WO2022028529A1 - 标定设备、标定方法以及标定设备的校正方法 - Google Patents

标定设备、标定方法以及标定设备的校正方法 Download PDF

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Publication number
WO2022028529A1
WO2022028529A1 PCT/CN2021/110873 CN2021110873W WO2022028529A1 WO 2022028529 A1 WO2022028529 A1 WO 2022028529A1 CN 2021110873 W CN2021110873 W CN 2021110873W WO 2022028529 A1 WO2022028529 A1 WO 2022028529A1
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WIPO (PCT)
Prior art keywords
image
display panel
light projection
calibration
image display
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PCT/CN2021/110873
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English (en)
French (fr)
Inventor
刘连军
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深圳市道通科技股份有限公司
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Publication of WO2022028529A1 publication Critical patent/WO2022028529A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying

Definitions

  • the application relates to the technical field of automobile detection, and in particular, to a calibration device, a calibration method, and a calibration method for the calibration device.
  • ADAS Advanced Driver Assistant System
  • some calibration devices in the industry include a bracket and a pattern plate, wherein the pattern plate is fixed on the bracket, and the surface of the pattern plate is printed with a set pattern for recognition by sensors in ADAS.
  • the staff places the calibration device at the designated position, and each sensor to be tested in the ADAS of the vehicle to be tested takes pictures of the above set pattern to perform the calibration process.
  • the inventor of the present invention found in the process of realizing the present invention that: since the setting pattern is formed on the pattern plate by ink printing, and the ink is easily affected by the ambient temperature and humidity, in a high temperature and humid environment, the setting pattern is The ink on the edge of the fixed pattern is easy to spread to the periphery, thus affecting the display effect of the setting pattern and thus the calibration accuracy.
  • the embodiments of the present invention aim to provide a calibration device, a calibration method, and a calibration method for the calibration device, so as to solve the problem that the ink at the edge of the setting pattern is easy to diffuse outward in the current calibration device in a high temperature and humid environment, which affects the setting pattern.
  • Technical issues with display effects aim to provide a calibration device, a calibration method, and a calibration method for the calibration device, so as to solve the problem that the ink at the edge of the setting pattern is easy to diffuse outward in the current calibration device in a high temperature and humid environment, which affects the setting pattern.
  • a calibration device comprising:
  • a light projection device mounted on the bracket, for projecting a setting pattern to the image display panel, the setting pattern being used to assist in calibrating the sensor to be tested on the vehicle to be tested;
  • an adjustment device mounted on the bracket, the adjustment device includes an adjustment mechanism and a processing module electrically connected with the adjustment mechanism, the processing module is used to acquire the to-be-adjusted position of the light projection device relative to the image display panel and control the adjustment mechanism to adjust the position of the light projection device relative to the image display panel according to the to-be-adjusted displacement, so as to adjust the display state of the set pattern on the image display panel.
  • the adjustment device further includes an image capture sensor, the image capture sensor is installed on the light projection device, and the image capture sensor is electrically connected to the processing module;
  • the image display panel is provided with a preset mark, and the image acquisition sensor is used for acquiring a mark image with the preset mark;
  • the processing module is configured to acquire the marked image, and determine the to-be-adjusted displacement according to the marked image.
  • the determining the displacement to be adjusted according to the marked image includes:
  • the processing module acquires the real coordinates of the preset marker in the marker image, and the preset coordinates of the preset marker;
  • the processing module determines the to-be-adjusted displacement according to the real coordinates and the preset coordinates.
  • the preset marks are provided at the corners of the surface of the image display panel.
  • the preset mark includes a first mark group and a second mark group, the first mark group and the second mark group are both arranged at the corners, and the first mark group A marker group and the second marker group are center-symmetrical about the central axis of the image display panel.
  • the adjustment device further includes an image capture sensor, the image capture sensor is installed on the light projection device, and the image capture sensor is electrically connected to the processing module;
  • the image acquisition sensor is used to acquire the mark image with the set pattern
  • the processing module is configured to acquire the marked image, and determine the to-be-adjusted displacement according to the marked image.
  • the determining the displacement to be adjusted according to the marked image includes:
  • the processing module obtains the real coordinates of the set pattern in the marked image, and the preset coordinates of the set pattern
  • the processing module determines the to-be-adjusted displacement according to the real coordinates and the preset coordinates.
  • the adjustment device further includes an attitude sensor, the attitude sensor is installed on the light projection device, and the attitude sensor is electrically connected to the processing module;
  • the posture sensor is used to measure the real posture of the light projection device relative to the image display panel, and the processing module determines the actual posture according to the real posture and the preset posture of the light projection device relative to the image display panel. Describe the displacement to be adjusted;
  • the adjustment device further includes at least three distance sensors, the distance sensors are installed on the light projection device, and the distance sensors are electrically connected to the processing module, and the distance sensors are used to measure the distance The real distance of the sensor relative to the image display panel, and the processing module determines the to-be-adjusted displacement according to the real distance and the preset distance of the distance sensor relative to the image display panel.
  • the bracket includes a base and a stand assembly
  • the bottom of the base includes a drive wheel
  • the stand assembly is mounted on the base and extends in a vertical direction, and the image display panel and the light projection device are both mounted on the stand assembly.
  • the image display panel is vertically installed on the stand assembly, and the light projection device is arranged above the image display panel.
  • the image display panel is made of plastic material.
  • the bracket includes a receiving box, the light projection device is accommodated in the receiving box, the bottom of the receiving box is provided with a through hole, and the image acquisition sensor is arranged at the through hole and fixed with the light projection device.
  • the adjustment mechanism includes:
  • At least three lifting rods are arranged below the light projection device, and the tops of the at least three lifting rods are enclosed in a polygonal shape;
  • a driving module is connected to each of the lifting rods and is electrically connected to the processing module.
  • the driving module is used to drive each of the lifting rods to lift and lower, so that the top of the lifting rod can project the light with the light.
  • the bottom of the device abuts or separates.
  • the adjusting mechanism includes three lifting rods, and the tops of the three lifting rods are enclosed in a triangle shape.
  • the drive module includes at least three drive assemblies, one of the drive assemblies corresponds to one of the lift rods, the drive assemblies are connected to the lift rods, and the drive assemblies are used to drive The lift rod moves up and down.
  • the lifting rod is a screw rod
  • the drive assembly includes a motor, a first pulley, a second pulley and a belt, the first pulley can only rotate relative to the bracket, and the screw rod coaxially passes through the first pulley and is connected to the support.
  • the first pulley is threaded, and the screw rod is circumferentially fixed relative to the bracket, the second pulley is installed at the output end of the motor, and the belt is wound around the first pulley and the first pulley.
  • Two pulleys Two pulleys.
  • the bracket includes a receiving box, the light projection device is contained in the receiving box, the bottom of the receiving box is provided with a through hole, and the top of the lifting rod can extend into or passing through the via hole and abutting against the light projection device.
  • the light projection device is provided with a positioning column at the bottom, and the storage box is provided with a positioning hole at the bottom, and the positioning column is inserted into the positioning hole and is clearance-fitted with the positioning hole.
  • the adjustment mechanism further includes an adjustment box, and the adjustment box is fixed at the bottom of the receiving box;
  • the lift rod is at least partially accommodated in the adjustment box, and the drive module is accommodated in the adjustment box.
  • the processing module is accommodated in the adjustment box.
  • a calibration method applied to the above-mentioned calibration equipment, the calibration method comprising:
  • a calibration method for a calibration device applied to the above calibration device, the calibration method comprising:
  • the adjusting mechanism is controlled to adjust the position of the light projection device relative to the image display panel according to the to-be-adjusted displacement.
  • the determining the displacement to be adjusted according to the marked image includes:
  • the displacement to be adjusted is determined according to the real coordinates and the preset coordinates.
