CN217197989U

CN217197989U - Adjusting structure, system and automatic driving vehicle camera internal reference calibration adjusting system

Info

Publication number: CN217197989U
Application number: CN202220678705.9U
Authority: CN
Inventors: 陈希
Original assignee: Apollo Intelligent Technology Beijing Co Ltd
Current assignee: Apollo Intelligent Technology Beijing Co Ltd
Priority date: 2022-03-25
Filing date: 2022-03-25
Publication date: 2022-08-16
Anticipated expiration: 2032-03-25

Abstract

The utility model provides an adjust structure, system and automatically-driven vehicle camera internal reference and mark governing system relates to the intelligent transportation field, concretely relates to technical field such as autopilot, image acquisition. The adjustment structure includes: the support frame, fixed part, first regulation base and second regulation base. The supporting frame comprises a bottom and a bearing part arranged opposite to the bottom; a fixing member connected to the receiving portion and configured to move relative to the support frame; the first adjusting base is connected with the bottom and is configured to move relative to the support frame along a first direction so as to adjust the distance from the first adjusting base to the bearing part, wherein the first direction comprises a direction from the bottom to the bearing part or a direction from the bearing part to the bottom; and the second adjusting base is connected with the bottom and is configured to move relative to the supporting frame along the first direction so as to adjust the distance from the second adjusting base to the bearing part.

Description

Adjusting structure, system and automatic driving vehicle camera internal reference calibration adjusting system

Technical Field

The utility model relates to an intelligent transportation field, concretely relates to technical field such as autopilot, image acquisition especially relate to an adjust structure, system and autopilot vehicle camera internal reference and mark governing system.

Background

In some scenarios, a parameter calibration of the data acquisition device is required prior to using the data acquisition device to acquire data. However, the placement position of the data acquisition device usually affects the calibration result, and further affects the acquisition accuracy of the data acquisition device.

SUMMERY OF THE UTILITY MODEL

The present disclosure provides an adjustment structure, system and an automatic driving vehicle camera internal reference calibration adjustment system.

According to an aspect of the present disclosure, there is provided an adjustment structure including: the support frame, fixed part, first regulation base and second regulation base. The supporting frame comprises a bottom and a bearing part arranged opposite to the bottom; a fixing member connected to the receiving portion and configured to move relative to the support frame; a first adjustment base connected to the bottom portion and configured to move relative to the support frame along a first direction to adjust a distance from the first adjustment base to the receptacle, wherein the first direction includes a direction from the bottom portion toward the receptacle or a direction from the receptacle toward the bottom portion; and the second adjusting base is connected with the bottom and is configured to move relative to the supporting frame along the first direction so as to adjust the distance from the second adjusting base to the bearing part.

According to another aspect of the present disclosure, there is provided a regulation system comprising: a data acquisition device and an adjustment structure as described above, wherein the fixing part of the adjustment structure is configured to clamp the data acquisition device.

According to another aspect of the present disclosure, there is provided an automatic driving vehicle camera internal reference calibration adjustment system, comprising: an autonomous vehicle camera and an adjustment structure as described above, wherein the fixing member of the adjustment structure is configured to clamp the autonomous vehicle camera.

It should be understood that the statements in this section do not necessarily identify key or critical features of the embodiments of the present disclosure, nor do they limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description.

Drawings

The drawings are included to provide a better understanding of the present solution and are not to be construed as limiting the present disclosure. Wherein:

FIG. 1 schematically illustrates a perspective view of an adjustment structure according to an embodiment of the present disclosure;

FIG. 2 schematically illustrates a right side view of an adjustment structure according to an embodiment of the present disclosure;

FIG. 3 schematically illustrates a front view of an adjustment structure according to an embodiment of the present disclosure;

FIG. 4 schematically illustrates a front view of a conditioning system according to an embodiment of the present disclosure; and

fig. 5-6 schematically illustrate perspective views of an adjustment system according to an embodiment of the present disclosure.

