CN218299035U - Calibration plate and calibration control equipment - Google Patents

Abstract

The embodiment of the application provides a calibration plate and calibration control equipment. A first calibration area and a second calibration area are presented on the panel of the calibration plate, the first calibration area surrounds the outer side of the second calibration area, and the first calibration area is used for identifying the shape of the calibration plate based on image acquisition. The first calibration area and the second calibration area which are displayed on the panel of the calibration plate are convenient for the sensor to accurately identify the edge of the calibration plate, and then the external parameter is accurately calibrated.

Description

Calibration board and calibration control equipment

technical field

The present application relates to the technical field of calibration, and in particular to a calibration board and calibration control equipment.

Background technique

At present, the target objects around the vehicle are often detected through various sensors deployed in the vehicle, and the detection data of different sensors are fused through the calibrated external parameters to obtain rich detection data and enhance the vehicle's visual perception. However, how to design the calibration board to improve the accuracy of calibration of external parameters and obtain accurate detection data is an urgent problem to be solved.

Utility model content

The embodiments of the present application provide a calibration board and a calibration control device, so as to be accurately identified by sensors, improve the accuracy of calibration of external parameters, and obtain accurate detection data.

In the first aspect, the embodiment of the present application provides a calibration board, the panel of the calibration board presents a first calibration area and a second calibration area; the first calibration area surrounds the outside of the second calibration area, so The first calibration area is used to identify the shape of the calibration plate based on image acquisition.

With the calibration plate provided in the first aspect, the first calibration area presented on the panel can be used to identify the shape of the calibration board, and the first calibration area and the second calibration area presented on the panel of the calibration board facilitate the sensor to accurately identify the calibration board The edge, and then realize the accurate calibration of the extrinsic parameters.

In a possible implementation manner, the first marking area is presented in a first color, the second marking area is presented in a second color, and the first color is different from the second color.

Through the calibration plate provided in this embodiment, it is convenient for the sensor to accurately identify the first calibration area.

In a possible implementation manner, in the hue circle, the included angle between the hue of the first color and the hue of the second color is greater than 30 degrees.

Through the calibration plate provided in this embodiment, the difference between the first calibration area and the second calibration area is further increased, the accuracy of the sensor in identifying the first calibration area is increased, and the accuracy of external reference calibration is further increased.

In a possible implementation manner, the calibration plate is circular, and the first calibration area is a ring.

With the calibration plate provided in this embodiment, when the sensor detects the calibration plate, based on the detected edge of the calibration plate, it is easier to fit and obtain the geometric center of the calibration plate.

In a possible implementation manner, the ratio of the area of the first calibration area to the area of the calibration plate is smaller than a first preset value.

With the calibration plate provided in this embodiment, the narrower the ring of the first calibration area is, and the closer the first calibration area is to the edge line of the calibration plate, the higher the accuracy of the shape of the calibration plate based on the first calibration area is fitted

In a possible implementation manner, the calibration plate further includes a third calibration area, the third calibration area includes the geometric center of the calibration plate, and the second calibration area surrounds the third calibration area On the outside, the third calibration area is used to identify the geometric center of the calibration plate.

With the calibration plate provided in this embodiment, similar to the first calibration area, after the second calibration area or the third calibration area is identified, it can also be used for fitting to obtain the geometric center of the calibration plate.

In a possible implementation manner, the color of the third marking area is different from that of the second marking area, or the third marking area is a hollow area.

Through the calibration plate provided in this embodiment, based on the difference between the second calibration area and the third calibration area, the accuracy of the second calibration area or the third calibration area being recognized by the visual sensor is improved.

In a possible implementation manner, the third calibration area is a circular area with the geometric center of the calibration plate as a center.

Through the calibration plate provided in this embodiment, the circular calibration plate is convenient for fitting to obtain the center of the circle, and then the information is calibrated based on the point of the center of the circle, thereby improving the accuracy of the calibration of the external parameters.

In a possible implementation manner, a ratio of an area of the third calibration area to an area of the calibration plate is smaller than a second preset value.

Through the calibration plate provided in this embodiment, the figure of the third calibration area is closer to the center of the calibration plate, so as to accurately obtain the point pair information of the first image point

In a possible implementation manner, the second marked area is a solid color area.

