CN217360302U - Flexible target device and system for calibrating automatic driving camera - Google Patents

Abstract

The utility model discloses a flexible mark target device and system for autopilot camera is markd, the device includes: the device comprises a supporting base, a track support and a beam mechanism, wherein the track support is arranged on the supporting base in a vertical mode, the beam mechanism can move up and down along the track support, a display is hung on the beam mechanism and can display different images to serve as targets, and the display can move along the length direction of the beam mechanism through a hanging and fixing module and is used for adapting to the calibration requirement of an automatic driving camera; the bottom of the supporting base is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a displacement mode. The utility model provides an among the technical scheme, through carrying out reasonable regulation to track support, crossbeam mechanism, can realize making things convenient for quick demarcation to different motorcycle types, different kinds of camera fast.

Description

Flexible target device and system for calibrating automatic driving camera

Technical Field

The utility model relates to a camera calibration technical field especially relates to a flexible mark target device and system for autopilot camera is markd.

Background

With the high-speed development of vehicle intelligent driving technology, cameras are more and more applied to intelligent driving vehicles, and the number of the cameras is also continuously increased. The realization of the rapid calibration of multiple cameras is an important link of the intelligent driving development and test of vehicles.

In the image measurement process, in order to determine the correlation between the three-dimensional geometric position of a certain point on the surface of a space object and the corresponding point in the image, a geometric model of camera imaging needs to be established, the geometric model parameters are camera parameters, and the camera calibration process is a process of solving the camera parameters. The accuracy of the camera parameter calibration result directly influences the accuracy of the intelligent driving multi-sensor fusion. The realization of accurate and quick camera calibration is a precondition for realizing the intelligent driving function of the vehicle.

However, in the prior art, the target structure for camera calibration is fixed, is not easy to adjust, cannot be suitable for multi-scene calibration, and is low in use efficiency.

SUMMERY OF THE UTILITY MODEL

To the technical problem, the utility model provides a flexible mark target device and system for autopilot camera is markd can make the mark target multi-angle adjustable, adapts to multiple calibration scene.

The utility model discloses a first aspect of the embodiment provides a flexible mark target device for autopilot camera is markd, include: the device comprises a supporting base, a track support and a beam mechanism, wherein the track support is arranged on the supporting base in a standing mode, the beam mechanism can move up and down along the track support, a display is hung on the beam mechanism and can display different images to serve as targets, and the display can move along the length direction of the beam mechanism through a hanging and fixing module and is used for meeting the calibration requirement of an automatic driving camera; the bottom of the supporting base is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a displacement mode.

Optionally, the rail bracket is composed of a plurality of sectional materials, and a reinforcing structure for fixing and supporting the rail bracket is further arranged on the supporting base.

Optionally, the reinforcing structure includes a plurality of sectional bars connected below the rail bracket and above the supporting base, and the plurality of sectional bars form a reinforcing support for the rail bracket by a triangular fixing structure.

Optionally, a portion of the reinforcing structure and a portion of the support base are combined to form a counterweight mechanism, and the counterweight mechanism includes an empty space for placing different amounts of counterweight sandbags to control stability of the flexible target.

Optionally, a first slide rail is arranged in the beam mechanism, the suspension fixing module comprises a slide block and a movable support, the first slide block is arranged in the first slide rail, and the movable support is connected to the rear end of the display.

Optionally, the first slider and the movable support are fixed by a bolt, and the movable support fixes the display by a bolt.

Optionally, the track support and the beam mechanism are aluminum profiles, and the aluminum profiles are used as tracks in the inner space.

Optionally, the suspension fixing module comprises a ball revolute pair and a column revolute pair.

Optionally, the up-down movable distance of the track support is 0.5m to 3 m.

Optionally, the caster wheels are castor wheels with brakes.

Optionally, a memory is arranged in the display and used for storing different images, and the display can be controlled by a remote controller to switch the display of different images.

Optionally, a limiting part for positioning the height of the beam mechanism is arranged on the rail bracket.

Optionally, the beam mechanism is provided in plurality, and each beam mechanism is suspended with the display.

The utility model discloses the second aspect of embodiment provides a flexible mark target device for autopilot camera and radar are markd, include: the radar calibration device comprises a support base, a track support and a beam mechanism, wherein the track support is arranged on the support base in a vertical mode, the beam mechanism can move up and down along the track support, a radar calibration plate is hung on the beam mechanism, and the radar calibration plate can move along the length direction of the beam mechanism through a hanging and fixing module so as to adapt to the requirements of an automatic driving camera and radar calibration; the bottom of the supporting base is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a displacement mode.