Detailed Description

Exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, in which various details of the embodiments of the disclosure are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Fig. 1 schematically illustrates a perspective view of an adjustment structure according to an embodiment of the present disclosure.

As shown in fig. 1, the adjusting structure 10 includes, for example, a support frame 100, a fixing part 200, a first adjusting base 300, and a second adjusting base 400.

Illustratively, the support frame 100 includes, for example, a bottom portion 110 and a bolster portion 120 disposed opposite the bottom portion 110. The support frame 100 may include a U-shaped structure, a rectangular ring structure, or the like. When the supporting frame 100 is a U-shaped structure, the bottom portion 110 is two end portions of the U-shaped structure, and the receiving portion 120 is a portion of the U-shaped structure opposite to the U-shaped opening. When the support frame 100 is a rectangular ring structure, the rectangular ring structure includes 4 side structures connected end to end, the bottom portion 110 is one of the 4 side structures, and the receiving portion 120 is the other side structure of the 4 side structures opposite to the bottom portion 110.

Illustratively, the fixing member 200 is used, for example, to fix an external device including a data acquisition device. The fixing member 200 is connected to the socket 120, and the fixing member 200 is movable relative to the support frame 100, for example, the fixing member 200 is movable along the socket 120 to change the position of the data collecting apparatus.

The adjusting structure 10 of the embodiment of the present disclosure further includes, for example, a first adjusting base 300 and a second adjusting base 400. The first and

second adjustment seats

300 and 400 function to support the entire adjustment structure 10, and when the adjustment structure 10 is placed on a bearing surface such as a table, a floor, etc., if the bearing surface is hollow or uneven, the adjustment structure 10 may be inclined, thereby affecting the data acquisition device located on the fixing member 200. Therefore, the inclination of the adjusting mechanism 10 can be solved by adjusting the first and second adjusting

bases

300 and 400 to move along the first direction a, respectively, so that the fixing part 200 of the adjusting mechanism 10 is in a horizontal plane, and thus the data collecting device located at the fixing part 200 is in a horizontal plane.

Illustratively, the first adjustment base 300 is connected with the bottom portion 110, and the first adjustment base 300 is capable of moving along the first direction a relative to the support frame 100 to adjust a distance from the first adjustment base 300 to the receiving portion 120. The second adjustment base 400 is connected to the bottom portion 110, and the second adjustment base 400 is capable of moving along the first direction a relative to the support frame 100 to adjust a distance from the second adjustment base 400 to the receiving portion 120.

Illustratively, the first direction a includes a direction pointing from the bottom 110 to the bolster 120 or a direction pointing from the bolster 120 to the bottom 110. In other words, the first adjustment base 300 and the second adjustment base 400 can move back and forth along the first direction a, respectively, so as to adjust the distance from the first adjustment base 300 and the second adjustment base 400 to the receiving portion 120, respectively.

For example, when the adjusting mechanism 10 is placed on a rugged bearing surface, if the bearing surface area where the first adjusting base 300 is located is convex and the bearing surface area where the second adjusting base 400 is located is concave, the adjusting mechanism 10 is inclined, and the inclination of the adjusting mechanism 10 is solved by adjusting at least one of the first adjusting base 300 and the second adjusting base 400.

For example, the first adjustment base 300 is directed toward the dock 120 along the first direction a such that the distance between the first adjustment base 300 and the dock 120 is reduced such that the fixing part 200 of the adjustment structure 10 is at a horizontal plane.

Alternatively, the second adjustment base 400 may be moved away from the dock 120 in the first direction a such that the distance between the second adjustment base 400 and the dock 120 is increased such that the fixing part 200 of the adjustment structure 10 is at a horizontal plane.