With the calibration plate provided in this embodiment, the second calibration area can be a solid color area, that is, the second calibration area does not contain any patterns, lines, characters, etc., so that the first calibration area can be accurately identified.

In a possible implementation manner, the panel of the calibration board is covered with a matte coating.

Through the calibration plate provided in this embodiment, when the calibration area on the calibration plate is recognized based on image acquisition, the influence of light reflection on the recognition accuracy is avoided.

In a possible implementation manner, the calibration board further includes: a connection device; the connection device is used to connect the calibration board to a movable device, so that the calibration board moves with the movable device.

The calibration plate provided by this embodiment facilitates the movement of the calibration plate and increases the convenience of using the calibration plate.

In a possible implementation manner, the connecting device is an electric lifting rod, and the connecting device lifts and lowers the calibration plate according to the control of the movable device.

Through the calibration plate provided in this embodiment, the flexible movement of the calibration plate in the detection space is realized.

In a possible implementation manner, the size of the calibration plate is related to the density of radar beams detecting the calibration plate.

With the calibration board provided in this embodiment, the detection data obtained by the radar detecting the calibration board can have higher accuracy.

In the second aspect, the embodiment of the present application provides a calibration control device, including: a calibration control mechanism and the calibration plate in the first aspect or in each possible implementation manner, the calibration control mechanism includes a movable device and a connection device, the One end of the connecting device is fixed to the movable device, and the other end of the connecting device is fixed with the calibration plate; the movable device is used to control the horizontal and/or vertical movement of the calibration plate.

In a possible implementation manner, the mobile device includes a ground mobile device or an aircraft device.

In a possible implementation manner, the connection device is a liftable device; the liftable device is used to control the vertical movement of the calibration plate.

Description of drawings

FIG. 1 is a schematic structural diagram of a vehicle provided in an embodiment of the present application;

Figure 2a is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

Fig. 2b is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

Figure 3a is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

Figure 3b is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

Figure 4a is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

Fig. 4b is a schematic structural diagram of a calibration plate provided in the embodiment of the present application;

FIG. 5 is a schematic diagram of a calibration plate provided in an embodiment of the present application;

FIG. 6 is a schematic diagram of a mobile device provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of another mobile device provided by an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a calibration control device provided in an embodiment of the present application;

FIG. 9 is a schematic structural diagram of an external parameter calibration system provided by an embodiment of the present application.

detailed description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

The calibration board and calibration control equipment provided by this application can be applied to external parameter calibration between different sensors for any equipment deployed with at least two sensors, for example, the equipment can be intelligent vehicles, intelligent robots, industrial manufacturing equipment, engineering detection Equipment, etc., when the present application is applied to different equipment, have the same or similar technical effects. For the convenience of description, the following only takes the extrinsic calibration of sensors deployed in intelligent vehicles (vehicles for short) as an example for illustration.

FIG. 1 is a schematic structural diagram of a vehicle 100 provided in an embodiment of the present application. As shown in FIG. 1 , a control device 110 is deployed in a vehicle 100 , and the control device 110 may be connected to a sensor 120 deployed in the vehicle, so as to respectively detect the environment outside the vehicle through the sensor 120 . Wherein, the sensor 120 may include, for example, a camera sensor 121 , a radar sensor 122 (such as a lidar sensor, a millimeter-wave radar sensor, etc.), a combined positioning sensor 123 , an ultrasonic sensor 124 , and the like.

It should be noted that, when the control device 110 detects through the sensor 120, the detection data of multiple different sensors may be fused to obtain a more accurate detection result of the target object. For example, obtaining the RGB information of the target object through the camera sensor 121 is conducive to extracting various texture features to achieve various difficult image recognition and segmentation tasks, but it is difficult to obtain the three-dimensional information of the target object; the radar sensor 122 can obtain the detected object Two-dimensional (2D) or three-dimensional (3D) point cloud data of the object, where the point cloud data can accurately reflect the depth and reflection intensity of the target object, and image acquisition of the target object around the vehicle, but the point cloud is sparse and disorderly This makes it difficult to achieve image recognition and segmentation tasks. The detection data of the camera sensor 121 and the radar sensor 122 can be fused, so that the detection result can not only accurately reflect the two-dimensional RGB information of the target object, but also accurately reflect the depth information of the target object, which improves the detection ability of the vehicle to the external environment .