  • a calibration method for a calibration device applied to the above calibration device, the calibration method comprising:
  • the adjusting mechanism is controlled to adjust the position of the light projection device relative to the image display panel according to the to-be-adjusted displacement.
  • the determining the displacement to be adjusted according to the marked image includes:
  • the displacement to be adjusted is determined according to the real coordinates and the preset coordinates.
  • the calibration device provided by the embodiment of the present invention includes a bracket, an image display panel, a light projection device, and an adjustment device.
  • the bracket is used to carry and install each structure.
  • the light projection device is used to project a set pattern to the image display panel to assist in calibrating the sensor to be tested on the vehicle to be tested.
  • the calibration device provided by the embodiment of the present invention uses the calibration device to calibrate the vehicle to be tested.
  • the setting pattern is not formed by ink printing, but is formed by projecting light onto the image display panel through a light projection device. Therefore, the calibration device provided by the embodiment of the present invention can effectively avoid the drawback that the ink at the edge of the set pattern is easily diffused outward, which affects the display effect of the set pattern.
  • FIG. 1 is a schematic perspective view of a calibration device provided by an embodiment of the present invention.
  • Fig. 2 is an exploded schematic view of one direction behind the hidden bracket part structure and the image display panel of the calibration device in Fig. 1;
  • FIG. 3 is a schematic cross-sectional view in one direction after the calibration device in FIG. 1 hides part of the structure of the bracket and the image display panel;
  • FIG. 4 is a schematic cross-sectional view in another direction after the calibration device hides the partial structure of the bracket and the image display panel in FIG. 1;
  • Fig. 5 is the partial enlarged schematic diagram of A place in Fig. 3;
  • FIG. 6 is a schematic diagram of the electrical connection principle between the image acquisition sensor, the driving module and the processing module;
  • FIG. 7 is a schematic flowchart of a calibration method according to an embodiment of the present invention.
  • FIG. 8 is a schematic flowchart of a calibration method for a calibration device provided by an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of a calibration method for a calibration device provided by another embodiment of the present invention.
  • the "installation” includes welding, screwing, snapping, gluing, etc. to fix or restrict a certain element or device to a specific position or place, and the element or device can be held in a specific position or place. It can also move within a limited range without moving, and the element or device can be disassembled or not disassembled after being fixed or limited in a specific position or place, which is not limited in the embodiment of the present invention.
  • FIG. 1 shows a three-dimensional schematic diagram of a calibration device provided by an embodiment of the present invention.
  • the calibration device includes a bracket 100 , an image display panel 200 , a light projection device 300 and an adjustment device 400 .
  • the bracket 100 is used for carrying and installing the above-mentioned image display panel 200 , the light projection device 300 and the adjustment device 400 .
  • the light projection device 300 is used for projecting light to the image display panel 200 to form a set pattern, and the set pattern is used to assist in calibrating the sensor to be tested on the vehicle to be tested; the image display panel 200 is used to present the above set pattern.
  • the adjustment device 400 includes an adjustment mechanism 410 and a processing module 420 electrically connected to the adjustment mechanism 410.
  • the processing module 420 is used to obtain the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200, and to control the adjustment mechanism 410 to adjust according to the above-mentioned to-be-adjusted displacement.
  • the position of the light projection device 300 relative to the image display panel 200 is adjusted by displacement, so as to adjust the display state of the above-mentioned setting pattern on the image display panel 200 .
  • the stand includes a base 110 and a stand assembly 120 .
  • the base 110 includes a main body 111 in the shape of an "I" and a plurality of driving wheels 112 mounted on the bottom of the main body 111 .
  • the stand assembly 120 is mounted on the top of the main body of the base 110 and extends along the vertical direction as shown.
  • the image display panel 200 has a flat plate-shaped structure as a whole.
  • the image display panel 200 is in the shape of a flat cuboid as a whole, and is installed upright on the stand assembly 120 as shown in the figure. ; It can be understood that, in other embodiments of the present invention, the image display panel 200 may also be in other shapes.
  • the image display panel 200 is made of plastic material, which has a certain rigidity and is not easily deformed, so as to ensure that the set pattern projected by the light projection device 300 can maintain a better display effect; of course, the image display panel 200 It can also be made of other rigid materials such as metal.
  • the light projection device 300 is installed on the stand assembly 120 of the bracket 100 and located above the image display panel 200 , and the light projection device 300 is used for projecting light to the above-mentioned image display panel 200
  • a setting pattern is formed to assist in calibrating a sensor to be tested (not shown) on a vehicle to be tested (not shown).
  • the set pattern is a pattern adapted to the vehicle type to be tested; the light projection device 300 obtains the set pattern in a conventional manner, which may be stored by the light projection device 300 itself or through data communication obtained from external devices (such as computers, tablets, mobile phones, etc.).
  • the light projection device 300 is a projector.
  • the light projection device 300 can switch the setting pattern to adapt to different types of vehicles to be tested or to different types of sensors to be tested.
  • the stand 100 further includes a receiving box, which is disposed above the image display panel 200 and is fixed to the stand assembly 120 for installing the light projection device 300 .
  • FIG. 2 shows an exploded schematic view of the calibration device hiding part of the support 100 and one direction behind the image display panel 200 .
  • the receiving box 130 is in the shape of a box body without a cover as a whole. , which is provided with a first receiving cavity (not shown in the figure) that runs through the top of the receiving box 130.
  • the light projection device 300 is accommodated in the first receiving cavity and has a small gap with the inner wall of the receiving box 130, that is, Yes: the light projection device 300 is movably installed on the bracket 100, and the setting of the small gap is convenient for the staff to take the light projection device 300 on the one hand, and on the other hand, it can prevent the light projection device 300 from having an excessively large movable margin and affecting its own performance. stability.
  • the bottom of the light projection device 300 is provided with at least two positioning posts 310
  • the bottom of the light projection device 300 is provided with at least two positioning posts 310
  • the bottom is provided with at least two positioning holes 131 at corresponding positions.
  • a positioning post 310 corresponds to a positioning hole 131 . It is worth mentioning that the gap between the positioning post 310 and the positioning hole 131 is relatively small, so on the one hand, the positioning and installation of the light projection device 300 can be facilitated, and on the other hand, the light projection device 300 can be prevented from having too much room for movement. At the same time, the weight of the light projection device 300 itself is relatively large, and the light projection device 300 can be kept in a stable state without being interfered by an external force.
  • the adjusting device 400 is installed in the receiving box 130 of the bracket 100 , and includes an adjusting mechanism 410 and a processing module 420 .
  • the processing module 420 is electrically connected to the adjustment mechanism 410, which is used to obtain the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200, and to control the adjustment mechanism 410 to adjust the light projection device 300 relative to the image display according to the to-be-adjusted displacement
  • the position of the board 200 until the display state of the set pattern on the image display board is the desired state, and the desired state means that the shape and aspect ratio of the set pattern reach the desired state.
  • the "electrical connection" described in this specific embodiment means that the communication of electrical signals between the two structures can be realized, which can be a wired electrical connection realized by a cable, or can be realized by a bluetooth, Radio connections implemented by WiFi modules, etc.
  • the adjustment device 400 further includes an adjustment box 430 .
  • the adjusting box 430 is fixed on the bottom of the receiving box 130, and is provided with a second receiving cavity 431 penetrating through the top of the adjusting box 430.
  • the adjusting mechanism 410 is at least partially contained in the second receiving cavity 431, and the processing module 420 is contained in the second receiving cavity 431. Cavity 431.
  • the adjusting mechanism 410 includes three lifting rods 411 and a driving module 412 .
  • each lift rod 411 is disposed below the light projection device 300 and is at least partially accommodated in the adjustment box 430 , the top of which is arranged close to the light projection device 300 , and the accommodation box 130 is provided with a through hole 132 at the position corresponding to the lift rod 411 ,
  • the top of the lift rod 411 can extend into or through the via hole 132 and abut against the bottom of the light projection device 300 ;
  • the tops of the three lifting rods 411 are enclosed in a triangle shape.
