CN217953425U - Camera installation angle checking fixture - Google Patents
Camera installation angle checking fixture Download PDFInfo
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- CN217953425U CN217953425U CN202221028313.4U CN202221028313U CN217953425U CN 217953425 U CN217953425 U CN 217953425U CN 202221028313 U CN202221028313 U CN 202221028313U CN 217953425 U CN217953425 U CN 217953425U
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Abstract
The utility model relates to an automatic drive vehicle technical field provides an utensil is examined to camera installation angle, including frock, camera assembly and angle detection mechanism, the camera assembly is suitable for and is fixed in on the frock, and the camera assembly is used for fixed camera, and angle detection mechanism is used for detecting the installation angle of camera on the camera assembly. Fix the camera assembly through the frock, the camera assembly simulates the support body of real autopilot vehicle, be fixed in the camera assembly with the camera on and detect the installation angle of camera on the camera assembly through angle detection mechanism, alright reachs the installation angle of camera on the support body of real autopilot vehicle to carry out accurate measurement to the angular deviation of camera on the support body of autopilot vehicle, in order to ensure that the installation angle deviation of camera satisfies the operation requirement.
Description
Technical Field
The utility model relates to an automatic drive vehicle technical field especially relates to an utensil is examined to camera installation angle.
Background
The automatic driving technology application and the mass production project development and starting of the commercial vehicle are late, the traditional commercial vehicle uses fewer camera sensors, mainly look around the camera and is insensitive to the installation angle, but the L3/L4 automatic driving system can provide higher installation requirements for the installation angle of the sensor.
The automatic driving of the commercial vehicle has higher requirement on the deviation of the installation angle of the camera, and the camera needs to meet the deviation within the range of +/-3 degrees. The camera and the support are installed on a sub-assembly line, and if the installation accuracy is poor, the angle of the camera cannot meet the requirement of a perception algorithm after the vehicle is loaded. The angle of the traditional camera is calculated by a visual algorithm at an EOL station after loading in a GA workshop, and the repair workload is large once the error is exceeded. The angle detection of the camera is very inconvenient in such a mode, and therefore a camera installation angle detection tool is urgently needed to solve the technical problem.
SUMMERY OF THE UTILITY MODEL
The utility model provides an utensil is examined to camera installation angle for solve among the prior art the technical problem that the angle installation precision of camera is not convenient for detect on the autopilot vehicle, thereby detect the angular deviation of camera on the support.
The utility model provides an utensil is examined to camera installation angle, include:
tooling;
the camera assembly is suitable for being fixed on the tool and used for fixing the camera;
and the angle detection mechanism is used for detecting the installation angle of the camera on the camera assembly.
According to the utility model provides a pair of utensil is examined to camera installation angle, the frock includes:
fixing the panel;
the base is arranged on the upper side of the fixed panel, and the camera assembly is suitable for being attached to the side surface of the base;
and the jacking mechanism is arranged on the upper side of the fixed panel and is used for jacking and tightly fitting the camera assembly on the side surface of the base.
According to the utility model provides a pair of utensil is examined to camera installation angle, the side surface of base is equipped with the mounting hole, the camera assembly is equipped with the through-hole, the mounting hole with the through-hole is suitable for to be fixed mutually through the fastener, the tight mechanism in top is suitable for the top tightly the fastener.
According to the utility model provides a pair of utensil is examined to camera installation angle, the tight mechanism in top is including pushing up tight cylinder and tight piece in top, the tight cylinder in top is fixed in through the mount pad the upside of fixed panel, the piston rod that pushes up tight cylinder with one side of tight piece in top links to each other, the opposite side of tight piece in top outwards extends there is the lug, the lug is used for pushing up tightly the fastener.
According to the utility model provides a pair of utensil is examined to camera installation angle still includes: the casing, be equipped with the backup pad in the casing, fixed panel slide set up in the upside of backup pad.
According to the utility model provides a pair of utensil is examined to camera installation angle, the upside of backup pad is equipped with guiding mechanism and sliding cylinder, fixing panel's downside is equipped with the sliding seat, sliding seat slidable mounting in guiding mechanism, sliding cylinder is used for the drive fixing panel follows guiding mechanism slides.