Alternatively, the first and second adjusting

bases

300 and 400 are adjusted at the same time. For example, the first adjustment base 300 is moved toward the receiving portion 120 along the first direction a such that the distance between the first adjustment base 300 and the receiving portion 120 is decreased, and the second adjustment base 400 is moved away from the receiving portion 120 along the first direction a such that the distance between the second adjustment base 400 and the receiving portion 120 is increased, thereby making the fixing member 200 of the adjustment structure 10 in a horizontal plane.

According to the embodiment of the disclosure, the fixing part is set to move relative to the supporting frame, so that the position of the data acquisition device can be changed according to actual requirements, and the position of the data acquisition device can be conveniently and flexibly adjusted. In addition, the first adjusting base and the second adjusting base are arranged to be capable of moving along the first direction respectively, so that the first adjusting base and the second adjusting base can be adjusted according to actual conditions, the fixing part of the adjusting structure is located on the horizontal plane, and the adjusting flexibility and accuracy are improved.

Fig. 2 schematically illustrates a right side view of an adjustment structure according to an embodiment of the present disclosure.

As shown in fig. 2, the bottom includes a first bottom 111 and a second bottom 112. The support frame 100 may include a first support structure 130 and a second support structure 140 in addition to the base and bolster 120.

Illustratively, the first support structure 130 includes a first end 131 and a second end 132 disposed opposite the first end 131, the first end 131 being connected to the first bottom portion 111, and the second end 132 being connected to the receiving portion 120.

Illustratively, the second support structure 140 includes a third end 141 and a fourth end 142 disposed opposite the third end 141, the third end 141 is connected to the second bottom portion 112, and the fourth end 142 is connected to the receiving portion 120.

In one example, the first support structure 130 is fixedly connected to the first base 111. Alternatively, the first supporting structure 130 and the first bottom portion 111 are integrally formed, i.e. the first supporting structure 130 and the first bottom portion 111 are an integral body.

In one example, the second support structure 140 is fixedly coupled to the second base 112. Alternatively, the second support structure 140 and the second base 112 are integrally formed, i.e., the second support structure 140 and the second base 112 are one piece.

Illustratively, the first adjustment base 300 is coupled to the first base portion 111, the second adjustment base 400 is coupled to the second base portion 112, and the receptacle 120 is coupled to the second end 132 and the fourth end 142.

It can be understood that by providing the first support structure and the second support structure as supports for the adjustment structure and the receiving portion being connected to the first support structure and the second support structure, a stable support frame is formed, thereby improving the stability of the adjustment structure.

In another example, the fixing part includes, for example, a first fixing sub-part 210 and a second fixing sub-part 220. The first fixing sub-assembly 210 is connected to the socket 120, and the second fixing sub-assembly 220 is connected to the socket 120.

For example, the fixed member can be movable relative to the support frame along a second direction B that includes a direction from the second end 132 toward the fourth end 142 or a direction from the fourth end 142 toward the second end 132.

Illustratively, at least one of the first and second fixed

sub-components

210 and 220 is configured to move relative to the receptacle 120 to adjust a distance between the first and second fixed

sub-components

210 and 220.

For example, the first fixing sub-assembly 210 is movably connected to the socket 120, and the first fixing sub-assembly 210 can reciprocate relative to the socket 120 along the second direction B.

Alternatively, the second fixing sub-assembly 220 is movably connected to the socket 120, and the second fixing sub-assembly 220 can reciprocate relative to the socket 120 along the second direction B.

Alternatively, both the first and second

stationary subcomponents

210 and 220 may be movable. That is, the first stator member 210 is movably coupled to the socket 120, the second stator member 220 is movably coupled to the socket 120, and the first stator member 210 and the second stator member 220 can reciprocate relative to the socket 120 along the second direction B.

It can be understood that the fixing part can move relative to the supporting frame along the second direction, so that the position of the data acquisition device positioned on the fixing part can be flexibly adjusted, and the use requirement of the data acquisition device is met.