  • the three lifting rods 411 in the embodiment of the present invention can realize the left-right direction (for FIG.
  • the driving modules 412 are respectively connected with the lifting rods 411 and are connected with the processing module 420.
  • the processing module 420 is used to control the driving module 412 to drive the lifting rods 411 to move up and down accordingly, so that the top of the lifting rods 411 is connected to the light projection device.
  • the bottom of the light projection device 300 abuts or separates, so that the position of the light projection device 300 corresponding to the lift rod 411 can be lifted or lowered adaptively, so as to adjust the display state of the set pattern displayed on the image display panel 200 to a desired state.
  • the driving module 412 includes three driving components 4121 , and one driving component 4121 is correspondingly connected to a lifting rod 411 .
  • the lift rod 411 is a screw rod
  • the drive assembly 4121 includes a motor 4122 accommodated in the adjustment box 430 , a first pulley 4123 , a second pulley 4124 and a belt 4125 .
  • the first pulley 4123 is disposed coaxially with the screw rod, and is rotatably mounted on the adjustment box 430 and can only rotate relative to the bracket 100 .
  • the screw rod coaxially passes through the first pulley 4123 and is threadedly connected to the first pulley 4123 , and the screw rod is circumferentially fixed relative to the bracket 100 , that is, the screw rod cannot rotate relative to the bracket 100 .
  • the main body of the motor 4122 is fixed to the adjustment box 430, the second pulley 4124 is installed on the output end of the motor 4122, and the belt 4125 is wound around the first pulley 4123 and the second pulley 4124.
  • the motor 4122 can drive the first pulley 4123 to rotate through the second pulley 4124, and then drive the lead screw to move up and down to lift (the lead screw lifts) or push down (gravity pushes down) the light projection device 300;
  • the processing module 420 controls each motor 4122 to operate in a timely manner, so that the display state of the set pattern presented on the image display panel 200 reaches the above-mentioned desired state.
  • the number of lifting rods 411 in this embodiment is three, but the present invention is not limited to this, as long as it is ensured that the adjusting mechanism 410 includes at least three lifting rods 411, and the at least three lifting rods
  • the top of the four lifting rods 411 can be surrounded by a polygon; for example, in other embodiments of the present invention, the adjusting mechanism 410 includes four lifting rods 411 , and the tops of the four lifting rods 411 are surrounded by a rectangle.
  • the "polygon” means: a plane figure composed of three or more line segments connected end to end in sequence, which can be a triangle, a square or other plane figures.
  • the specific structures of the lift rod 411 and the driving module 412 can also be similarly deformed on the basis of this embodiment, as long as the driving module 412 can drive the lift rod 411 to lift or lower the light projection device 300;
  • the lift rod 411 is an optical axis
  • the driving module 412 includes a plurality of linear motors corresponding to the lift rod 411 one-to-one.
  • the processing module 420 is electrically connected to the driving module 412 , on the one hand, it is used to obtain the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 , and on the other hand, it is also used to control the driving components 4121 in the driving module 412 according to the
  • the above-mentioned displacement to be adjusted drives the corresponding lifting rod 411 to lift and lower.
  • the processing module 420 obtains the above displacement to be adjusted in many ways and can be realized, and the specific acquisition method of the displacement to be adjusted can be determined by the processing module based on the information input by external hardware and further processed (such as calculation, analysis), or Can be obtained directly from external hardware.
  • the five acquisition methods are described in detail below; it should be understood that the present invention does not limit the specific manner in which the processing module 420 acquires the displacement to be adjusted. In other embodiments of the present invention, the processing module 420 may also use Obtain the to-be-adjusted displacement in other ways.
  • the processing module 420 may also be electrically connected with the light projection device, for controlling the light projection device to switch the set pattern, for example, the processing module controls the light projection device to switch the set pattern after receiving the user's instruction, or the processing module is based on a judgment algorithm. Controlling the light projection device to switch the setting pattern is not limited here.
  • the processing module 420 may include a processor and a controller, the processor is used to obtain the displacement to be adjusted, and the controller is used to control each driving component of the driving module 412 .
  • the number and arrangement positions of the processors and the controllers are not limited, and the number of the processors and the controllers may be multiple respectively.
  • the adjustment device 400 further includes an image acquisition sensor 440 ; specifically, please refer to FIG. 1 and FIG. 2 , and in conjunction with other drawings, the surface of the image display panel 200 is provided with a preset mark 210 .
  • the preset marks 210 are provided at the corners of the surface of the image display panel 200 .
  • the preset mark 210 includes a first mark group and a second mark group, the first mark group and the second mark group are both arranged at the corners, and the first mark group and the second mark group are related to the image.
  • the central axis of the display panel 200 is center-symmetric.
  • the image capture sensor 440 is installed on the light projection device 300, and is electrically connected to the above-mentioned processing module 420, and the image capture sensor 440 is used to acquire the mark image with the preset mark 210.
  • the image capture sensor 440 is fixed on the bottom of the light projection device 300
  • the receiving box 130 is provided with a through hole 133 at a position corresponding to the image capture sensor 440 , and the image capture sensor 440 at least partially passes through the through hole 133 .
  • the processing module 420 is electrically connected to the image acquisition sensor 440 and the driving module 412 respectively, and the processing module 420 is used to acquire the mark image acquired by the image acquisition sensor 440, and to determine the above-mentioned displacement to be adjusted according to the mark image.
  • the processing module 420 obtains the real coordinates of the preset marker 210 in the marker image, and the preset coordinates of the preset marker 210; and then according to the real coordinates and the preset coordinates, such as two The comparison is carried out to determine the above-mentioned displacement to be adjusted.
  • the preset coordinates are the coordinates preset inside the processing module where the preset marker 210 is located, and the “coordinates preset inside the processing module and where the preset marker 210 is located” may be the overall outline of the preset marker
  • the coordinates can also be the coordinates of some points in the overall outline of the preset marker.
  • the display state of the above-mentioned setting pattern is the desired state; that is, when there is a deviation between the real coordinates and the preset coordinates, the light projection device 300 is relatively
  • the to-be-adjusted displacement of the image display panel 200 is not zero.
  • the processing module 420 controls the adjustment mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 . Otherwise, the to-be-adjusted position of the light projection device 300 relative to the image display panel 200 The displacement is zero.
  • the adjustment device 400 still includes an image capture sensor 440 , the image capture sensor 440 is installed on the light projection device 300 and is electrically connected to the above-mentioned processing module 420 .
  • the image acquisition sensor 440 in this embodiment is used to acquire a mark image with a set pattern projected by the light projection device 300 and presented on the image display panel 200
  • the processing module 420 is configured to acquire the mark image acquired by the image acquisition sensor 440, and determine the above-mentioned displacement to be adjusted according to the mark image.
  • the processing module 420 obtains the real coordinates of the set pattern in the marked image, and the preset coordinates of the set pattern; and then according to the real coordinates and the preset coordinates, for example, two The comparison is carried out to determine the above-mentioned displacement to be adjusted.
  • the preset coordinates are the coordinates preset inside the processing module 420 where the setting pattern is located, and the “coordinates preset inside the processing module and where the setting pattern is located” may be the coordinates of the overall outline of the setting pattern , or it can be the coordinates of some points in the overall outline of the set pattern.
  • the display state of the set pattern is the desired state; that is, when there is a deviation between the real coordinates and the preset coordinates, the light projection device 300 is relatively If the to-be-adjusted displacement of the image display panel 200 is not zero, at this time, the processing module 420 controls the adjustment mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 .
  • the displacement is zero.
  • the adjusting device 400 includes a posture sensor (not shown in the figure), the posture sensor is installed on the light projection device, and is electrically connected with the above-mentioned processing module 420 .