According to the utility model provides a pair of utensil is examined to camera installation angle, angle detection mechanism includes:
the mechanical arm is provided with a fixed end and a free end, and the fixed end is arranged on the upper side of the supporting plate;
the detector is installed at the free end and used for detecting the installation angle of the camera on the camera assembly.
According to the utility model provides a pair of utensil is examined to camera installation angle, the arm adopts six degree of freedom arms.
According to the utility model provides a pair of utensil is examined to camera installation angle, first test surface, second test surface and third test surface have been arranged respectively to the camera, fixed panel's upside is equipped with reference mechanism, reference mechanism has arranged first reference surface, second reference surface and third reference surface respectively, the detector is used for detecting angular deviation between first test surface and the first reference surface to and the angular deviation between second test surface and the second reference surface, and the angular deviation between third test surface and the third reference surface.
According to the utility model provides a pair of utensil is examined to camera installation angle, the upside of backup pad is equipped with flexible support piece, flexible support piece is used for supporting the camera assembly.
The embodiment of the utility model provides an utensil is examined to camera installation angle, fix the camera assembly through the frock, the support body of the real autopilot vehicle of camera assembly simulation, be fixed in the camera assembly on and detect the installation angle of camera on the camera assembly through angle detection mechanism, alright reach the installation angle of camera on the support body of real autopilot vehicle, thereby carry out accurate measurement to the angular deviation of camera on the support body of autopilot vehicle, satisfy operation requirement with the installation angle deviation of ensureing the camera.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings required for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is one of schematic structural diagrams of the camera mounting angle checking fixture provided by the present invention;
FIG. 2 is an enlarged view of a portion of FIG. 1 at A;
fig. 3 is a second schematic structural view of the camera mounting angle measuring tool provided by the present invention;
FIG. 4 is an enlarged view of a portion of FIG. 3 at B;
FIG. 5 is an enlarged view of a portion of FIG. 3;
fig. 6 is the utility model provides an in the utensil is examined to camera installation angle, the schematic structure of backup pad.
Reference numerals:
1. a camera assembly; 2. a camera; 3. fixing the panel; 4. a base; 5. tightly pushing the air cylinder; 6. a jacking block; 7. a mounting seat; 8. a bump; 9. a housing; 10. a support plate; 11. a guide mechanism; 12. a slide cylinder; 13. a sliding seat; 14. a mechanical arm; 15. a detector; 16. A first test face; 17. a second test face; 18. a third test surface; 19. a first reference plane; 20. a second reference plane; 21. a third reference plane.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention, but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" should be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the embodiments of the present invention can be understood in specific cases by those skilled in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
The utility model discloses an utensil is examined to camera installation angle is described below with fig. 1-6, this utensil is examined to camera installation angle is including frock, camera assembly 1 and angle detection mechanism, and wherein, camera assembly 1 is suitable for to be fixed in on the frock, and camera assembly 1 is used for fixed camera 2, and angle detection mechanism is used for detecting the installation angle of camera 2 on camera assembly 1.
In this embodiment, fix camera assembly 1 through the frock, camera assembly 1 simulates the support body of real autopilot vehicle, be fixed in camera assembly 1 with camera 2 on and detect the installation angle of camera 2 on camera assembly 1 through angle detection mechanism, alright reachs the installation angle of camera 2 on the support body of real autopilot vehicle, thereby carry out accurate measurement to the angular deviation of camera 2 on the support body of autopilot vehicle, in order to ensure that the installation angle deviation of camera 2 satisfies the operation requirement.
Wherein, camera assembly 1 includes guard shield and plastics lower guard shield on metal support, plastics. When testing, dismantle the guard shield on the plastics, then carry out the angle test of camera 2.
Wherein, the frock specifically includes flush mounting plate 3, base 4 and the tight mechanism in top, and base 4 installs in flush mounting plate 3's upside, and camera assembly 1 is suitable for the laminating in the side surface of base 4, and the tight mechanism in top is installed in flush mounting plate 3's upside, and the tight mechanism in top is used for hugging closely the side surface that closes in base 4 with car as a house support body top. Install camera assembly 1 in the side surface of base 4 and install on the vehicle underframe in order to simulate the support body of real autopilot vehicle, utilize the tight mechanism of top to carry out the top tightly to form firm connection between camera assembly 1 and the base 4, avoid camera assembly 1 to drop from base 4.