Generally speaking, different sensors are installed in different positions in the vehicle, and the poses when detecting the target object are also different. Therefore, the detection results of each sensor belong to the coordinate system of each sensor. Therefore, it is necessary to calibrate the coordinates of different sensors. External parameters, to realize the conversion of detection data between different sensors, so as to realize the fusion of detection data.

Taking the extrinsic calibration of the camera sensor 121 and the radar sensor 122 as an example, the control device 110 uses the sensor to detect the calibration board as shown in FIG. 1 to obtain the point pair information of the image. It is difficult to determine which radar 3D point corresponds to the image pixel point, that is, it is difficult to obtain accurate point pair information of the image point, which leads to low calibration accuracy.

In order to solve the above problems, the present application provides a scheme of a calibration plate, which realizes the identification of the shape of the calibration plate through the first calibration area of the calibration plate, and then realizes the accurate calibration of the external parameters according to the shape of the calibration plate.

It should be noted that the embodiment of the present application is only described by taking the camera sensor 121 and the radar sensor 122 as examples for easy understanding. However, it should not be construed as any limitation to the present application. For example, extrinsic calibration of the camera sensor 12 and the ultrasonic sensor 124 , or extrinsic calibration of the radar sensor 122 and the combined positioning sensor 123 can also be performed.

FIG. 2a is a schematic structural diagram of a calibration plate 200a provided in an embodiment of the present application; FIG. 2b is a schematic structural diagram of a calibration plate 200b provided in an embodiment of the present application.

A first calibration area and a second calibration area appear on the panel of the calibration board. The first marking area surrounds the outside of the second marking area, and the first marking area is used to identify the shape of the marking plate based on image acquisition. As shown in Figure 2a, the panel of the calibration board 200a presents a first calibration area 210a and a second calibration area 220a; as shown in Figure 2b, the panel of the calibration board 200b presents a first calibration area 210b and a second calibration area Labeled area 220b.

Wherein, the first marking area and the second marking area can be distinguished by different colors, borders, different patterns, different reflectivity, and different degrees of concavo-convexity. The greater the difference between the first calibration area and the second calibration area, the easier it is to identify the first calibration area based on image acquisition, that is, the shape of the calibration plate can be more accurately identified.

It should be understood that the visual sensor (such as the camera sensor 121) can identify the first calibration area based on image acquisition, and then recognize the shape of the calibration plate; the detection sensor (such as the radar sensor 122, the ultrasonic sensor 124, etc.) shape detection.

Based on the shape recognized by each sensor, the coordinates of the first image point on the calibration plate in the coordinate system of each sensor can be determined, and the coordinates in the coordinate system of each sensor can be used as the point pair information of the first image point, and then according to the point pair The information determines the extrinsic parameters between the sensors. Wherein, the first image point may be the geometric center of the calibration plate. For example, after the camera sensor 121 collects the image of the calibration plate, it can fit the shape of the first calibration area, and then obtain the coordinates of the geometric center of the calibration plate in the coordinate system of the camera sensor (for example, called the first coordinate); After the radar sensor 122 detects the calibration plate, it can fit the shape of the calibration plate, and then obtain the coordinates of the geometric center of the calibration plate in the coordinate system of the radar sensor 122 (such as called the second coordinate); then the first coordinate and Point pair information of the first image point is obtained by combining the second coordinates.

In general, the first labeling area covers the edge of the labeling plate, for example, the first labeling area 210a covers the edge of the labeling plate 200a in FIG. 2a, and the first labeling area 210b covers the edge of the labeling plate 200b in FIG. For example, the edge of the calibration plate detected by the radar sensor 122 in FIG. 1 is consistent with the edge of the calibration plate recognized by the visual sensor (such as the camera sensor 121 in FIG. 1 ), improving the accuracy of the point pair information. Of course, the present application does not exclude the situation that the first calibration area does not cover the edge of the calibration plate. In this case, the shape of the first calibration area can be set to be consistent with the shape of the edge of the calibration plate. In other words, the geometric center of the first calibration area Consistent with the geometric center of the calibration plate, in order to obtain accurate point pair information.