  • the attitude sensor is used to measure the real attitude of the light projection device 300 relative to the image display panel 200 , and the processing module determines the above-mentioned displacement to be adjusted according to the real attitude and the preset attitude, such as by comparing the two.
  • the preset posture is the posture of the light projection device 300 relative to the image display panel 200 that is preset inside the processing module 420; when the real posture is consistent with the preset posture, the display state of the set pattern is expected That is, when there is a deviation between the real posture and the preset posture, the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 is not zero, at this time, the processing module 420 controls the adjustment mechanism 410 to adjust the light projection device 300 With respect to the position of the image display panel 200 , and vice versa, the light projection device 300 is zero with respect to the image display panel 200 .
  • the attitude sensor includes at least one of an angular velocity sensor, a geomagnetic compass, and an inclination sensor, which may be one of them, or a combination of multiple of them.
  • the adjusting device 400 includes at least three distance sensors (not shown in the figure), the at least three distance sensors are installed on the light projection device 300 and are electrically connected with the above-mentioned processing module 420 .
  • the at least three distance sensors are respectively used to measure their actual distances relative to the image display panel 200 , and the processing module 420 determines the above-mentioned displacement to be adjusted according to the actual distance and the preset distance, such as by comparing the two.
  • the preset distance is a distance preset by the processing module 420 from the sensor relative to the image display panel 200 when the light projection device 300 is in a desired posture relative to the image display panel 200 .
  • the display state of the set pattern is the desired state; that is, when there is a deviation between the actual distance and the preset distance, the light projection device 300 is relatively
  • the to-be-adjusted displacement of the image display panel 200 is not zero.
  • the processing module 420 controls the adjustment mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 until the actual distance measured by each distance sensor is consistent with the preset distance
  • the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 is zero.
  • the conditioning device 400 includes an input module (not shown in the figures) that is electrically connected to the processing module.
  • the user can input the displacement to be adjusted into the input module according to visual observation and practical experience; the processing module 420 is used to directly obtain the displacement to be adjusted.
  • the input module includes at least one of a display screen, a keyboard, and a key.
  • the set pattern displayed on the image display panel 200 tends to be slightly deformed compared to the expected pattern.
  • the light projection device 300 moves in the calibration device
  • a slight positional change relative to the bracket 100 (such as the light projection device is high on the left and low on the right, front high and rear low) during the process of the test will affect the accuracy of the ADAS calibration of the vehicle to be tested; and the setting of the adjustment device 400 overcomes the problem well To overcome this deficiency, a better presentation effect of the set pattern can be ensured.
  • the processing module 420 is used as a control device for contacting the image acquisition sensor 440 and the driving module 412. As shown in FIG. 6, it includes a processor 421 and a memory 422. or connect in other ways. Both the image capture sensor 440 and the driving module 412 are connected to the bus.
  • the memory 422 as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs and modules.
  • the processor 421 executes the steps performed by the processing modules described above by executing non-volatile software programs, instructions and modules stored in the memory 422 .
  • the memory 422 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function; the storage data area may store data output by the image capture sensor 440, and the like. Additionally, memory 422 may include high speed random access memory, and may also include nonvolatile memory, such as at least one magnetic disk storage device, flash memory device, or other nonvolatile solid state storage device.
  • memory 422 may optionally include memory located remotely from processor 421, which may be connected to processor 421 through a network.
  • networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the program instructions/modules are stored in the memory 422, and when executed by the one or more processors 421, perform the steps performed by the processing modules described above.
  • the calibration device provided by the embodiment of the present invention includes a bracket 100 , an image display panel 200 , a light projection device 300 and an adjustment device 400 .
  • the bracket 100 is used for carrying and installing various structures.
  • the light projection device 300 is used for projecting light to the image display panel 200 to form a set pattern, so as to assist in calibrating the sensor under test on the vehicle under test.
  • the calibration device provided by the embodiment of the present invention is used for calibrating the set pattern of the vehicle to be tested, which is not formed by ink printing, but is formed by projecting light to the image display panel 200 through the light projection device 300 . . Therefore, the calibration device provided by the embodiment of the present invention can effectively avoid the drawback that the display effect of the setting pattern is affected by the outward diffusion of the ink at the edge of the setting pattern.
  • the present invention also provides a calibration method, which is applied to the calibration equipment in the above-mentioned embodiments.
  • FIG. 7 shows a schematic flowchart of the calibration method. The method includes the following steps:
  • S1 Control the light projection device 300 to project light to the image display panel 200 to form a set pattern, so that the sensor to be tested in the vehicle to be tested collects a calibration image with the set pattern, and the calibration image is compared with the calibration image in the vehicle to be tested.
  • the set pattern is a pattern suitable for the vehicle type to be tested; the acquisition method of the set pattern may be stored by the light projection device 300 itself, or may be obtained from an external device (such as an external device through data communication) computer, tablet, mobile phone, etc.). If the calibration image is consistent with the preset image in the vehicle under test, the sensor under test is normal; if the calibration image is inconsistent with the preset image in the vehicle under test, the sensor under test needs maintenance.
  • the setting pattern in the calibration method provided by the embodiment of the present invention is not formed by ink printing, but is formed by projecting light to the image display panel through a light projection device. Therefore, the calibration method provided by the embodiment of the present invention can effectively avoid the drawback that the display effect of the set pattern is affected by the outward diffusion of the ink at the edge of the set pattern.
  • the present invention also provides a calibration method for a calibration device, which is applied to the calibration device in the above-mentioned embodiments.
  • FIG. 8 shows a schematic flowchart of the calibration method for the calibration device; 1 to 6 , the calibration apparatus includes the above-mentioned bracket 100 , an image display panel 200 , a light projection device 300 and an adjustment device 400 .
  • the adjustment device 400 includes an adjustment mechanism 410, a processing module 420, an adjustment box 430, and an image capture sensor 440; wherein, the image capture sensor 440 is used to obtain a mark image with the preset mark 210 on the image display panel 200.
  • the calibration method of the calibration device includes the following steps:
  • S100 Acquire the marked image acquired by the image acquisition sensor.
  • S200 Determine the displacement to be adjusted according to the marked image.
  • the processing module 420 acquires the mark image acquired by the image acquisition sensor 440, and determines the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 according to the mark image.
  • the processing module 420 obtains the real coordinates of the preset marker 210 in the marker image and the preset coordinates of the preset marker, and determines the displacement to be adjusted according to the real coordinates and the preset coordinates.
  • the preset coordinates are the coordinates preset inside the processing module where the preset marker 210 is located, and the “coordinates preset inside the processing module where the preset marker 210 is located” may be the overall outline of the preset marker 210 The coordinates of , or the coordinates of some points in the overall outline of the preset marker.
  • the processing module 420 compares the real coordinates with the preset coordinates. When there is a deviation between the real coordinates and the preset coordinates, the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 is not zero; otherwise, the to-be-adjusted displacement is zero .
  • S300 Control the adjusting mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 according to the displacement to be adjusted. Specifically, when the displacement to be adjusted is not zero, the processing module controls the adjustment mechanism 410 to adaptively adjust the position of the light projection device 300 relative to the image display panel 200 , so that the set pattern displayed on the image display panel 200 The display state of is the desired state; when the displacement to be adjusted is zero, the adjustment mechanism 410 does not need to be controlled to operate.
  • the calibration method of the calibration device provided by the embodiment of the present invention is applied before the calibration device performs calibration. Since the image acquisition sensor 440 will acquire the mark image in real time, the processing module 420 can determine the to-be-adjusted displacement of the light projection device 300 according to the mark image. The driving module 412 is driven to operate until the display state of the set pattern presented on the image display panel 200 is the desired state, thereby facilitating the subsequent calibration process.