The side surface of the base 4 is provided with a mounting hole, the camera assembly 1 is provided with a through hole, the mounting hole and the through hole are suitable for being fixed through a fastener, and the jacking mechanism is suitable for jacking the fastener so as to form firm connection between the camera assembly 1 and the base 4. It can be understood that, when the camera assembly 1 is laminated with the side surface of the base 4, the through hole on the camera assembly 1 is opposite to the mounting hole on the side surface of the base 4, and then the through hole and the mounting hole are inserted through the fastener, so that mutual fixation between the camera assembly 1 and the base 4 is realized, and the fastening mechanism is utilized to tightly push the fastener, thereby avoiding the fastener from falling off from the through hole and the mounting hole, and further ensuring stable connection between the camera assembly 1 and the base 4.
Specifically, the fastener that here used is bolt or pin etc. inserts in establishing through-hole and mounting hole in proper order through the pin, realizes the reciprocal anchorage between camera assembly 1 and the base 4, and the end of pin is tight through the tight mechanism top in top to avoid the fastener to drop from in through-hole and the mounting hole, further ensure the firm connection between camera assembly 1 and the base 4. When the frame body of the real automatic driving vehicle is arranged on the vehicle bottom frame, the fastening piece can adopt a bolt or a screw, so that the stable connection of the frame body and the fastening piece is ensured.
As shown in fig. 2, the tightening mechanism specifically includes a tightening cylinder 5 and a tightening block 6, the tightening cylinder 5 is fixed on the upper side of the fixing panel 3 through a mounting seat 7, a piston rod of the tightening cylinder 5 is connected with one side of the tightening block 6, a protrusion 8 extends outwards from the other side of the tightening block 6, and the protrusion 8 is used for tightening the fastening member. It will be appreciated that the extension and retraction of the piston rod by the jacking cylinder 5 drives the jacking blocks 6 towards one side of the fastener, thereby pressing the lugs 8 against the locking elements.
It will be appreciated that the piston rod is located on the side of the puller cylinder 5 facing the fastener, thereby ensuring that the piston rod drives the puller block 6 towards or away from the fastener as it extends and retracts.
It will be understood that the projection 8 extending outwardly means that the projection 8 extends on the holding-down block 6 towards the side remote from the holding-down cylinder 5, wherein the projection 8 can be formed integrally with the holding-down block 6.
According to the utility model provides an utensil is examined to camera installation angle, as shown in fig. 1, it includes casing 9 in addition to each part in the aforesaid embodiment, casing 9 can set up to cabinet-shaped, the inside cavity of casing 9, inside level at casing 9 is provided with backup pad 10, aforesaid flush mounting plate 3 slidable mounting in the upside of backup pad 10 utilizes the horizontal slip of flush mounting plate 3 in backup pad 10, adjust flush mounting plate 3's position, thereby be convenient for utilize angle detection mechanism to detect the angle of the camera 2 that lies in camera assembly 1 on flush mounting plate 3.
Wherein, angle detection mechanism also sets up on backup pad 10, and the upside of backup pad 10 is equipped with guiding mechanism 11 and slip cylinder 12, and the downside of fixed panel 3 is equipped with sliding seat 13, and sliding seat 13 slidable mounting is on guiding mechanism 11, and slip cylinder 12 is used for driving fixed panel 3 and slides along guiding mechanism 11, and guiding mechanism 11 level is arranged, and the direction that guiding mechanism 11 set up is perpendicular to angle detection mechanism to can be close to or keep away from angle detection mechanism when making sliding seat 13 slide on guiding mechanism 11.
Specifically, as shown in fig. 6, the guide mechanism 11 may be configured as a guide rail, the sliding seat 13 slides along the guide rail to limit the sliding direction of the fixed panel 3, and the sliding cylinder 12 is operated to drive the fixed panel 3 to slide along the length direction of the guide mechanism 11.
