JP2010156609A - Axis adjusting device and axis adjusting method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an axis adjusting device capable of saving a space, and improving work efficiency, concerning an axis adjusting device for performing optical axis adjustment of a camera and an angle axis adjustment of a radar device. <P>SOLUTION: In a target part 103 of this axis adjusting device, a target board 102 is stuck on the reflection surface side of a reflector 101 for reflecting a radar wave transmitted from a millimeter-wave radar sensor. The target part 103 of the axis adjusting device is connected to an arm part 201, and an opening/closing state of the target part 103 is changed by rotating the arm part 201 in the vertical direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an apparatus for adjusting an axis of a radar apparatus or a camera, and more particularly to an axis adjusting apparatus for adjusting an angle axis of a millimeter wave radar sensor or an optical axis of a white line recognition camera in an automobile production process.

  Conventionally, axis adjustment processing has been performed at the time of factory shipment in order to ensure detection accuracy of a white line detection image camera and a millimeter wave radar sensor provided in an automobile.

  FIGS. 8A and 8B are external views of a conventional shaft adjustment facility, in which FIG. 8A shows a side view and FIG. 8B shows a top view.

The vehicle body 800 shown in FIG. 8 is provided with a monocular camera 801 for recognizing a white line on a road, and a millimeter wave radar sensor 802 for recognizing a front obstacle on the back of the front grille cover.
8 includes an optical axis adjustment device 810 that adjusts the optical axis of the monocular camera 801 using the target board 803, and an angle axis that adjusts the angular axis of the millimeter wave radar sensor 802 using the reflector 805. An adjustment device 820 is provided.

  Further, a curtain 804 for preventing erroneous recognition of an object that is not the target board is provided behind the target board 803, and a radio wave absorption board 806 for preventing erroneous reflection is provided behind the reflector 805. Further, a camera 807 for measuring the position of a monocular camera 801 provided on the vehicle body is provided on the optical axis adjusting device 810 side.

  The millimeter wave radar sensor 802 uses a distance measurement function for measuring a distance to an obstacle in front of the radar using a millimeter wave having a wavelength of 1 to 10 mm and a very high frequency of 30 to 300 GHz, and an obstacle in front of the radar. It has a speed measurement function that measures the speed of an object.

  The purpose of use of the millimeter wave radar sensor 802 is pre-crash safety (hereinafter referred to as PCS) or automatic cruise control (hereinafter referred to as ACC), which is control for assisting warning, display, danger avoidance, and the like. And the like). The millimeter wave radar sensor 802 is not easily affected even under conditions such as rain, fog, and snow, and can exhibit excellent performance in object recognition.

  The monocular camera 801 is used for, for example, a lane keep assist (Lane Keep Assist: hereinafter referred to as LKA) function. This lane keep assist is a system that uses a monocular camera 801 to recognize a white line drawn on the road and assist the steering operation so that the vehicle body stays in the left and right white lines and near the center. In the LKA, for example, an alarm is sounded when the vehicle is about to deviate from the white line, and the driver can be alerted by shaking the steering itself in small steps.

Conventionally, as shown in the figure, the angle axis adjustment device 820 of the millimeter wave radar sensor 802 and the optical axis adjustment device 810 of the monocular camera 801 are provided as separate facilities.
The axis adjustment equipment of the millimeter wave radar sensor 802 reflects the radar wave from the millimeter wave radar sensor 802 by the millimeter wave adjustment reflector 805 and adjusts the direction in which the reflected wave is received by the reflector 805 to 0 degrees. Adjust the angle. In the optical axis adjustment device 810 of the monocular camera 801, the optical axis of the monocular camera 801 is adjusted using luminance information acquired using target boards 803 for white line recognition provided at three locations.

  FIG. 9 is a flowchart showing the entire operation procedure of the conventional axis adjusting method.

  First, when the vehicle body to be inspected stops at a predetermined position (step S901), the optical axis of the camera is adjusted using the target board for white line recognition (step S902). More specifically, the target image received by the camera is AD converted to a digital image, and black and white edge extraction is performed using information such as average luminance in the image to obtain the intersection of the target centers. This adjusts the optical axis of the camera.

  Next, when this optical axis adjustment is finished, the curtain for preventing misrecognition of the optical axis adjustment equipment and the target board are opened by opening and closing operations (step S903), so that the millimeter wave adjustment equipment provided at the rear can be used. .