  • the present invention also provides another calibration method for a calibration device, which is applied to the calibration device in the above-mentioned embodiments.
  • FIG. 9 shows a schematic flowchart of the calibration method for the calibration device.
  • the calibration apparatus includes the above-mentioned bracket 100 , the image display panel 200 , the light projection device 300 and the adjustment device 400 .
  • the adjustment device 400 includes an adjustment mechanism 410 , a processing module 420 , an adjustment box 430 , and an image capture sensor 440 ; wherein the image capture sensor 440 is used to obtain a marker image with a set pattern presented on the image display panel 200 .
  • the calibration method of the calibration device includes the following steps:
  • S100' Acquire the marked image acquired by the image acquisition sensor.
  • S200' Determine the displacement to be adjusted according to the marked image.
  • the processing module 420 acquires the mark image acquired by the image acquisition sensor 440, and determines the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 according to the mark image.
  • the processing module 420 determines the displacement to be adjusted by acquiring the real coordinates of the set pattern in the marked image and the preset coordinates of the set pattern, and according to the real coordinates and the preset coordinates.
  • the preset coordinates are the coordinates preset inside the processing module where the setting pattern is located, and the “coordinates preset inside the processing module and where the setting pattern is located” may be the coordinates of the overall outline of the setting pattern, It can also be used to set the coordinates of some points in the overall outline of the pattern.
  • the processing module 420 compares the real coordinates with the preset coordinates. When there is a deviation between the real coordinates and the preset coordinates, the to-be-adjusted displacement of the light projection device 300 relative to the image display panel 200 is not zero; otherwise, the to-be-adjusted displacement is zero .
  • S300' Control the adjustment mechanism 410 to adjust the position of the light projection device 300 relative to the image display panel 200 according to the to-be-adjusted displacement. Specifically, when the displacement to be adjusted is not zero, the processing module controls the adjustment mechanism 410 to adaptively adjust the position of the light projection device 300 relative to the image display panel 200 , so that the set pattern displayed on the image display panel 200 The display state of is the desired state; when the displacement to be adjusted is zero, the adjustment mechanism 410 does not need to be controlled to operate.
  • the calibration method of the calibration device provided in the embodiment of the present invention is applied before the calibration device performs calibration. Since the image acquisition sensor 440 will acquire the mark image in real time, the processing module 420 can determine the to-be-adjusted displacement of the light projection device 300 according to the mark image. The driving module 412 is driven to operate until the display state of the set pattern presented on the image display panel 200 is the desired state, thereby facilitating the subsequent calibration process.
  • an embodiment of the present invention further provides a non-volatile computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, such as FIG.
  • a processor 421 in 6 can cause the above-mentioned one or more processors to perform the steps performed by the above-described processing modules.
  • an embodiment of the present invention also provides a computer program product, the computer program product includes a computer program stored on a non-volatile computer-readable storage medium, the computer program includes program instructions, when all When the program instructions are executed by the electronic device, the electronic device is caused to execute the steps executed by the processing module described above.