The present application does not limit the shape of the calibration plate, for example, it may be circular, square, triangular, polygonal, etc. Suppose the shape of the calibration plate is circular, as shown in Figure 2a, the first calibration area 210a can be a circle, and the second calibration area 220a can be a circle, as shown in Figure 2b, the first calibration area 210b can be a circle , The second calibration area 220b can be a circular ring; assuming that the shape of the calibration plate is square, the first calibration area can be a square ring, and the second calibration area can be a square ring or a square. Refer to the calibration plate 300a shown in Figure 3a and Figure 3b Calibration plate 300b is shown. In some embodiments, the first marking area can also be an irregular shape, for example, the marking plate is a square, and the second marking area is a ring or a circle, then the inner edge of the first marking area is a circle, and the outer edge is a square See calibration plate 400a shown in FIG. 4a and calibration plate 400b shown in FIG. 4b.

In some embodiments, in order to make the first marked area easier to be recognized by the sensor based on image acquisition, the first color presented by the first marked area is different from the second color presented by the second marked area, and has a larger Chromatic aberration, or the greater contrast between a first color and a second color. For example, the angle between the hue of the first color and the hue of the second color in the hue circle is greater than or equal to the preset angle of hue, and the angle of hue can be, for example, 30 degrees, 45 degrees, 60 degrees, 90 degrees, 180 degrees degree etc. For example, the first color and the second color can be red and blue, yellow and purple, green and orange, etc., so that the first area and the second area have better contrast under different lighting conditions , can be clearly distinguished.

Optionally, the second marking area may be a solid color area, that is, the second marking area does not contain any patterns, lines, characters, etc., so that the first marking area can be accurately identified.

The narrower the ring of the first calibration area is, the closer the first calibration area is to the edge line of the calibration plate, and the higher the precision of the shape of the calibration plate fitted based on the first calibration area is. Therefore, in some embodiments, the ratio of the area of the first calibration area to the area of the calibration plate should be smaller than the first preset value, for example, 40%, or within a preset range of 20% to 40%; or, When the calibration plate is circular and the first calibration area is a ring, the ratio of the width of the first calibration area to the radius of the calibration plate should be less than the first preset value, such as 25%, or the width of the first calibration area and the calibration The ratio of the radius of the plate is within a preset range, such as 10%-20%. For example, the calibration plate can be a circular plate with a radius of about 50 cm. When the second calibration area is a circle, the radius of the second calibration area is about 40 cm. When the second calibration area is a ring, the radius of the second calibration area is about 40 cm. The outer radius (that is, the inner radius of the first marking area) is about 40 cm, and the ring width of the first marking area is about 10 cm.

In the above-mentioned FIG. 2b, the second marked area 220b further includes a third marked area 230b, that is, the second marked area 220b surrounds the outside of the third marked area 230b. The third calibration area 230b includes the geometric center of the calibration plate, for example, the third calibration area 230b may be a circular area in which the geometric center of the calibration plate 200b is a circle. The present application does not limit the size of the third calibration area.

The third color presented by the third marking area 230b may be different from the second color presented by the second marking area 220b, or the third marking area 230b is a hollow area. So that the second marked area 220b or the third marked area 230b can be recognized by the visual sensor. Similar to the first calibration area, after the second calibration area 220b or the third calibration area 230b is identified, it can also be used for fitting to obtain the geometric center of the calibration plate.

Optionally, the coordinates of the geometric center of the calibration plate obtained by fitting the second calibration area 220b or the third calibration area 230b can be used to determine the point pair information of the first image point; or, based on the second calibration area 220b or the third calibration area The coordinates of the geometric center of the calibration plate obtained by fitting the third calibration area 230b can be used to correct the coordinates of the geometric center of the calibration plate obtained based on the fitting of the first calibration area 210a, and determine based on the coordinates of the corrected geometric center The point pair information of the first image point of .

In some embodiments, the third calibration area 230b can be used to identify the center of the calibration plate 200b based on image acquisition, that is, to identify the coordinates of the first image point in the coordinate system of each sensor. In this case, the ratio of the area of the third calibration area 230b to the area of the calibration plate 200b should be less than the second preset value; or, when the calibration plate is circular and the third calibration area is circular, the third calibration area The ratio of the radius of the calibration plate 230b to the radius of the calibration plate 200b should be smaller than the second preset value. To make the graphics of the third calibration area closer to the center of the calibration plate, so as to accurately obtain the point pair information of the first image point. For example, the calibration plate may be a circular plate with a radius of about 50 cm, and the third calibration area may be a circle with a radius of about 3 cm centered on the center of the calibration plate.