  Then, the angle axis adjustment of the radar sensor is performed using the millimeter wave adjusting reflector 805 (step S904). Next, the angle axis adjustment device 820 is opened by an opening / closing operation (step S905), and the vehicle body that has finished the axis adjustment processing moves forward, for example (step S906), passes through the axis adjustment device and passes through a series of shafts. The adjustment process is terminated. 8 and 9, the optical axis adjustment of the camera 801 is performed first, but the angle axis adjustment of the millimeter wave radar sensor 802 may be performed first.

  FIG. 10 is a flowchart showing a detailed operation procedure of the optical axis adjustment device 810 of the camera 801 shown in step S902.

  First, when the equipment switch is activated (step S1001), the target board 803 descends to a predetermined position and is provided on the back of the target board 803 to prevent the target board 803 from being mistakenly learned. Is closed (step S1002). Then, the position of the camera 801 provided in the vehicle body 800 is measured using the camera 807 on the optical axis adjusting device 810 side (step S1003).

  Next, each position coordinate information of the target board 803 provided in three places of the optical axis adjustment device 810 is acquired (step S1004), and the position information of the camera 801, each position coordinate information of the target board 803, and Using the image information captured by the camera 801, calculation processing is performed using FOE (Focus of Expansion) or the like, and the black and white pattern edge and center point of the target board are extracted to adjust the optical axis of the camera 801 (step) S1005), a series of processing ends.

  FIG. 11 is a flowchart showing a detailed operation procedure of the angle axis adjustment device 820 of the millimeter wave radar sensor 802 shown in step S904.

First, when the equipment switch is activated (step S1101), a radar wave is transmitted from the millimeter wave radar sensor 802 (about 5 seconds) and reflected by the reflector 805 (step S1102). Next, the vertical angle of the millimeter wave radar sensor 802 is adjusted (step S1103), and the angle axis of the millimeter wave radar sensor 802 is adjusted so that the reflection angle from the reflector 805 is acquired and the reflection direction becomes 0 degrees. The left and right angles of the millimeter wave radar sensor 802 are adjusted (step S1104) by manually adjusting the screw for use with a screwdriver. In addition, it is also possible to have an adjustment function by a motor instead of this manual adjustment and perform the angle axis adjustment automatically.

  Finally, final angle axis adjustment is performed in the internal processing of the millimeter wave radar sensor 802 (step S1105), and a series of angle axis adjustment processing is completed. Note that the reflected wave from the reflector is not used to adjust the vertical angle of the radar sensor. The above is the description of the axis adjustment.

  A camera calibration method is disclosed that calibrates the image coordinates of the camera so that the image coordinates of the camera are surely aligned with the search coordinates of the radar radar to prevent erroneous recognition of an obstacle (for example, a patent) Reference 1). In addition, an axis adjustment method for adjusting each sensor axis deviation in an axis deviation axis adjustment method capable of adjusting an axis deviation in the roll direction such as a radar is disclosed (for example, see Patent Document 2).

JP 2006-11570 A JP 2004-317507 A

  However, in the conventional axis adjusting apparatus as shown in FIG. 8 described above, the angle axis adjusting target of the radar apparatus and the optical axis adjusting target of the camera are different from each other. Each of the camera axis adjustment devices must be provided as a separate device.

  For this reason, there is a problem that a space for arranging at least two axis adjusting devices is required, and that it is necessary to work by sequentially operating the two devices, so that work time is required. In addition, since the devices are separate, there is a problem of cost increase.

  The present invention has been made in view of the above problems, and is an axis adjustment device that performs optical axis adjustment of a camera and angle axis adjustment of a radar device using a high-frequency radar, and further saves space and improves work efficiency. An object of the present invention is to provide a shaft adjusting device and a shaft adjusting method capable of improving the above.

  In order to solve the above-described problems, an axis adjustment device according to the present invention is an axis adjustment device that performs axis adjustment of at least one of a radar device or a camera mounted on a vehicle body, and for adjusting the axis of the radar device. A target unit is provided in which a reflector that reflects radio waves transmitted from the radar apparatus and a target board that is made of a material that does not reflect radio waves transmitted from the radar apparatus for adjusting the axis of the camera are integrated.

  With this configuration, the axis adjustment of the radar apparatus and the axis adjustment of the camera can be performed as one apparatus, and the work space can be validated and the work efficiency can be improved. In addition, the cost can be reduced because one apparatus can be used.

  Further, the radar device of the axis adjusting device according to the present invention is a high frequency millimeter wave radar sensor, and the target board is made of a material that transmits a high frequency radar wave transmitted from the millimeter wave radar sensor. . The metal constituting the reflector is aluminum, and the material of the target board is paper or plastic.