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Abstract

一种标定设备，包括：支架（100）；图像显示板（200），安装于支架（100）；光投射装置（300），用于向图像显示板（200）投射设定图案，设定图案用于辅助标定待测车辆上的待测传感器；以及调节装置（400），包括调节机构（410）以及处理模块（420），处理模块（420）用于获取光投射装置（300）相对于图像显示板（200）的待调位移，并控制调节机构(410)根据待调位移调整光投射装置（300）相对于图像显示板（200）的位置，以调整设定图案呈现于图像显示板（200）上的显示状态。标定设备用于标定的设定图案并非由墨水印刷形成，而是通过光投射装置（300）向图像显示板（200）投射光以形成；能够有效避免因设定图案边缘的墨水易向外扩散而影响设定图案显示效果的弊端。还提供一种标定方法以及标定设备的校正方法。

Description

标定设备、标定方法以及标定设备的校正方法
本申请要求于2020年8月7日提交中国专利局、申请号为202010789832.1、申请名称为“标定设备、标定方法以及标定设备的校正方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车检测技术领域，尤其涉及一种标定设备、标定方法以及标定设备的校正方法。
背景技术
伴随着科技的发展及生活水平的提高，居民汽车的保有量迅速增长，汽车已经成为居民最受青睐的代步工具。汽车在长时间、长里程行驶后，先进辅助驾驶系统(Advanced Driver Assistant System，以下简称ADAS)上的传感器可能相对出厂是发生位置偏移或性能发生下降，目前一般通过汽车标定设备对ADAS中的传感器进行标定检测，以合理地校准上述ADAS中的传感器，从而确保车主能够安全地驾驶。
目前，行业中有些标定设备包括支架以及图案板，其中，图案板固定于支架上，其表面印刷有供ADAS中的传感器识别的设定图案。标定时，工作人员将该标定设备放置在指定的位置，待测车辆ADAS中的各待测传感器对上述设定图案进行拍照，以进行标定过程。
本发明的发明人在实现本发明的过程中发现：由于设定图案是通过墨水印刷形成于图案板上的，而墨水是容易受环境温度、湿度影响的，在高温及潮湿的环境中，设定图案边缘的墨水容易向外围扩散，从而影响设定图案的显示效果，进而影响标定精度。
发明内容
本发明实施例旨在提供一种标定设备、标定方法以及标定设备的校正方法，以解决目前的标定设备在高温及潮湿的环境中，设定图案边缘的墨水容易向外扩散而影响设定图案显示效果的技术问题。
本发明实施例解决其技术问题采用以下技术方案：
一种标定设备，包括：
支架；
图像显示板，安装于所述支架；
光投射装置，安装于所述支架，用于向所述图像显示板投射设定图案，所述设定图案用于辅助标定待测车辆上的待测传感器；以及
调节装置，安装于所述支架，所述调节装置包括调节机构以及与所述调节机构电连接的处理模块，所述处理模块用于获取所述光投射装置相对于所述图 像显示板的待调位移，并控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置，以调整所述设定图案呈现于所述图像显示板上的显示状态。
作为上述技术方案的进一步改进方案，所述调节装置还包括图像采集传感器，所述图像采集传感器安装于所述光投射装置，且所述图像采集传感器与所述处理模块电连接；
所述图像显示板上设有预设标记，所述图像采集传感器用于获取具有所述预设标记的标记图像；
所述处理模块用于获取所述标记图像，并根据所述标记图像确定所述待调位移。
作为上述技术方案的进一步改进方案，所述根据所述标记图像确定所述待调位移，包括：
所述处理模块获取所述预设标记在所述标记图像中的真实坐标，以及，所述预设标记的预设坐标；
所述处理模块根据所述真实坐标与所述预设坐标，确定所述待调位移。
作为上述技术方案的进一步改进方案，所述预设标记设于所述图像显示板的表面的边角。
作为上述技术方案的进一步改进方案，所述预设标记包括第一标记组和第二标记组，所述第一标记组与所述第二标记组均设于所述边角，且所述第一标记组与所述第二标记组关于所述图像显示板的中心轴呈中心对称。
作为上述技术方案的进一步改进方案，所述调节装置还包括图像采集传感器，所述图像采集传感器安装于所述光投射装置，且所述图像采集传感器与所述处理模块电连接；
所述图像采集传感器用于获取具有所述设定图案的标记图像；
所述处理模块用于获取所述标记图像，并根据所述标记图像确定所述待调位移。
作为上述技术方案的进一步改进方案，所述根据所述标记图像确定所述待调位移，包括：
所述处理模块获取所述设定图案在所述标记图像中的真实坐标，以及，所述设定图案的预设坐标；
所述处理模块根据所述真实坐标与所述预设坐标，确定所述待调位移。
作为上述技术方案的进一步改进方案，所述调节装置还包括姿态传感器，所述姿态传感器安装于所述光投射装置，且所述姿态传感器与所述处理模块电连接；
所述姿态传感器用于测量所述光投射装置相对所述图像显示板的真实姿态，所述处理模块根据所述真实姿态，以及所述光投射装置相对所述图像显示板的预设姿态确定所述待调位移；
和/或，所述调节装置还包括至少三个距离传感器，所述距离传感器安装 于所述光投射装置，且所述距离传感器与所述处理模块电连接，所述距离传感器用于测量该距离传感器相对所述图像显示板的真实距离，所述处理模块根据所述真实距离，以及所述距离传感器相对所述图像显示板的预设距离确定所述待调位移。
作为上述技术方案的进一步改进方案，所述支架包括底座与立架组件；
所述底座的底部包括有驱动轮；
所述立架组件安装于所述底座且沿竖直方向延伸，所述图像显示板及所述光投射装置均安装于所述立架组件。
作为上述技术方案的进一步改进方案，所述图像显示板立直安装于所述立架组件，所述光投射装置设于所述图像显示板的上方。
作为上述技术方案的进一步改进方案，所述图像显示板由塑胶材料制成。
作为上述技术方案的进一步改进方案，所述支架包括收容盒，所述光投射装置容置于所述收容盒，收容盒的底部设有通孔，所述图像采集传感器设于所述通孔处并与所述光投射装置固定。
作为上述技术方案的进一步改进方案，所述调节机构包括：
至少三个升降杆，设于所述光投射装置的下方，所述至少三个升降杆的顶部围合呈一多边形；以及
驱动模组，与各所述升降杆连接，并与所述处理模块电连接，所述驱动模组用于驱动各所述升降杆进行升降，以使所述升降杆的顶部与所述光投射装置的底部抵持或分离。
作为上述技术方案的进一步改进方案，所述调节机构包括三个所述升降杆，该三个所述升降杆的顶部围合呈三角形。
作为上述技术方案的进一步改进方案，所述驱动模组包括至少三驱动组件，一所述驱动组件对应一所述升降杆，所述驱动组件与所述升降杆连接，所述驱动组件用于驱动所述升降杆进行升降。
作为上述技术方案的进一步改进方案，所述升降杆为丝杆；
所述驱动组件包括电机、第一带轮、第二带轮与皮带，所述第一带轮仅可相对所述支架转动，所述丝杆同轴穿过所述第一带轮并与所述第一带轮螺纹连接，且所述丝杆相对所述支架周向固定，所述第二带轮安装于所述电机的输出端，所述皮带绕设于所述第一带轮及第二带轮。
作为上述技术方案的进一步改进方案，所述支架包括收容盒，所述光投射装置容置于所述收容盒，所述收容盒的底部设有过孔，所述升降杆的顶部可伸入或穿过所述过孔并与所述光投射装置抵持。
作为上述技术方案的进一步改进方案，所述光投射装置的底部设有定位柱，所述收容盒的底部设有定位孔，所述定位柱插入所述定位孔并与所述定位孔间隙配合。
作为上述技术方案的进一步改进方案，所述调节机构还包括调节盒，所述调节盒固定于所述收容盒底部；
所述升降杆至少部分收容于所述调节盒，所述驱动模组收容于所述调节盒。
作为上述技术方案的进一步改进方案，所述处理模块收容于所述调节盒。
本发明实施例解决其技术问题还采用以下技术方案：
一种标定方法，应用于上述的标定设备，所述标定方法包括：
控制所述光投射装置向所述图像显示板投射设定图案，以使待测车辆中的待测传感器采集具有所述设定图案的标定图像，并将所述标定图像与所述待测车辆中的预设图像进行对比。
本发明实施例解决其技术问题还采用以下技术方案：
一种标定设备的校正方法，应用于上述的标定设备，所述校正方法包括：
获取所述图像采集传感器所获取的标记图像；
根据所述标记图像确定待调位移；
控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置。
作为上述技术方案的进一步改进方案，所述根据所述标记图像确定待调位移，包括：
获取所述预设标记在所述标记图像中的真实坐标，以及，所述预设标记的预设坐标；
根据所述真实坐标与所述预设坐标，确定待调位移。
本发明实施例解决其技术问题还采用以下技术方案：
一种标定设备的校正方法，应用于上述的标定设备，所述校正方法包括：
获取所述图像采集传感器所获取的标记图像；
根据所述标记图像确定待调位移；
控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置。
作为上述技术方案的进一步改进方案，所述根据所述标记图像确定待调位移，包括：
获取所述设定图案在所述标记图像中的真实坐标，以及，所述设定图案的预设坐标；
根据所述真实坐标与所述预设坐标，确定待调位移。
本发明的有益效果是：
本发明实施例提供的标定设备包括支架、图像显示板、光投射装置和调节装置。其中，支架用于承载安装各结构。光投射装置用于向图像显示板投射设定图案，以辅助标定待测车辆上的待测传感器。