The third aspect of the embodiment of the utility model provides a mark target system for autopilot camera is markd, include the utility model discloses the first aspect, the second aspect be used for the flexible mark target device that autopilot camera was markd, a plurality of the flexible mark target device that autopilot camera was markd is arranged in autopilot car both sides according to autopilot camera mark demand.

The utility model provides an among the technical scheme, through carrying out reasonable regulation to track support, crossbeam mechanism, can realize making things convenient for quick demarcation to different motorcycle types, different kind cameras.

Because whole mark target system has the flexibility, can adjust the position and the angle of mark target according to the distribution of camera position on the real car to the camera calibration of different motorcycle types of adaptation. Meanwhile, the high-definition display can rapidly replace different target patterns so as to meet the requirements of calibration of different cameras.

Drawings

Fig. 1 is a schematic diagram of a flexible target apparatus for calibration of an autopilot camera in an embodiment of the invention;

fig. 2 is a schematic view of a suspension fixing module according to an embodiment of the present invention;

fig. 3 is an application schematic diagram of a flexible target system for automatic driving camera calibration in an embodiment of the present invention.

1-21 parts of a section bar; beam mechanisms 19, 20; displays 22, 23; a column revolute pair 26; a ball rotation pair 27; a support base 28; a track mount 29, left flexible target devices L1, L3, L5, L7, L9; right flexible target devices R2, R4, R6, R8, R10; test vehicle M11.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1, the present invention provides a flexible target device for calibrating an automatic driving camera, which uses an adjustable structure to realize the position adjustment of each component unit so as to adapt to the camera position distribution of different vehicles, and simultaneously, in order to facilitate the calibration, displays 22 and 23 with memories are adopted as calibration objects, so that different objects can be rapidly switched to calibrate; in addition, the weight of the displays 22 and 23 can be used for adaptation, and the following structural relationship is used for implementation.

Specifically, the flexible target device for calibrating the automatic driving camera comprises a supporting base 28, a track support 29, beam mechanisms 19 and 20, a hanging and fixing module and displays 22 and 23. The supporting base 28, the rail bracket 29 and the beam mechanisms 19 and 20 are formed by fixedly connecting a plurality of aluminum profiles. The rail support 29 stands on the support base 28, the rail support 29 has two vertically arranged aluminum profiles, the beam mechanisms 19, 20 are arranged between the two aluminum profiles in a transverse manner, and the beam mechanisms 19, 20 can move up and down along the rail support 29. The displays 22, 23 are suspended above the beam mechanisms 19, 20, and the displays 22, 23 can display different images for use as targets. The displays 22 and 23 are provided with memories for storing different images, and the displays 22 and 23 can be controlled by a remote controller to switch the display of different images. By adopting the mode, the content of the target object can be changed quickly, the operation is relatively simple, and the target plate does not need to be replaced on the device.

The displays 22 and 23 can move along the length direction of the beam mechanisms 19 and 20 through a suspension fixing module to meet the calibration requirement of the automatic driving camera, that is, the displays 22 and 23 can move in the left-right direction and can move in the up-down direction after being matched with the track support 29. In addition, the bottom of the supporting base 28 is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a movable manner, and the displays 22 and 23 can move in multiple directions including front and back movement according to the position of the flexible target device and can adapt to calibration requirements by quickly adjusting the position.

The utility model also provides a flexible mark target device that is used for autopilot camera and radar to mark, the device includes: the automatic driving radar calibration device comprises a supporting base 28, a track support 29 standing on the supporting base 28 and beam mechanisms 19 and 20 capable of moving up and down along the track support 29, wherein radar calibration plates are hung on the beam mechanisms 19 and 20 and can move along the length direction of the beam mechanisms through a hanging and fixing module so as to meet the calibration requirement of an automatic driving radar; the bottom of the supporting base 28 is provided with a movable caster for supporting the flexible target device and realizing displacement adjustment. Different from the flexible target device, the target is different, and a radar calibration plate is adopted, so that the radar of the vehicle can be calibrated by using the flexible target device.

Further, with continued reference to fig. 1, the rail bracket 29 is made up of a plurality of profiles, including profiles 16, 17, 18, 21, wherein the profiles 17, 18 act as rails. The supporting base 28 consists of sectional materials 5, 6, 7, 8, 9, 10 and 11, and movable casters 1, 2, 3 and 4 are arranged below the supporting base 28; the movable caster wheel is a universal wheel which is provided with a brake, and the position of the flexible target device is fixed through the brake after the position of the flexible target device is fixed. Specifically, the supporting base 28 is further provided with a reinforcing structure for fixing and supporting the rail bracket 29. In the figure, two displays 22 and 23 are provided on the rail bracket 29, and it is obvious that the weight is relatively large, and the display 22 and 23 are likely to cause instability of the apparatus when being lifted above the rail bracket 29, so that a reinforcing structure is provided to fix the rail bracket 29 on one hand and to facilitate stabilization of the apparatus on the other hand.