  With these configurations, since a high-frequency radar wave transmitted from the millimeter wave radar sensor is not reflected by the target board, it is possible to perform axis adjustment of the camera and the radar apparatus using the target unit. .

  The shaft adjusting device according to the present invention further includes a radio wave absorption board that is installed to be openable and closable behind the target unit, and an image recognition recognition preventive body that is installed to be openable and closable behind the target unit. .

  With this configuration, it is possible to prevent erroneous reflection of the radio wave transmitted from the radar device on the radio wave absorption board, and it is possible to reduce misrecognition of the target location of the camera by the image misrecognition preventing body, and to adjust the axis more appropriately.

  Further, the shaft adjusting device according to the present invention further includes an arm portion that is connected to the target portion and is rotatable, and when the shaft of the shaft adjusting device is adjusted, the arm portion is rotated to rotate the arm portion. The target part is arranged at a predetermined position. The arm portion is covered with a radio wave absorber that reduces reflection of electromagnetic waves.

  With these configurations, the target portion can be disposed in front of the vehicle body by rotating the arm portion, so that the structure of the shaft adjusting device can be simplified and the working space can be used more effectively. In addition, since the arm portion is covered with a radio wave absorber, unnecessary reflection of the radar device can be prevented, and the axis adjustment process can be performed more accurately.

In the axis adjustment device according to the present invention, the axis adjustment includes at least one of an angle axis adjustment of the radar device and an optical axis adjustment of the camera.
With this configuration, the axis adjusting apparatus according to the present invention can appropriately adjust the left and right angle axes of the radar apparatus and the optical axis of a camera such as a white line recognition camera.

  Further, an axis adjustment method according to the present invention is an axis adjustment method used for an axis adjustment device that performs axis adjustment of at least one of a radar device or a camera mounted on a vehicle body, and the axis adjustment device includes: A target unit in which a reflector that reflects radio waves transmitted from the radar device for axis adjustment and a target board made of a material that does not reflect radio waves transmitted from the radar device for axis adjustment of the camera are integrated. And an electromagnetic wave absorption board that can be opened / closed behind the target unit, and an image misrecognition preventing body that can be opened / closed behind the target unit. And a radar axis adjustment step for adjusting the axis of the radar apparatus using the reflector, the image recognition recognition preventive body, and the target board. Te and a camera axis adjustment step of adjusting the axis of the camera.

  The radar axis adjustment step further includes an arrangement step of disposing the radio wave absorption board and the target unit at a predetermined position, a reflection step of reflecting the radar wave transmitted from the radar device at the target unit, The angle axis adjustment step for adjusting the angle axis of the radar sensor of the radar apparatus according to the reception direction of the radar wave reflected in the reflection step, and the image used in the camera axis adjustment step until the angle axis adjustment step is completed. And an opening / closing step for closing the erroneous recognition preventing body.

  Still further, the camera axis adjustment step further acquires a position information of the target board, a camera position measurement step for measuring the position of the camera mounted on the vehicle body, following the angle axis adjustment step. A writing step for writing, and an optical axis adjusting step for adjusting the optical axis of the camera.

  With these configurations, the axis of the radar sensor can be adjusted in the radar axis adjustment step, and the process of the camera axis adjustment step can be performed in parallel in this radar axis adjustment step. Can be realized.

  Needless to say, the axis adjustment method according to the present invention can be realized as a program by a computer or the like, or the program can be distributed via a recording medium such as a DVD or CD-ROM or a transmission medium such as a communication network. .

  In the axis adjustment apparatus according to the present invention, the target unit that integrates the target board of the camera and the reflector of the millimeter wave radar sensor is utilized by utilizing the property that the high-frequency radar wave is transmitted through the target board made of paper or the like. Constitute. For this reason, it is not necessary to separately provide the optical axis adjusting equipment for the white line recognition camera and the angle axis adjusting equipment for the millimeter wave radar sensor, thereby saving space and improving the work efficiency.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a shaft adjusting device according to the present invention will be described with reference to the drawings.

(Embodiment 1)
1A and 1B are layout diagrams of the axis adjusting apparatus 110 according to the present embodiment in a factory facility. FIG. 1A is a side view and FIG. 1B is a top view. The axis adjusting device according to the present invention integrates a reflector serving as a target of a millimeter wave radar sensor and a target board of an image camera using the property that millimeter waves, which are high-frequency electromagnetic waves, pass through paper or the like. By using the target unit, the angle axis adjusting device of the millimeter wave radar sensor and the optical axis adjusting device of the image sensor are integrated into an axis adjusting device.