与目前市场上的标定设备相比，本发明实施例提供的标定设备用于标定待测车辆的设定图案并非由墨水印刷形成，而是通过光投射装置向图像显示板投射光以形成。故本发明实施例提供的标定设备能够有效避免因设定图案边缘的墨水容易向外扩散而影响设定图案显示效果的弊端。
附图说明
一个或多个实施例通过与之对应的附图进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1为本发明其中一实施例提供的标定设备的立体示意图；
图2为图1中标定设备隐藏支架部分结构及图像显示板后的一个方向的分解示意图；
图3为图1中标定设备隐藏支架部分结构和图像显示板后的一个方向的剖切示意图；
图4为图1中标定设备隐藏支架部分结构和图像显示板后的另一个方向的剖切示意图；
图5为图3中A处的局部放大示意图；
图6为图像采集传感器、驱动模组与处理模块之间的电气连接原理示意图；
图7为本发明其中一实施例提供的标定方法的流程示意图；
图8为本发明其中一实施例提供的标定设备的校正方法的流程示意图；
图9为本发明其中另一实施例提供的标定设备的校正方法的流程示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”/“固接于”/“安装于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“垂直的”、“水平的”、“左”、“右”、“内”、“外”以及类似的表述只是为了说明的目的。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
在本说明书中，所述“安装”包括焊接、螺接、卡接、粘合等方式将某一元件或装置固定或限制于特定位置或地方，所述元件或装置可在特定位置或地方保持不动也可在限定范围内活动，所述元件或装置固定或限制于特定位置或地方后可进行拆卸也可不能进行拆卸，在本发明实施例中不作限制。
请先参阅图1，其示出了本发明其中一实施例提供的标定设备的立体示意图，该标定设备包括支架100、图像显示板200、光投射装置300以及调节装 置400。其中，支架100用以承载安装上述的图像显示板200、光投射装置300以及调节装置400。光投射装置300用于向图像显示板200投射光以形成设定图案，该设定图案用于辅助标定待测车辆上的待测传感器；图像显示板200用于呈现上述设定图案。调节装置400包括调节机构410以及与该调节机构410电连接的处理模块420，处理模块420用于获取光投射装置300相对于图像显示板200的待调位移，并控制调节机构410根据上述待调位移调整光投射装置300相对于图像显示板200的位置，以调整上述设定图案呈现于图像显示板200上的显示状态。
对于上述支架100，请具体参阅图1，支架包括底座110与立架组件120。其中，底座110包括一整体呈“工”字形的主体111和安装于该主体111的底部的若干个驱动轮112。立架组件120安装于底座110主体的顶部且沿图示竖直方向延伸。
对于上述图像显示板200，请继续参阅图1，图像显示板200整体呈扁平的板状结构，本实施例中，其整体呈扁平的长方体状，并如图示立直地安装于立架组件120；可以理解的是，在本发明的其他实施例中，图像显示板200亦可以是其他形状。可选地，图像显示板200由塑胶材料制成，其具有一定的刚性而不会轻易变形，以保证光投射装置300投射的设定图案可维持较佳的显示效果；当然，图像显示板200亦可以由金属等其他刚性材料制成。
对于上述光投射装置300，请继续参阅图1，光投射装置300安装于支架100的立架组件120，并位于图像显示板200的上方，光投射装置300用于向上述图像显示板200投射光并形成设定图案，以辅助标定待测车辆(未示出)上的待测传感器(未示出)。其中，该设定图案是与待测车辆的车型相适配的图案；光投射装置300对于设定图案的获取方式是常规的，可以是光投射装置300自身存储的，亦可以是通过数据通信的方式从外部设备(如电脑、平板、手机等)获取的。可选地，光投射装置300为投影仪。光投射装置300可切换设定图案，以适应不同类型的待测车辆或适应不同类型的待测传感器。本实施例中，支架100还包括收容盒，该收容盒设于图像显示板200的上方且固定于立架组件120，其用于安装光投射装置300。具体地，请参阅图2，其示出了该标定设备隐藏支架100部分结构及图像显示板200后的一个方向的分解示意图，同时结合图1，收容盒130整体呈一无盖的盒体状，其设有一贯通收容盒130顶部的第一收容腔(图中未示出)，光投射装置300容置于该第一收容腔且与收容盒130的内壁之间具有较小的间隙，即是：光投射装置300活动安装于支架100，较小间隙的设置一方面便于工作人员拿取光投射装置300，另一方面可避免光投射装置300具有过大的活动余量而影响其自身的稳定性。
进一步地，请继续参阅图2，同时结合图1，为使光投射装置300安装于收容盒130的过程更快捷、精准，光投射装置300的底部设有至少两定位柱310，收容盒130的底部于对应位置设置有至少两定位孔131，一定位柱310对应一定位孔131，定位柱310插入相应的定位孔131并与该定位孔131间隙 配合。值得一提的是，定位柱310与定位孔131之间的间隙是较小的，从而一方面可方便光投射装置300的定位安装，另一方面可避免光投射装置300具有过大的活动余量而降低其稳定性，同时光投射装置300自身的重量是较大的，其在不被外力干涉的状态下可以保持在稳定状态。
对于上述调节装置400，请参阅图3至图5，其分别示出了该标定设备隐藏支架100部分结构和图像显示板200后的两个方向的剖切示意图，以及A处的局部放大示意图，请同时再结合图1与图2，调节装置400安装于支架100的收容盒130，其包括调节机构410与处理模块420。其中，处理模块420与调节机构410电连接，其用于获取光投射装置300相对于图像显示板200的待调位移，并控制调节机构410根据该待调位移调整光投射装置300相对于图像显示板200的位置，直至设定图案呈现于图像显示板上的显示状态为期望状态，期望状态是指设定图案的形状、纵横比例均达到期望状态。值得一提的是，本具体实施方式中所述的“电连接”意为：两结构之间能够实现电信号的通信，其可以是通过缆线实现的有线电连接，亦可以是通过蓝牙、WiFi模块等实现的无线电连接。
为方便调节机构410及处理模块420的安装，本实施例中，该调节装置400还包括调节盒430。具体地，调节盒430固定于收容盒130的底部，其设有贯通自身顶部的第二收容腔431，调节机构410至少部分收容于该第二收容腔431，处理模块420收容于该第二收容腔431。
本实施例中，调节机构410包括三个升降杆411与驱动模组412。具体地，各升降杆411设于光投射装置300的下方并至少部分收容于调节盒430内，其顶部靠近光投射装置300设置，收容盒130于对应升降杆411的部位设有过孔132，升降杆411的顶部可伸入或穿过该过孔132并与光投射装置300的底部抵持；升降杆411的底部沿图示竖直方向朝背离光投射装置300的一侧延伸。该三个升降杆411的顶部围合呈一三角形，本发明实施例采用三个升降杆411可以实现对呈现于图像显示板200的设定图案的左右方向(针对图1)及上下方向(针对图1)的调节，从而确保可使上述设定图案的显示状态调整至期望状态。驱动模组412分别与各升降杆411连接，同时与处理模块420连接，处理模块420用于控制驱动模组412驱动各升降杆411进行相应地升降，以使升降杆411的顶部与光投射装置300的底部抵持或分离，进而使光投射装置300对应升降杆411的部位适应性地抬升或下降，从而将呈现于图像显示板200上的设定图案的显示状态调整至期望状态。本实施例中，驱动模组412包括三驱动组件4121，一驱动组件4121对应连接一升降杆411。
可选地，升降杆411为丝杆，驱动组件4121包括收容于调节盒430内的电机4122、第一带轮4123、第二带轮4124与皮带4125。其中，第一带轮4123与丝杆同轴设置，其可转动地安装于调节盒430且仅可相对支架100转动。丝杆同轴穿过第一带轮4123并与第一带轮4123螺纹连接，且丝杆相对支架100周向固定，即是，丝杆不能相对支架100发生周转。电机4122的主体固定于 调节盒430，第二带轮4124安装于电机4122的输出端，皮带4125绕设于第一带轮4123及第二带轮4124。如此，电机4122可通过第二带轮4124驱动第一带轮4123转动，进而驱动丝杆进行升降以抬升(丝杆抬升)或下压(重力下压)光投射装置300；控制人员则可通过处理模块420控制各电机4122适时地运行，以使呈现于图像显示板200上的设定图案的显示状态达到上述期望状态。
可以理解的是，即是本实施例中的升降杆411的数量为三个，但本发明并不局限于此，只要保证调节机构410包括至少三个升降杆411，且该至少三个升降杆的顶部围成一多边形即可；如在本发明其他的一些实施例中，调节机构410包括四个升降杆411，该四个升降杆411的顶部围成一矩形。其中，所述的“多边形”意为：由三条或三条以上的线段首尾顺次连接所组成的平面图形，其可以是三角形、正方形或其他平面图形。此外，升降杆411与驱动模组412的具体结构亦可以在本实施例的基础上作出相似变形，只要保证驱动模组412可以驱动升降杆411以顶升或下压光投射装置300即可；例如，在本发明其他的一些实施例中，升降杆411为光轴，驱动模组412包括与升降杆411一一对应的多个直线电机。
处理模块420与驱动模组412电连接，其一方面用于获取光投射装置300相对于图像显示板200的待调位移，另一方面还用于控制驱动模组412中的各驱动组件4121根据上述待调位移驱动相应的升降杆411进行升降。其中，处理模块420获取上述待调位移的方式众多且可实现的，待调位移的具体获取方式可以是处理模块基于外部硬件输入的信息，进一步处理(如计算、解析)确定得出的，亦可以是从外部硬件直接获取的。以下对其中的五种获取方式作出详细说明；应当理解，在本发明并不对处理模块420获取所述待调位移的具体方式作出限定，在本发明的其他实施例中，处理模块420还可以通过其他方式获取所述待调位移。