The reinforcing structure comprises a plurality of section bars 12, 13, 14, 15 connected below the rail bracket 29 and above the supporting base 28, and the plurality of section bars form reinforcing support for the rail bracket 29 by a triangular fixing structure. As shown in the figure, the profiles 9, 14, 15 and the profiles 10, 12, 13 form a triangular structure, which has a strong fixing effect, and the rail bracket 29 is stabilized by the matching profiles 11, 16.

It will be appreciated that portions of the reinforcing structure in combination with portions of the support base 28 form a weight mechanism that includes an empty space for placing different amounts of weighted sandbags to control the stability of the flexible target.

As an embodiment, the counterweight means can consist of 16 sections 1, 2, 3, 4. cndot. section 15, 16. Preferably, the accommodating space (not labeled) is formed by the sectional materials 9, 14, 15, 10, 12 and 13 and the sectional materials 11, 5 and 7, the position is above the supporting base 28, and after the sand bag is placed by weight, the flexible target device can be stabilized, so that the device is prevented from being influenced by external environment.

In some embodiments, the size of the support base 28 is configured to be variable, and when more targets need to be placed in the mechanism, this can be accomplished by adjusting the size of the mount base, placing more target mounts on the mechanism. For example, the support base 28 is detachably connected to the rail bracket 29.

For calibration, a plurality of displays 22, 23 may be provided, and a plurality of corresponding beam mechanisms 19, 20 are provided, and each beam mechanism 19, 20 hangs the display 22, 23. In the illustrated embodiment, two beam mechanisms 19 and 20 are provided, each beam mechanism 19 and 20 is provided with a display 22 and 23, and the spatial calibration of the camera can be realized by adjusting the up-down position of the beam mechanisms 19 and 20.

In order to adapt to different calibration environments, the up-down movable distance of the track support 29 is 0.5 m-3 m, and the calibration environment and the calibration direction are changed in a mode of adjusting the height and the height of the cross beam mechanisms 19 and 20, such as the positions in front of, behind and on the side of the camera.

In the embodiment of the present invention, the rail bracket 29 and the beam mechanisms 19 and 20 are aluminum profiles, which are provided with inner spaces as rails. The aluminum profile has a straight inner space for the sliding of the sliding block, and the specific row shape is not limited. The two ends of the beam mechanism 19, 20 are connected to the rails. The ends of the beam means 19, 20 can be moved up and down in the track by means of slides. For convenient positioning, a limiting part (not labeled) for positioning the height of the beam mechanisms 19 and 20 is arranged on the track support 29. The limiting part can be a limiting groove, a limiting bolt or other limiting structures.

Correspondingly, to enable the sliding of the displays 22, 23, the suspension mechanism is also connected to the beam mechanism 19, 20 by means of a slider. As shown in fig. 2, first slide rails (not labeled) are arranged in the beam mechanisms 19 and 20, that is, the inner spaces of the first slide rails are provided, the suspension fixing module includes a slide block and a movable support, the first slide block is arranged in the first slide rails, and the movable support is connected to the rear ends of the displays 22 and 23.

The first sliding block and the movable support are fixed through bolts, and the movable support fixes the displays 22 and 23 through bolts. The suspension fixing module comprises a ball revolute pair 27 and a column revolute pair 26, the column revolute pair 26 has a left-right or up-down rotation function, and the ball revolute pair 27 can realize multi-dimensional rotation.

During calibration, the positions and angles of the targets can be adjusted steplessly through the beam mechanisms 19 and 20, the suspension fixing modules and the universal casters, so that calibration of cameras of different types and different types is realized. The target patterns are displayed by high-definition displays 22 and 23, and different target patterns can be accurately and quickly replaced so as to meet the calibration requirements of different types of cameras.

Additionally, the utility model provides a mark target system for autopilot camera is markd still, including each above-mentioned embodiment be used for the flexible mark target device of autopilot camera demarcation, a plurality of the flexible mark target device that autopilot camera was markd is arranged in autopilot car both sides according to autopilot camera demarcation demand. As shown in fig. 3, the target system includes ten flexible target devices, the numbers L1 and R2 are flexible target devices of a front far-focus camera, the numbers L3 and R4 are flexible target devices of a front near-focus camera, the numbers L5, R6, L7 and R8 are flexible target devices of a peripheral camera, and the numbers L9 and R10 are flexible target devices of a rear camera. According to the camera distribution of actual vehicle, the position and the quantity of adjustment target that can be flexible through one set of flexible mark target system, realize the accurate quick demarcation of different motorcycle types autopilot camera. Number M11 is a test vehicle, located in the surround of the target system, through which multiple cameras can be tested at once. By utilizing a set of flexible target system, the rapid calibration of different vehicle types and different types of cameras can be realized.