  1 includes a CCD (charged coupled device) camera or a CMOS (Complementary Metal Oxide Semiconductor) that photoelectrically converts the amount of charge due to light and sequentially reads out and converts it into an electrical signal. A camera 104 for white line recognition such as a camera and a millimeter wave radar sensor 105 for obstacle detection are installed on the back of the front grille.

  In addition, the axis adjustment device 110 includes a target unit 103 in which a reflector 101 serving as a target of the millimeter wave radar sensor 105 and a target board 102 of the camera 104 are integrated. A curtain 107 for preventing the camera 104 from erroneously recognizing the target is provided at the back of the target board 102, and a radio wave absorption board 106 is provided at the back of the reflector 101 to prevent erroneous reflection of radar waves. It has been.

  There is no problem if the distance from the in-vehicle camera 104 to the target board 102 is about 2.5 m or more. Therefore, by installing the reflector 101 at a position of about 4 to 5 m from the front bumper of the vehicle body 100, the axes of both sensors can be adjusted.

  In the present embodiment, the target board 102 is made of a material that does not transmit and reflect high-frequency millimeter waves (for example, cardboard, paper, plastic, etc.). The reflector 101 is made of a metal such as aluminum.

  FIG. 2 is an external view of the target unit 103 of the axis adjusting device according to the present embodiment. 2A is a front view of the target portion 103, and FIG. 2B is a top view of the target portion 103. As shown in FIG.

  As shown in the figure, the target portion 103 is bonded to the reflecting surface side of the reflector 101 so that the target board 102 is integrated.

  The reflector 101 is attached to the arm unit 201 with a screw or the like, and the open / close state of the target unit 103 is adjusted by rotating the arm unit 201 in the vertical direction, for example, 90 degrees. Furthermore, in order to prevent unnecessary reflection of radar waves, a radio wave absorber such as ferrite or rubber ferrite, which is a material that absorbs radio waves and reduces reflection, is attached to the arm unit 201. The shape of the target portion 103 in FIG. 2 is an example, and is not limited to the triangular pyramid reflector 101 and the rectangular target board 102 shown in the figure.

FIG. 3 is an external view of the target board 102 according to the present embodiment.
The material of the target board 102 may be any material as long as it is not glossy. For example, as shown in FIG. The target board 102 shown in (b) is formed. Here, if a reflective material such as an adhesive tape is pasted on the surface of the target paper 301, the camera may not be able to recognize the target. Therefore, a reflective object cannot be pasted on the surface of the target paper 301.

  Further, for example, a target sheet is created in a size shown in FIG. 3B (allowable range ± 5 mm). Here, the black portion of the target board 102 is made not to be glossy, and the black-and-white border is made straight and free from blurring or distortion.

  Further, the black and white pattern of the target board 102 shown in FIG. 3B is merely an example, and the center coordinates may be obtained using a camera. For example, a black and white pattern such as the target board 303 shown in FIG. Absent.

  FIG. 4 is an external view of the reflector 101 used in the target unit 103 according to the present embodiment. 4A is a perspective view of the reflector as viewed from the front side, and FIG. 4B is a perspective view of the reflector as viewed from the back side.

  The reflector 101 is made of a metal such as aluminum that easily reflects radio waves, and the incident radar wave is always reflected directly in front of the reflector 101 using the property that the incident angle and the reflection angle of the radio wave are equal. The bottom of the triangular pyramid has a recessed shape. Further, the reflector 101 is connected to the arm using a metal screw 101a or the like shown in FIG.

  FIG. 5 is a flowchart showing an overall operation procedure of the axis adjusting apparatus according to the present embodiment.

  First, when the vehicle is carried into the inspection position (step S501), the angle axis adjustment process of the millimeter wave radar sensor 105 is performed (step S502). Subsequently, the optical axis adjustment processing of the camera 104 is performed without performing processing such as opening and closing of the target unit 103 (step S503). Then, after the shaft adjustment process is completed, the arm portion 201 of the shaft adjustment device 110 is rotated upward, the radio wave absorption board 106 and the curtain 107 are opened (step S504), and the vehicle body 100 to be inspected passes through. Then, the series of axis adjustment processing ends (step S505).

  FIG. 6 is a flowchart showing an operation procedure during the angle axis adjustment process shown in step S502.