Optionally, when the third calibration area 230b satisfies the constraint of the above-mentioned second preset value, the center of circle of the calibration plate can be obtained by fitting based on the third calibration area 230b, and determined based on the coordinates of the center of circle in the coordinate system of each sensor Point pair information, or, based on the third calibration area 230b, the center of circle of the calibration plate is obtained by fitting, and based on the coordinates of the center of circle in the coordinate system of each sensor, the coordinates of the center of circle of the calibration plate obtained by fitting based on the first calibration area 210b Correction is performed, and point pair information is determined based on the corrected coordinates in each coordinate system.

In some embodiments, the panel of the calibration board is covered with a matte coating, so as to avoid the influence of light reflection on the recognition accuracy when the calibration area on the calibration board is recognized based on image acquisition.

In some embodiments, the size of the target plate is related to the concentration of radar beams detecting the target plate. For example, if the radar wire harnesses of the radar sensors participating in the calibration of external parameters are densely packed, the calibration board can be set smaller, and if the radar wire harnesses of the radar sensors are less densely packed, the calibration board can be set larger. In order to make the detection data obtained by the radar detecting the calibration plate more accurate.

Therefore, in the embodiment of the present application, the first calibration area presented on the panel of the calibration board can be used to identify the shape of the calibration board, and the first calibration area and the second calibration area presented on the panel of the calibration board facilitate the sensor to accurately identify the calibration area. The edge of the plate, thereby realizing the accurate calibration of the external parameters.

FIG. 5 is a schematic diagram of a calibration plate 500 provided in an embodiment of the present application. In some embodiments, as shown in FIG. 5 , the calibration plate 500 further includes a connecting device 510 . The connection device 510 is used to connect the panel 520 of the calibration board 500 to the base 001 . For example, one end of the connection device 510 is connected to the panel 520 of the calibration plate, and the other end of the connection device 510 is connected to the base 001 .

In one example, the connecting device 510 and the panel 520 of the calibration board may be fixedly connected, such as welding, bonding, etc.; in another example, the connecting device 510 and the panel 520 of the calibration board may be Disassemble the connection for its independent use and combination use.

Similar to the above examples, the connection device 510 and the base 001 can be fixedly connected, such as welding, bonding, etc.; or, the connection device 510 and the base 001 can be detachably connected, so as to facilitate their independent use and combined use .

Optionally, the base 001 may be a device that is easy to place or hold.

Optionally, the connection device 510 may be a rod.

In order to realize the flexible movement of the panel 520 of the calibration plate, the connection device 510 may be a liftable device, such as a liftable lift rod. The liftable pole can be lifted and lowered by manually controlling the mechanical parts, or can be lifted and lowered by electrically controlling the mechanical parts, such as an electric lifting pole.

For example, when the liftable device is an electric liftable device, an operation button can be deployed on the liftable device or the base 001, and when the user presses the operation button, the liftable device can be lifted; or, the liftable device can be Connect with external equipment and receive control instructions from external equipment to achieve lifting.

In Fig. 1, in the process of the control device 110 detecting the calibration plate through the sensor to obtain multiple point pair information of the image points, the calibration plate needs to be moved manually to realize the detection of the calibration plate in different positions, however, manually moving The calibration plate leads to low calibration efficiency, and then the calibration accuracy is low due to the inaccurate movement position, and the movement area is not large enough to cause the calculation results of the external parameters to enter the local optimal solution.

In order to solve the above-mentioned problems of low calibration efficiency and low calibration accuracy, the application provides a calibration plate, which can realize automatic movement based on control instructions, so that two different sensors can be used at multiple positions during the movement of the calibration plate to improve The calibration efficiency is improved, and due to the improvement of the calibration efficiency, the movable positions are more abundant, thereby improving the calibration accuracy.