In another example, the adjustment structure may further include a position calibration structure 500, and the position calibration structure 500 is disposed on the bearing 120. The position calibration structure 500 includes, for example, a level ruler, and the like, and when the first adjustment base 300 and the second adjustment base 300 are adjusted to realize that the receiving portion 120 is located at a horizontal plane, the position calibration structure 500 plays a reference role, so as to improve an adjustment effect.

In another example, the adjustment structure may further include a reinforcement member 600, the reinforcement member 600 may be connected with the first support structure 130 and the socket 120, and the reinforcement member 600 may be further connected with the second support structure 140 and the socket 120, to improve stability of the support frame.

Fig. 3 schematically illustrates a front view of an adjustment structure according to an embodiment of the present disclosure.

As shown in fig. 3, the first and

second fixing sub-parts

210 and 210 are similar in structure, and the first fixing sub-part 210 may be used to hold a data acquisition device and the second fixing sub-part may be used to hold an auxiliary device of the data acquisition device. Taking first stator component 210 as an example, first stator component 210 includes, for example, a stage 211, a first clamping structure 212, a second clamping structure 213, and a first slider 214.

Illustratively, object table 211 includes a fifth end 2111 and a sixth end 2112 disposed opposite fifth end 2111. The first slider 214 is connected to the stage 211, and the first slider 214 is movable relative to the receiving portion 120. For example, the receiving portion 120 is provided with a groove, and the first slider 120 can move in the groove, thereby realizing the movement of the first stator member 210 relative to the receiving portion 120. The bay 120 is also provided with a position calibration structure 500.

First clamp structure 212 is coupled to fifth end 2111, and first clamp structure 212 is movable relative to fifth end 2111. The second clamp structure 213 is coupled to the sixth end 2112, and the second clamp structure 213 is movable relative to the sixth end 2112.

Illustratively, the data acquisition device may be placed on the stage 211, for example, and the data acquisition device is positioned between the first clamping structure 212 and the second clamping structure 213, clamped and fastened by the first clamping structure 212 and the second clamping structure 213.

The first and

second clamp structures

212, 213 are similar in structure. Taking the first clamping structure 212 as an example, the first clamping structure 212 includes a position-limiting post 2121, an elastic member 2122, and a contact portion 2123. The stop post 2121 includes external threads that mate with the internal threads of the fifth end 2111. The elastic part 2122 comprises a limiting spring and can be sleeved on the limiting column 2121. The contact portion 2123 may contact the data acquisition device to perform a fastening function, and the contact portion 2123 may include a protective pad to protect the data acquisition device. The first clamping structure 212 and the second clamping structure 213 can be suitable for clamping data acquisition devices with different sizes through movement, and the applicability is improved.

According to this disclosed embodiment, through setting up first fixed subcomponent and second fixed subcomponent and centre gripping data acquisition device and data acquisition device's auxiliary device respectively, improved the centre gripping effect of regulation structure. First fixed subcomponent and second fixed subcomponent are through the motion in order to adjust data acquisition device's position and auxiliary device's position, in addition, can adjust first fixed subcomponent and second fixed subcomponent according to actual demand, realize adjusting data acquisition device and auxiliary device's relative position, improve the result of use of adjusting the structure.

In another example of the present disclosure, the first and second adjustment bases 300 and 300 are similar in structure. Taking the first adjustment base 300 as an example, the first adjustment base 300 includes a base body 310, a second slider, and a base adjustment member 320.

For example, the second slider is connected to the base body. The first adjustment base 300 may be moved relative to the support frame along the first direction a by a second slider. For example, the second sliding block is embedded in the first supporting structure or the second supporting structure, and the second sliding block can move relative to the first supporting structure or the second supporting structure. For example, the first support structure or the second support structure is provided with a groove in which the second slider can move.