  First, when the equipment switch is activated (step S601), the radio wave absorbing board 106 is closed, and the target unit 103 is lowered by the rotation of the arm unit 201 and disposed at a predetermined position (step S602). Next, a radar wave is transmitted from the millimeter wave radar sensor 105 for about 5 seconds, and the radar wave is reflected using the reflector 101. At this time, the curtain 107 is simultaneously operated so as to be closed (step S603).

  Next, the vertical angle of the millimeter wave radar sensor 105 is adjusted (step S604), and the angle axis adjustment provided in the millimeter wave radar sensor 105 is adjusted so that the reflection angle from the reflector 101 is acquired and the reflection direction becomes 0 degree. The left and right angles of the millimeter wave radar sensor 105 are adjusted (step S605) by manually adjusting the screw for use with a screwdriver. In addition, it is also possible to have an adjustment function by a motor instead of this manual adjustment and perform the angle axis adjustment automatically.

  Finally, the final angle axis adjustment in the internal processing of the millimeter wave radar sensor 105 is performed (step S606), and the series of angle axis adjustment processing ends. Note that the reflected wave from the reflector is not involved in the adjustment of the vertical angle of the millimeter wave radar sensor 105.

  And in the axis adjusting device concerning this embodiment, since the target part integrated for two axis adjustments is used, two axis adjustment processing can be performed continuously.

  FIG. 7 is a flowchart showing an operation procedure during the optical axis adjustment process shown in step S503.

  As described above, the optical axis adjusting target board 102 has already been lowered in step S601, and the curtain 107 provided on the back is also closed in step S602. Accordingly, first, the position of the camera 104 provided in the vehicle body 100 is measured using the camera on the axis adjusting device 110 side (step S701).

  Next, the position coordinate information of the target board 102 provided in the axis adjusting device 110 is acquired (step S702), and the position information of the camera 104, the position coordinate information of the target board 102, and the image captured by the camera 104 are acquired. Using the information, arithmetic processing is performed using FOE (Focus of Expansion) or the like, and the black and white pattern edge and center point of the target board are extracted to adjust the optical axis of the camera 104 (step S703). Exit.

  It is also conceivable to further reduce the work time by performing a process of transmitting the position information of the vehicle-mounted camera 104 in parallel from the axis adjustment device 110 side when the angle axis of the millimeter wave radar sensor 105 is adjusted.

  Then, by using the shaft adjusting device according to the present invention, for example, compared to the conventional case, the movement and working time of a person can be reduced by about 5 seconds, and the operation time of the target and the curtain can be reduced by about 5 seconds. .

  As described above, the axis adjusting device according to the present invention has a target board in which a target board made of a material such as paper that does not reflect electromagnetic waves and a reflector for millimeter wave reflection are integrated. Therefore, it is not necessary to move the optical axis adjustment equipment after adjusting the angle axis of the radar sensor, that is, to perform the opening / closing process of the arm on which the target board is mounted, the opening / closing process of the curtain, and the like. After the adjustment, the optical axis of the white line recognition camera can be adjusted, and the working efficiency can be further improved and the working time can be reduced.

  In addition, since one target unit is used in the present invention, it is not necessary to separately provide an optical axis adjustment facility and an angle axis adjustment facility as in the prior art, and the problem of work space and facility installation space can be solved.

  In the description of the present embodiment, the description has been made on the assumption that the vehicle body is an axis adjustment facility through which the vehicle body passes. Processing can be omitted.

  In the description of the present embodiment, the angle axis adjustment of the radar sensor is performed and then the optical axis adjustment of the camera is performed. However, two axis adjustment operations may be performed in parallel. . Furthermore, the millimeter wave radar sensor is an example, and it can be considered that the millimeter wave radar sensor can be applied to other apparatuses using microwaves or ultra-high frequency waves with different frequencies.

  The axis adjusting apparatus according to the present invention can be used in an inspection process that requires the optical axis adjustment of a camera and the angle adjustment of a radar apparatus. For example, the axis adjustment of a millimeter wave radar sensor and a CCD camera in an automobile inspection process. Can be used as a device.