In order to enable the calibration board to move automatically based on control instructions, a processor may be disposed in the base 001 in FIG. 5 , and the processor may control the movement of the panel 520 of the calibration board. For example, the processor deployed in the base 001 can control the connecting device 510 to move up and down, so that the panel 520 of the calibration board moves in the vertical direction.

In some embodiments, the base 001 can be a movable device, and the movable device can be used to control the movement of the panel 520 of the calibration plate in the horizontal direction and/or the vertical direction.

It should be noted that the horizontal direction is the direction of the ground plane, and the vertical direction is the direction perpendicular to the ground plane.

Continuing from the above-mentioned embodiment, when the mobile device can be a ground mobile device (such as a remote control car), referring to the top view shown in a and the front view of the vehicle shown in b in Figure 6, the mobile device 610 can be within the detection area of the vehicle move in the horizontal direction, and move in the horizontal direction based on the fixing of the connecting device 620 carrying the calibration plate.

In some other embodiments, when the movable device can be a flying device (such as a remote control aircraft, a drone, etc.), referring to the top view shown in a and the front view of the vehicle shown in b in Figure 7, the movable device 710 can be Move horizontally and/or vertically within the detection zone of the vehicle. The connection device 720 may be a liftable device or a non-liftable rod, which is not limited in the present application.

In some embodiments, the base 001 can be connected with the control device of the vehicle, receive the control command sent by the control device, and move the panel 520 of the calibration plate to the target position according to the control command, so that the vehicle can measure the target position through various sensors. Probe on the calibration plate on the board to achieve calibration.

In some other embodiments, the base 001 can be connected with the host computer, receive the control command sent by the host computer, and move the panel 520 of the calibration board to the target position according to the control command, so that the vehicle can pass various sensors to the target position. The calibration plate is probed to achieve calibration. The upper computer can be connected with the control device of the vehicle, and receive the point pair information of the first image point on the calibration plate sent by the control device of the vehicle, and generate the panel 520 of the calibration plate according to the point pair information of the first image point to move to The position coordinates of the next target position of .

FIG. 8 is a schematic structural diagram of a calibration control device 800 provided in an embodiment of the present application. As shown in FIG. 8 , the calibration control device 800 includes: a calibration board 810 and a calibration control mechanism 820 . The calibration control mechanism 820 is used to control the calibration plate 810 to move to the position required for calibration.

Exemplarily, the calibration control mechanism 820 includes a connection device 821 and a base 822, a processor may be deployed in the base 822, and the connection device 821 is used to connect the calibration board 810 to the base 822, for example, one end of the connection device 821 is fixed to the base 822 , the other end of the connection device 821 is fixed with the calibration plate 810 , so that the calibration plate 810 moves according to the control of the processor in the calibration control mechanism 820 . The connecting device 821 can be a rod of any material, or can be a lifting device (such as an electric lifting rod), which can be lifted and lowered according to the control of the processor in the calibration control mechanism 820, for example, on a vertical ground plane Control the movement of the calibration plate 810 in the direction.

In some embodiments, the base 822 can be a movable device, and the movable device can be used to control the movement of the calibration plate 810 in the horizontal direction and/or the vertical direction.

It should be noted that the horizontal direction is the direction of the ground plane, and the vertical direction is the direction perpendicular to the ground plane.

In some embodiments, when the mobile device can be a ground mobile device (such as a remote control car), referring to the top view shown in a and the front view of the vehicle shown in b in Figure 6, the mobile device 610 can be in the detection area of the vehicle Move in the horizontal direction inside, and move in the horizontal direction based on the fixing of the connecting device 620 carrying the calibration plate.

In some other embodiments, when the movable device can be a flying device (such as a remote control aircraft, a drone, etc.), referring to the top view shown in a and the front view of the vehicle shown in b in Figure 7, the movable device 710 can be Move horizontally and/or vertically within the detection zone of the vehicle.

It can be understood that, the above embodiment is only described by taking the connecting device 821 and the base 822 belonging to the calibration control mechanism 820 as an example, but this application does not limit it. For example, the calibration plate 810 may include a connecting device 821 and/or a base 822 . In this case, the processor in the calibration control device 800 may be connected to the calibration board 810 in a wired or wireless manner, so as to control the movement of the calibration board.