The base adjustment member 320 is for limiting the movement of the second slider relative to the support frame along the first direction a, and the base adjustment member 320 is also for allowing the second slider to move relative to the support frame along the first direction a. For example, the base adjustment part 320 may include a limit switch, and the first adjustment base 300 may be moved relative to the support frame in the first direction a by the second slider when the limit switch is in an on state. When the limit switch is in the off state, the first adjusting base 300 is fixed to the support frame through the second slider, and at this time, the first adjusting base 300 cannot move relative to the support frame.

Illustratively, the distance from the first adjusting base 300 to the receiving portion 120 is greater than or equal to the distance from the bottom portion 110 to the receiving portion 120, and the distance from the second adjusting base to the receiving portion 120 is greater than or equal to the distance from the bottom portion 110 to the receiving portion 120. Therefore, when the first adjusting base 300 or the second adjusting base moves, it is ensured that the bottom 110 is at least flush with the first adjusting base 300 or the second adjusting base, or the bottom 110 is relatively recessed in the first adjusting base 300 or the second adjusting base, so that when the adjusting structure is placed on an external bearing surface, the first adjusting base 300 or the second adjusting base contacts with the bearing surface, and the phenomenon that the adjusting structure is placed unstably due to the fact that the bottom 110 protrudes and contacts with the bearing surface is avoided. It can be seen that the stability of the adjustment structure is improved by the structural arrangement of the first adjustment base 300 or the second adjustment base.

FIG. 4 schematically illustrates a front view of a conditioning system according to an embodiment of the present disclosure.

As shown in fig. 4, the conditioning system includes a conditioning structure 10 and a data acquisition device 20.

Exemplarily, the adjustment structure 10 is for example described above with reference to. The data acquisition device 20 includes, for example, a camera. The fixing member 200 of the adjustment structure 10 is used to hold the data acquisition device 10.

As shown in fig. 5 and 6, the adjustment system may further comprise an auxiliary device 30 of the data acquisition device 10. The fixing part includes a first fixing sub-part 210 and a second fixing sub-part 220, the first fixing sub-part 210 is used for holding the data acquisition device 20, and the second fixing sub-part 220 is used for holding the auxiliary device 30. Taking the second sliding block 330 of the first adjusting base as an example, the second sliding block 330 is embedded in the first supporting structure, and the second sliding block 330 can move relative to the first supporting structure. For example, the first support structure is provided with a groove in which the second slider 330 can move.

When the data acquisition device 20 is a camera, the auxiliary device 30 may be a camera harness. The camera harness is clamped by the second fixing sub-component 220, so that the camera harness is kept in a natural state, and a phenomenon that the camera harness and the camera are forceful is avoided, and use is influenced. In addition, the first and

second fixing sub-parts

210 and 220 are moved to adjust the distance between the first and

second fixing sub-parts

210 and 220, so that the pulling force between the camera harness and the camera is further reduced.

The first and

second fixing sub-parts

210 and 220 may move, so that the position of the camera may be adjusted according to actual requirements, thereby adjusting the focal length of the camera.

In one example, the adjustment structure 10 is used to assist in parameter adjustment of the data acquisition device 20. After the camera and the camera wiring harness are fixed on the adjusting structure 10, the camera is stably located on the horizontal plane by adjusting the adjusting structure 10, and then parameter adjustment is carried out on the camera, so that the influence of camera inclination on the accuracy of parameter adjustment is avoided. Therefore, the adjusting structure 10 improves the accuracy and efficiency of parameter adjustment and reduces the labor cost of parameter adjustment. Through a plurality of regulation structures 10, can unify the accent parameter to a plurality of cameras, improve the parameter uniformity of a plurality of cameras, realize the accurate demarcation of parameter.

According to another embodiment of the present disclosure, an autonomous vehicle camera referencing adjustment system is provided that includes an autonomous vehicle camera and an adjustment structure.