Wherein, the upside of sliding cylinder 12 can be fixed mutually with fixed panel 3's downside, the upside of backup pad 10 can be fixed with L shape spout, the direction that sets up of L shape spout is the same with guiding mechanism 11's the direction that sets up, sliding cylinder 12 self slides and sets up in L shape spout, the piston rod of L shape spout is fixed continuous with the plate of L shape spout tip, when sliding cylinder 12 begins work and makes sliding cylinder's 12 piston rod begin to stretch out and draw back, sliding cylinder 12 alright slide along L shape spout, thereby the fixed panel 3 of drive top slides, with the position control that realizes camera 2 on the fixed panel 3 on the camera assembly 1.
According to the utility model provides an utensil is examined to camera installation angle, as shown in fig. 1 and fig. 3, angle detection mechanism specifically includes arm 14 and detector 15, and wherein, arm 14 has stiff end and free end, and the upside in backup pad 10 is installed to the stiff end of arm 14, and detector 15 is installed in the free end of arm 14, and detector 15 is used for detecting the installation angle of camera 2 on camera assembly 1. The position of the detector 15 is adjusted by the mechanical arm 14, so that the installation angle of the camera 2 at each position on the camera assembly 1 is detected.
The mechanical arm 14 is a six-degree-of-freedom mechanical arm, so that the detector 15 can be adjusted at multiple angles, and the test surface of the camera 2 can be captured conveniently.
Specifically, the robot arm 14 includes a first member fixed to the upper side of the support plate 10, and a second member rotatably disposed on the upper side of the first member, wherein a rotating shaft between the first member and the second member is vertically disposed; a third component is hinged on the upper side of the second component, so that the second component and the third component can swing, wherein a hinge shaft between the second component and the third component is horizontally arranged; a fourth component is hinged at the upper end of the third component, so that the third component and the fourth component can swing, wherein a hinge shaft between the third component and the fourth component is horizontally arranged; a fifth component is rotatably arranged on the side edge of the fourth component, wherein a rotating shaft between the fourth component and the fifth component is horizontally arranged; a sixth component is hinged to one side, away from the fourth component, of the fifth component, so that the fifth component and the sixth component can swing, wherein a hinge shaft between the fifth component and the sixth component is horizontally arranged; the lower end of the sixth component is rotatably connected with the detector 15, wherein a rotating shaft between the sixth component and the detector 15 is vertically arranged. Thereby achieving six degree of freedom adjustment of the robotic arm 14 in the manner described above.
As shown in fig. 4 and 5, a first test surface 16, a second test surface 17 and a third test surface 18 are respectively disposed on the camera 2, wherein the first test surface 16, the second test surface 17 and the third test surface 18 can be respectively distributed along the directions of the x-axis, the y-axis and the z-axis, that is, the first test surface 16, the second test surface 17 and the third test surface 18 are perpendicular to each other, meanwhile, a reference mechanism is disposed on the upper side of the fixed panel 3, a first reference surface 19, a second reference surface 20 and a third reference surface 21 are respectively disposed on the reference mechanism, and the detector 15 is used for detecting an angular deviation between the first test surface 16 and the first reference surface 19, an angular deviation between the second test surface 17 and the second reference surface 20, and an angular deviation between the third test surface 18 and the third reference surface 21. The detector 15 utilizes the TOF principle to scan the 3D figure of 2 shells of camera, and utilizes three test surface and three reference surface to compare respectively, and angular deviation all satisfies the angular deviation in the 3 within ranges of + -, realizes detecting of 2 angles of camera. In the best state, the three test surfaces are respectively parallel to the three reference surfaces.
The detector 15 is a laser measuring instrument based on a laser ranging principle, specifically, the detector 15 is a high-precision laser measuring instrument, and the detector 15 scans the 3D number of the shell of the camera 2 by using a TOF principle and compares the number with a reference plane, so that the consistency between the simulated detection angle and the actual detection angle is less than 0.5 °. Compare traditional mechanical examination utensil, more complicated plane can be measured to high accuracy laser measuring apparatu, and the precision is higher, as long as adjust arm scanning coordinate just can adapt new camera assembly simultaneously, has the expansibility.