FIG. 9 is a schematic structural diagram of an external parameter calibration system 900 provided in an embodiment of the present application. As shown in FIG. 9 , the external parameter calibration system 900 may include a host computer 910 and a calibration control device 920 . The calibration control device 920 may include a calibration control mechanism 921 . The calibration control device 920 may also include a calibration board 922 . Wherein, the upper computer 910 and the calibration control mechanism 921 can be connected in a wired or wireless manner, and the calibration control mechanism 921 and the calibration plate 922 can be connected through mechanical components. The calibration control mechanism 921 can control the calibration plate 922 to move to multiple target positions in sequence, so as to realize the external parameter calibration process. The host computer 910 is also connected to the control device 110 of the vehicle to receive the data sent by the control device 110, perform external parameter calibration based on the data sent by the control device 110, and/or control the calibration control device 920 to move the calibration plate 922 to multiple targets Location.

In each embodiment of the present application, if there is no special explanation and logical conflict, the terms and/or descriptions between the various embodiments are consistent and can be referred to each other. The technical features in different embodiments are based on their inherent logic Relationships can be combined to form new embodiments.

The above is only a specific embodiment of the present utility model, but the scope of protection of the present utility model is not limited thereto. Anyone familiar with the technical field can easily think of changes or changes within the technical scope disclosed by the utility model Replacement should be covered within the protection scope of the present utility model. Therefore, the protection scope of the present utility model should be based on the protection scope of the claims.

Claims (17)

1. A calibration plate, characterized in that a first calibration area and a second calibration area appear on the panel of the calibration board; The first marking area surrounds the outside of the second marking area, and the first marking area is used to identify the shape of the marking plate based on image acquisition. 2. The calibration plate according to claim 1, characterized in that, the first calibration area appears in a first color, the second calibration area exhibits a second color, and the first color and the second color The colors are different. 3 . The calibration plate according to claim 2 , wherein, in the hue circle, the angle between the hue of the first color and the hue of the second color is greater than 30 degrees. 4 . 4. The calibration plate according to any one of claims 1 to 3, wherein the calibration plate is circular, and the first calibration area is a ring. 5. The calibration plate according to claim 4, wherein the ratio of the area of the first calibration area to the area of the calibration plate is smaller than a first preset value. 6. The calibration plate according to any one of claims 1 to 3, wherein the calibration plate also includes a third calibration area, the third calibration area includes the geometric center of the calibration plate, and the The second marking area surrounds the outside of the third marking area, and the third marking area is used to identify the geometric center of the marking plate. 7 . The calibration plate according to claim 6 , wherein the color of the third calibration area is different from that of the second calibration area, or the third calibration area is a hollow area. 8 . The calibration plate according to claim 6 , wherein the third calibration area is a circular area centered on the geometric center of the calibration plate. 9. The calibration plate according to claim 8, wherein the ratio of the area of the third calibration area to the area of the calibration plate is smaller than a second preset value. 10. The calibration plate according to any one of claims 1-3, 7-9, wherein the second calibration area is a solid color area. 11. The calibration plate according to any one of claims 1 to 3, 7 to 9, characterized in that the panel of the calibration plate is covered with a matte coating. 12. The calibration board according to any one of claims 1 to 3, 7 to 9, wherein the calibration board further comprises: a connection device; the connection device is used to connect the calibration board panel to an available The moving device makes the calibration plate move with the movable device. 13 . The calibration plate according to claim 12 , wherein the connection device is an electric lifting rod, and the connection device lifts and lowers the calibration plate according to the control of the movable device. 14 . 14 . The calibration board according to any one of claims 1 to 3 , 7 to 9 , wherein the size of the calibration board is related to the density of the radar beams that detect the calibration board. 15 . 15. A calibration control device, characterized in that it comprises: a calibration control mechanism and the calibration plate according to any one of claims 1 to 14, the calibration control mechanism includes a movable device and a connection device, and the connection device One end of the connecting device is fixed to the movable device, and the other end of the connecting device is fixed with the calibration plate; The movable device is used to control the horizontal and/or vertical movement of the calibration plate. 16. The apparatus of claim 15, wherein the mobile device comprises a ground mobile device or an aerial device. 17. The device according to claim 15 or 16, characterized in that, the connecting device is a liftable device; The liftable device is used to control the movement of the calibration plate in the vertical direction.

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