Illustratively, the autonomous vehicle camera is similar to the data acquisition device above, and after calibrating the internal parameters of the autonomous vehicle camera via the adjustment structure, the autonomous vehicle camera may be mounted on the autonomous vehicle for acquiring data via the autonomous vehicle camera during driving of the autonomous vehicle. Therefore, the internal reference of the automatic driving vehicle camera is calibrated through the adjusting structure, and the image acquisition precision of the automatic driving vehicle camera is improved.

The above detailed description should not be construed as limiting the scope of the disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made in accordance with design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present disclosure should be included in the scope of protection of the present disclosure.

Claims

1. An adjustment structure, comprising:

the supporting frame comprises a bottom and a bearing part arranged opposite to the bottom;

a fixing member connected to the receiving portion and configured to move relative to the support frame;

a first adjusting base connected to the bottom portion and configured to move relative to the support frame along a first direction to adjust a distance from the first adjusting base to the receiving portion, wherein the first direction includes a direction from the bottom portion to the receiving portion or a direction from the receiving portion to the bottom portion; and

and the second adjusting base is connected with the bottom and is configured to move relative to the supporting frame along the first direction so as to adjust the distance from the second adjusting base to the bearing part.

2. The adjustment structure of claim 1, wherein the base comprises a first base and a second base; the support frame further includes:

the first supporting structure comprises a first end and a second end opposite to the first end, wherein the first end is connected with the first bottom part, and the second end is connected with the bearing part; and

and the second supporting structure comprises a third end and a fourth end arranged opposite to the third end, wherein the third end is connected with the second bottom part, and the fourth end is connected with the bearing part.

3. The adjustment mechanism of claim 2, wherein the fixing member is configured to move relative to the support frame in a second direction, the second direction comprising a direction pointing from the second end to the fourth end or a direction pointing from the fourth end to the second end.

4. The adjustment structure according to claim 2, characterized in that:

the first adjusting base is connected with the first bottom;

the second adjusting base is connected with the second bottom part;

the receiving portion is connected to the second end and the fourth end.

5. The adjustment structure according to claim 1, characterized in that the fixing member comprises:

a first stator member connected to the receiving portion; and

a second stator member connected to the receiving portion,

wherein at least one of the first and second stator components is configured to move relative to the receptacle to adjust a distance between the first and second stator components.

6. The adjustment mechanism of claim 5, wherein at least one of the first and second stationary subcomponents comprises:

the object stage comprises a fifth end and a sixth end arranged opposite to the fifth end;

a first clamping structure connected to the fifth end and configured to move relative to the fifth end;

a second clamping structure coupled to the sixth end and configured to move relative to the sixth end; and

and a first slider connected to the stage and configured to move relative to the receiving portion.

7. The adjustment mechanism of claim 6, wherein the receptacle comprises a recess, the first slider being configured to move in the recess.

8. The adjustment mechanism of claim 1, wherein at least one of the first adjustment mount and the second adjustment mount comprises:

a base body;

a second slider connected to the base body and configured to move relative to the support frame along the first direction; and

a base adjustment member configured to restrict movement of the second slider relative to the support frame along the first direction and further configured to allow movement of the second slider relative to the support frame along the first direction.

9. The adjustment structure according to claim 1, wherein a distance from the first adjustment base to the receiving portion is greater than or equal to a distance from the bottom portion to the receiving portion, and a distance from the second adjustment base to the receiving portion is greater than or equal to a distance from the bottom portion to the receiving portion.

10. The adjustment structure of claim 1, further comprising:

and the position calibration structure is arranged on the bearing part.

11. A conditioning system, comprising:

a data acquisition device; and

an adjustment structure according to any one of claims 1-10, wherein a fixing part of the adjustment structure is arranged to clamp the data acquisition device.

12. An automatic driving vehicle camera internal reference calibration adjusting system is characterized by comprising:

an autonomous vehicle camera; and

the adjustment mechanism of any one of claims 1-10, wherein a fixed part of the adjustment mechanism is arranged to clamp the autonomous vehicle camera.