The upper side of the supporting plate 10 is provided with a flexible supporting member for supporting the camera assembly 1, so as to fix the position of the camera assembly 1 more conveniently.
Wherein, the front side of casing 9 still is provided with the cabinet door, and the cabinet door is used for sealing the casing 9 in the region of backup pad 10 below, and this region can be provided with motor isotructure to be convenient for prevent dust, still be provided with the operation billboard and the debugging billboard on casing 9, so that carry out parameter debugging and data monitoring.
The universal wheels can be arranged at the bottom of the machine shell 9, so that the whole camera mounting angle detection tool can be conveniently moved.
Finally, it should be noted that: 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, those skilled in the art will understand 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 (10)
1. The utility model provides a utensil is examined to camera installation angle which characterized in that includes:
assembling;
the camera assembly is suitable for being fixed on the tool and used for fixing the camera;
and the angle detection mechanism is used for detecting the installation angle of the camera on the camera assembly.
2. The camera mounting angle inspection device according to claim 1, wherein the tool includes:
fixing the panel;
the base is arranged on the upper side of the fixed panel, and the camera assembly is suitable for being attached to the side surface of the base;
and the jacking mechanism is arranged on the upper side of the fixed panel and is used for jacking the camera assembly to be tightly attached to the side surface of the base.
3. The camera mounting angle inspection device according to claim 2, wherein a mounting hole is formed in a side surface of the base, the camera assembly is provided with a through hole, the mounting hole and the through hole are suitable for being fixed through a fastener, and the tightening mechanism is suitable for tightening the fastener.
4. The camera mounting angle inspection device according to claim 3, wherein the tightening mechanism includes a tightening cylinder and a tightening block, the tightening cylinder is fixed to the upper side of the fixing panel through a mounting seat, a piston rod of the tightening cylinder is connected to one side of the tightening block, and a protrusion extends outward from the other side of the tightening block and is used for tightening the fastener.
5. The camera mounting angle inspection tool of any one of claims 2-4, further comprising: the casing, be equipped with the backup pad in the casing, fixed panel slide set up in the upside of backup pad.
6. The camera mounting angle detecting tool of claim 5, wherein a guide mechanism and a sliding cylinder are disposed on an upper side of the supporting plate, a sliding seat is disposed on a lower side of the fixing panel, the sliding seat is slidably mounted on the guide mechanism, and the sliding cylinder is used for driving the fixing panel to slide along the guide mechanism.
7. The camera mounting angle inspection device according to claim 5, wherein the angle detection mechanism includes:
the mechanical arm is provided with a fixed end and a free end, and the fixed end is arranged on the upper side of the supporting plate;
the detector is installed at the free end and used for detecting the installation angle of the camera on the camera assembly.
8. The camera mounting angle inspection device of claim 7, wherein the mechanical arm is a six-degree-of-freedom mechanical arm.
9. The camera mounting angle inspection device according to claim 7, wherein the cameras are respectively arranged with a first test surface, a second test surface and a third test surface, the upper side of the fixed panel is provided with a reference mechanism, the reference mechanism is respectively arranged with a first reference surface, a second reference surface and a third reference surface, and the inspection device is used for inspecting an angular deviation between the first test surface and the first reference surface, an angular deviation between the second test surface and the second reference surface, and an angular deviation between the third test surface and the third reference surface;
the detector is a laser measuring instrument based on a laser ranging principle.
10. The camera mounting angle inspection device according to claim 5, wherein a flexible support member is provided on an upper side of the support plate, and the flexible support member is used for supporting the camera assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221028313.4U CN217953425U (en) | 2022-04-28 | 2022-04-28 | Camera installation angle checking fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221028313.4U CN217953425U (en) | 2022-04-28 | 2022-04-28 | Camera installation angle checking fixture |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217953425U true CN217953425U (en) | 2022-12-02 |
Family
ID=84215400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221028313.4U Active CN217953425U (en) | 2022-04-28 | 2022-04-28 | Camera installation angle checking fixture |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217953425U (en) |
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2022
- 2022-04-28 CN CN202221028313.4U patent/CN217953425U/en active Active
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