(A) Side view at factory equipment of shaft adjusting device according to embodiment (b) Top view at factory equipment of shaft adjusting device according to embodiment (A) Front view of target portion of shaft adjusting device according to embodiment (b) Top view of target portion of shaft adjusting device according to embodiment (c) Appearance of target portion of shaft adjusting device according to embodiment Figure (A) The figure of the corrugated cardboard and target paper which comprise the target board which concerns on embodiment. (B) The figure of the target board which concerns on embodiment. (C) The figure which shows the other example of a target board. (A) The perspective view from the front side of the reflector part used for the target part which concerns on embodiment (b) The perspective view from the back side of the reflector part used for the target part which concerns on embodiment The flowchart which shows the operation | movement procedure of the whole axis | shaft adjustment apparatus which concerns on this Embodiment. The flowchart which shows the operation | movement procedure in the angle axis adjustment process shown to step S502. The flowchart which shows the operation | movement procedure in the optical axis adjustment process shown to step S503. (A) Side view of conventional shaft adjustment equipment (b) Top view of conventional shaft adjustment equipment Flow chart showing the overall operation procedure of the conventional axis adjustment method The flowchart which shows the detailed operation | movement procedure of the optical-axis adjustment apparatus of the camera shown to step S902. The flowchart which shows the detailed operation | movement procedure of the angle axis adjustment apparatus of the millimeter wave radar sensor shown to step S904.

Explanation of symbols

100,800 Car body 101,705 Reflector 102,803 Target board 103 Target part 104,801 Camera 105,802 Millimeter wave radar sensor 106,804 Radio wave absorption board 107,806 Curtain
DESCRIPTION OF SYMBOLS 110 Axis adjustment apparatus 201 Arm part 301 Target paper 302 Cardboard 303 Target board 810 Optical axis adjustment apparatus 820 Angle axis adjustment apparatus

Claims (10)

An axis adjustment device for adjusting the axis of at least one of a radar device or a camera mounted on a vehicle body,
A reflector that reflects radio waves transmitted from the radar apparatus for adjusting the axis of the radar apparatus and a target board made of a material that does not reflect radio waves transmitted from the radar apparatus for adjusting the axis of the camera are integrated. A shaft adjustment device equipped with an integrated target unit. The radar device is a high-frequency millimeter-wave radar sensor,
The axis adjusting device according to claim 1, wherein the target board is made of a material that transmits high-frequency radar waves transmitted from the millimeter wave radar sensor. The metal constituting the reflector is aluminum,
The shaft adjusting device according to claim 2, wherein the material of the target board is paper or plastic. The axis adjusting device further includes:
A radio wave absorption board that can be opened and closed behind the target unit;
The shaft adjustment device according to claim 1, further comprising: an image misrecognition prevention body that is installed on the back of the target portion so as to be openable and closable. The axis adjusting device further includes:
An arm portion that is rotatable by being coupled to the target portion;
The shaft adjusting device according to any one of claims 1 to 4, wherein when the shaft of the shaft adjusting device is adjusted, the target unit is arranged at a predetermined position by rotating the arm unit. The axis adjusting device according to claim 5, wherein the arm portion is covered with a radio wave absorber that reduces reflection of electromagnetic waves. The axis adjustment apparatus according to any one of claims 1 to 6, wherein the axis adjustment includes at least one of an angle axis adjustment of the radar apparatus and an optical axis adjustment of the camera. An axis adjustment method used for an axis adjustment device for adjusting the axis of at least one of a radar device or a camera mounted on a vehicle body,
The axis adjustment device is made of a reflector that reflects radio waves transmitted from the radar device for axis adjustment of the radar device, and a material that does not reflect radio waves transmitted from the radar device for axis adjustment of the camera. A target unit integrated with a target board,
A radio wave absorption board that can be opened and closed behind the target unit;
An image misrecognition preventing body installed to be openable and closable behind the target unit;
The axis adjustment method includes:
A radar axis adjustment step for adjusting the axis of the radar device using the radio wave absorption board and the reflector;
An axis adjustment method, comprising: the image misrecognition preventing body, and a camera axis adjustment step of adjusting the axis of the camera using the target board. The radar axis adjustment step further includes:
An arrangement step of arranging the radio wave absorption board and the target unit at a predetermined position;
A reflection step of reflecting the radar wave transmitted from the radar device by the target unit;
An angle axis adjustment step of adjusting the angle axis of the radar sensor of the radar apparatus according to the reception direction of the radar wave reflected in the reflection step;
The axis adjustment method according to claim 8, further comprising: an opening / closing step of closing the image misrecognition preventing body used in the camera axis adjustment step before the angle axis adjustment step is completed. The camera axis adjustment step further includes:
A camera position measuring step for measuring the position of the camera mounted on the vehicle body after the angle axis adjusting step;
A writing step of acquiring and writing position information of the target board;
The axis adjustment method according to claim 9, further comprising an optical axis adjustment step of adjusting an optical axis of the camera.

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