tires are parked on the rear axle centering component 4. The pushing plate 302 in the horizontal pushing structure extends out to two sides under the driving of the air cylinder to drive the tires of the vehicle to move on the rollers 303. The extension lengths of the push plate 302 on the two sides are the same, when the vehicle is parked in a deviation, the push plate 302 can drive the tire to move on the roller 303 until the center line of the vehicle is overlapped with the center line of the calibration equipment; the clamping mechanisms arranged on two sides of the roller 303 in the front axle centering assembly 3 can clamp the tire of the front axle of the vehicle. In addition, a photoelectric sensor is further arranged on the front and rear centering components and is positioned at one end, far away from the horizontal pushing mechanism 301, of the roller 303 to detect the vehicle.

In one embodiment, the ground calibration reference 1 is a checkerboard, six checkerboards are arranged on the ground and symmetrically arranged around the vehicle centering device, and the checkerboards are plates coated with black and white patterns on the surface and fixed at a designated position on the ground, and the position is recorded with the control device. In the process of calibrating the vehicle camera, the vehicle acquires the image data of the checkerboards, and the position displayed in the image data is compared with the actual position of the checkerboards, so that the calibration work of the vehicle camera is completed.

In one embodiment, the spatial calibration reference object is a triangular cone 206, the triangular cone 206 is fixed on the moving rod 204 through a universal joint, the triangular cone 206 moves in the directions of the XYZ axes under the driving of the three motors, and the universal joint can adjust the angle, so that the moving range of the triangular cone 206 is expanded, and the radar of different vehicle types can be calibrated. The surface of the calibration frame 2 and the periphery of the triangular cone 206 are provided with sponges for absorbing radar waves, so that only the triangular cone 206 can reflect the radar waves, and the vehicle can only measure the position of the triangular cone 206, thereby completing position comparison and vehicle radar calibration.

In one embodiment, the calibration frame 2 is also provided with a checkerboard, which can assist the ground calibration reference object to calibrate the vehicle camera.

In one embodiment, the working method of the flexible calibration device for the driving assistance comprises the following steps:

s1, recording the positions of a calibration frame and a ground calibration reference object into a control device, acquiring the accurate positions of a space reference object and the ground calibration reference object, and recording the target space position of the space calibration reference object on the calibration frame;

s2, after the vehicle drives in, the ground centering device is started under the control of the control device, and the center line of the vehicle is overlapped with the center line of the calibration equipment through the vehicle centering device;

s3, the control device drives the space calibration reference object to move to a target space position on the positioning frame, and meanwhile the ground calibration reference object is matched to calibrate the vehicle driving auxiliary function;

and S4, after the calibration is finished, the vehicle is driven out.

It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. 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 flexible calibration device for driving assistance is characterized in that: the device comprises a vehicle centering device and a ground calibration reference object (1) which are arranged on the ground, and further comprises a control device and calibration frames (2) which are positioned at two ends of the vehicle centering device, wherein movable space calibration reference objects are arranged on the calibration frames (2), and the vehicle centering device and the calibration frames (2) are both connected with the control device.

2. The driving assistance flexibility calibration device according to claim 1, characterized in that: the calibration frame (2) comprises a frame, a moving plate (203) and a moving rod (204), wherein first sliding rails (201) arranged in the vertical direction are arranged on two sides of the frame, the moving plate (203) moves on the first sliding rails (201) through a sliding block, second sliding rails (205) transversely arranged are arranged on the moving plate (203), a movable support (202) is arranged on the second sliding rails (205), the moving rod (204) penetrates through the support (202), the space calibration reference object is arranged on the moving rod (204), a first motor for driving the moving plate (203) to move on the first sliding rails (201) is arranged on the calibration frame (2), a second motor for driving the support (202) to move on the second sliding rails (205) is arranged on the moving rod (203), and a third motor for driving the moving rod (204) to move on the support (202) is arranged on the support (202), the first motor, the second motor and the third motor are all connected with the control device.

3. The driving-assistance flexibility calibration device according to claim 2, characterized in that: the vehicle centering device comprises a front axle centering assembly (3) and a rear axle centering assembly (4) which are arranged in parallel.

4. The driving-assistance flexibility calibration device according to claim 3, characterized in that: front axle centering subassembly (3) include through cylinder to the flat push mechanism (301) that stretches out catch plate (302) in both sides, the both sides of flat push mechanism (301) all are equipped with roller (303), the both sides of roller (303) are equipped with clamping structure (304) tight to the wheel clamp, clamping structure (304) and cylinder all with controlling means connects.

5. The driving-assistance flexibility calibration device according to claim 3, characterized in that: the rear axle centering assembly (4) comprises a horizontal pushing mechanism extending out of pushing plates from two sides through an air cylinder, rollers are arranged on two sides of the horizontal pushing mechanism, and the air cylinder is connected with the control device.

6. The driving assistance flexibility calibration device according to claim 4, wherein: one end, far away from horizontal pushing mechanism (301), of roller (303) is provided with a photoelectric sensor for detecting a vehicle, and the sensor is in communication connection with the control device.

7. The driving assistance flexibility calibration device according to claim 1, characterized in that: the ground calibration reference object (1) is a checkerboard which is a plate with black and white patterns painted on the surface and is fixed at a designated position on the ground.

8. The driving assistance flexibility calibration device according to claim 4, wherein: one end of the roller (303) far away from the horizontal pushing mechanism (301) is provided with a photoelectric sensor for detecting a vehicle, and the sensor is in communication connection with the control device; the space calibration reference object is a triangular cone (206), and the triangular cone (206) is fixed on the moving rod (204) through a universal joint.

9. The driving-assistance flexibility calibration device according to claim 7, characterized in that: sponges for absorbing radar waves are arranged on the surface of the calibration frame (2) and the periphery of the triangular cone (206).

10. The driving assistance flexibility calibration device according to claim 1, characterized in that: the calibration frame (2) is also provided with chessboard grids which are fixedly arranged.