In one embodiment, 10 sets of target mounts, 20 displays, are arranged according to the distribution of actual camera positions of the vehicle, as shown in the autopilot camera calibration flexible target system diagram of fig. 3. The number of flexible target supports is arranged according to the position and distribution of the cameras on the vehicle. Each camera is guaranteed to see at least 4 display targets, so that a camera calibration algorithm is supported.

In one embodiment, the height of the target in the range of 0.5m to 3m Z can be adjusted steplessly by adjusting the beam height of the target holder. Simultaneously, a scalable aluminum profile structure is designed, and the mechanism can change the stepless adjusting range in the Z direction according to different calibration requirements.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It is understood that the computer-readable storage medium may include: any entity or device capable of carrying a computer program, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like. The computer program includes computer program code. The computer program code may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U-disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), software distribution medium, and the like.

In some embodiments of the present invention, the device may include a controller, and the controller is a single chip integrated with a processor, a memory, a communication module, and the like. The processor may refer to a processor included in the controller. The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present invention includes other implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processing module-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions.

The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims (15)

1. A flexible target apparatus for autopilot camera calibration, comprising: the device comprises a supporting base, a track support and a beam mechanism, wherein the track support is arranged on the supporting base in a standing mode, the beam mechanism can move up and down along the track support, a display is hung on the beam mechanism and can display different images to serve as targets, and the display can move along the length direction of the beam mechanism through a hanging and fixing module and is used for meeting the calibration requirement of an automatic driving camera; the bottom of the supporting base is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a displacement mode.

2. The flexible target apparatus of claim 1, wherein the track mount is comprised of a plurality of profiles, and the support base further comprises a reinforcing structure for securing and supporting the track mount.

3. The flexible target device of claim 2, wherein the stiffening structure comprises a plurality of profiles connected below the track mount and above the support base, the plurality of profiles forming a stiffening support for the track mount with a triangular fixation structure.

4. The flexible target apparatus of claim 2, wherein a portion of the stiffening structure and a portion of the support base combine to form a weight mechanism, the weight mechanism including an empty space for placing different amounts of weighted sandbags to control the stability of the flexible target.

5. The flexible target device for automatic driving camera calibration as recited in claim 1, wherein a first slide rail is disposed in the beam mechanism, the suspension fixing module comprises a first slide block and a movable support, the first slide block is disposed in the first slide rail, and the movable support is connected to the rear end of the display.

6. The flexible target device for autopilot camera calibration according to claim 5 wherein the first slider is secured to the moveable support by a bolt, the moveable support securing the display by a bolt.

7. The flexible target device for automatic driving camera calibration as recited in claim 1, wherein the track support and the beam mechanism are aluminum profiles with internal space as the track.

8. The flexible target device for autopilot camera calibration of claim 1 wherein the suspension fixture module includes a ball revolute pair and a column revolute pair.

9. The flexible target device for automatic driving camera calibration according to claim 1, wherein the up-down movable distance of the track support is 0.5-3 m.

10. The flexible target device for autopilot camera calibration according to any one of claims 1 to 9 wherein the caster wheels are casters with brakes.

11. The flexible target device for automatic driving camera calibration according to any one of claims 1 to 9, wherein a memory is arranged in the display for storing different images, and the display can be controlled by a remote controller to switch the display of different images.

12. The flexible target device for automatic driving camera calibration as claimed in any one of claims 1 to 9, wherein a limiting portion for positioning the height of the beam mechanism is arranged on the rail support.

13. A flexible target device for calibration of autopilot cameras according to one of claims 1 to 9 and characterized in that a plurality of beam mechanisms are provided, each beam mechanism suspending the display.

14. A flexible target apparatus for autopilot camera calibration, comprising: the system comprises a supporting base, a track support and a beam mechanism, wherein the track support is arranged on the supporting base in a vertical mode, the beam mechanism can move up and down along the track support, a radar calibration plate is hung on the beam mechanism, and the radar calibration plate can move along the length direction of the beam mechanism through a hanging and fixing module so as to adapt to the calibration requirement of the automatic driving radar; the bottom of the supporting base is provided with a movable caster for supporting the flexible target device and adjusting the flexible target device in a displacement mode.

15. A target system for autodrive camera calibration comprising a plurality of flexible target devices for autodrive camera calibration as claimed in claim 14 or any one of claims 1 to 13 arranged on either side of an autodrive vehicle in accordance with the autodrive camera calibration requirements.

Images