可选地，处理模块420还可以与光投射装置电连接，用于控制光投射装置切换设定图案，例如，处理模块接收用户指令后控制光投射装置切换设定图案，或者处理模块基于判断算法控制光投射装置切换设定图案，在此不予限定。
处理模块420可以包括处理器与控制器，处理器用于获取待调位移，控制器用于控制驱动模组412的各驱动组件。处理器与控制器之间通信连接。其中，处理器与控制器的数量与布设位置不予限定，处理器与控制器的数量可分别为多个。
在一些实施例中，调节装置400还包括图像采集传感器440；具体地，请参阅图1与图2，同时结合其他附图，图像显示板200的表面设有预设标记210。可选地，该预设标记210设于图像显示板200的表面的边角。进一步可选地，该预设标记210包括第一标记组和第二标记组，第一标记组与第二标记组均设于所述边角，且第一标记组与第二标记组关于图像显示板200的中心轴呈中心对称。图像采集传感器440安装于光投射装置300，其与上述处理模块420电 连接，图像采集传感器440用于获取具有预设标记210的标记图像。该实施例中，图像采集传感器440固定于光投射装置300的底部，收容盒130于对应图像采集传感器440的位置设有通孔133，图像采集传感器440至少部分穿过该通孔133。处理模块420分别与图像采集传感器440及驱动模组412电连接，处理模块420用于获取图像采集传感器440所获取的标记图像，并根据该标记图像确定上述待调位移。更具体地，处理模块420是获取所述预设标记210在标记图像中的真实坐标，以及，所述预设标记210的预设坐标；然后根据该真实坐标与该预设坐标，如将两者进行对比，以确定出上述待调位移。其中，所述预设坐标是处理模块内部预设的、预设标记210所处的坐标，该“处理模块内部预设的、预设标记210所处的坐标”可以是预设标记整体轮廓的坐标，亦可以是预设标记整体轮廓中部分点的坐标。当预设标记在标记图像中的真实坐标与预设坐标一致时，上述设定图案的显示状态为期望状态；即是，当真实坐标与预设坐标之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零，此时，处理模块420控制调节机构410调整光投射装置300相对于图像显示板200的位置，反之，光投射装置300相对图像显示板200的待调位移为零。
在另一些实施例中，调节装置400仍包括图像采集传感器440，该图像采集传感器440安装于光投射装置300，并与上述处理模块420电连接。该实施例与前一实施例的主要不同在于：该实施例中的图像采集传感器440是用于获取，具有由光投射装置300投射并呈现于图像显示板200上的设定图案的标记图像，处理模块420用于获取图像采集传感器440所获取的标记图像，并根据该标记图像确定上述待调位移。具体地，该实施例中，处理模块420是获取所述设定图案在标记图像中的真实坐标，以及，设定图案的预设坐标；然后根据该真实坐标与该预设坐标，如将两者进行对比，以确定出上述待调位移。其中，所述预设坐标是处理模块420内部预设的、设定图案所处的坐标，该“处理模块内部预设的、设定图案所处的坐标”可以是设定图案整体轮廓的坐标，亦可以是设定图案整体轮廓中部分点的坐标。当设定图案在标记图像中的真实坐标与预设坐标一致时，上述设定图案的显示状态为期望状态；即是，当真实坐标与预设坐标之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零，此时，处理模块420控制调节机构410调整光投射装置300相对于图像显示板200的位置，反之，光投射装置300相对图像显示板200的待调位移为零。
在又一些实施例中，调节装置400包括姿态传感器(图中未示出)，该姿态传感器安装于光投射装置，并与上述处理模块420电连接。该姿态传感器用于测量光投射装置300相对图像显示板200的真实姿态，处理模块根据该真实姿态及预设姿态，如将两者对比，以确定上述待调位移。其中，所述预设姿态是处理模块420内部预设的、光投射装置300相对图像显示板200所处的姿态；当上述真实姿态与预设姿态一致时，上述设定图案的显示状态为期望状态；即 是，当真实姿态与预设姿态之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零，此时，处理模块420控制调节机构410调整光投射装置300相对于图像显示板200的位置，反之，光投射装置300相对图像显示板200为零。可选地，姿态传感器包括角速度传感器、地磁罗盘、倾角传感器中的至少一种，其可以是其中一种，亦可以其中多种的组合。
在又一些实施例中，调节装置400包括至少三个距离传感器(图中未示出)，该至少三个距离传感器安装于光投射装置300，并与上述处理模块420电连接。该至少三个距离传感器分别用于测量其相对图像显示板200的真实距离，处理模块420根据该真实距离及预设距离，如将两者对比，以确定上述待调位移。其中，所述预设距离是处理模块420内部预设的、光投射装置300相对图像显示板200处于期望姿态时距离传感器相对图像显示板200的距离。当上述各距离传感器分别测出的真实距离与预设距离一致时，上述设定图案的显示状态为期望状态；即是，当真实距离与预设距离之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零，此时，处理模块420控制调节机构410调整光投射装置300相对于图像显示板200的位置，直至各距离传感器测出的真实距离与预设距离一致；反之，光投射装置300相对图像显示板200的待调位移为零。
在又一些实施例中，调节装置400包括输入模块(图中未示出)，该输入模块与处理模块电连接。用户可以根据肉眼观察及实践经验，向该输入模块输入待调位移；处理模块420则用于直接获取该待调位移。可选地，所述输入模块包括显示屏、键盘、按键中的至少一种。
应当理解，在本发明的其他实施例中，还可以将上述实施例中的至少两实施例结合，以得出相应的变形实施例；该变形实施例中，处理模块420亦可以获取所述待调位移。
由于在光投射装置300初次向图像显示板200投射设定图案时，呈现于图像显示板200上的设定图案往往会较期望的图案发生微量的变形，如因光投射装置300在标定设备移动的过程中相对支架100发生微小的位置变化(如光投射装置左高右低、前高后低)导致，其将影响对待测车辆ADAS标定的准确性；而调节装置400的设置很好地克服了这一不足，能够保证设定图案较佳的呈现效果。
值得说明的是：处理模块420作为联系图像采集传感器440及驱动模组412的控制设备，如图6所示，其包括处理器421与存储器422，该处理器421与存储器422之间可以通过总线或者其他方式连接。图像采集传感器440及驱动模组412均与总线连接。
存储器422作为一种非易失性计算机可读存储介质，可用于存储非易失性软件程序、非易失性计算机可执行程序以及模块。处理器421通过运行存储在存储器422中的非易失性软件程序、指令以及模块，从而执行上述描述的处理模块所执行的步骤。存储器422可以包括存储程序区和存储数据区，其中，存 储程序区可存储操作系统、至少一个功能所需要的应用程序；存储数据区可存储图像采集传感器440输出的数据等。此外，存储器422可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。
在一些实施例中，存储器422可选包括相对于处理器421远程设置的存储器，这些远程存储器可以通过网络连接至处理器421。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
所述程序指令/模块存储在所述存储器422中，当被所述一个或者多个处理器421执行时，执行上述描述的处理模块所执行的步骤。
本发明实施例提供的标定设备包括支架100、图像显示板200、光投射装置300和调节装置400。其中，支架100用于承载安装各结构。光投射装置300用于向图像显示板200投射光以形成设定图案，以辅助标定待测车辆上的待测传感器。
与目前市场上的标定设备相比，本发明实施例提供的标定设备用于标定待测车辆的设定图案并非由墨水印刷形成，而是通过光投射装置300向图像显示板200投射光以形成。故本发明实施例提供的标定设备能够有效避免因设定图案边缘的墨水向外扩散而影响设定图案显示效果的弊端。
基于同一发明构思，本发明还提供一种标定方法，其应用于上述实施例中的标定设备，请参照图7，其示出了该标定方法的流程示意图，同时结合图1至图6，该方法包括以下步骤：
S1：控制光投射装置300向图像显示板200投射光以形成设定图案，以使待测车辆中的待测传感器采集具有设定图案的标定图像，并将该标定图像与待测车辆中的预设图像进行对比。具体地，该设定图案是与待测车辆的车型相适配的图案；该设定图案的获取方式可以是光投射装置300自身存储的，亦可以是通过数据通信的方式从外部设备(如电脑、平板、手机等)获取的。若该标定图像与待测车辆中的预设图像一致，则待测传感器正常；若该标定图像与待测车辆中的预设图像不一致，则待测传感器需要维修。
与目前市场上的标定方法相比，本发明实施例提供的标定方法中的设定图案并非由墨水印刷形成，而是通过光投射装置向图像显示板投射光以形成。故本发明实施例提供的标定方法能够有效避免因设定图案边缘的墨水向外扩散而影响设定图案显示效果的弊端。
基于同一发明构思，本发明还提供一种标定设备的校正方法，其应用于上述实施例中的标定设备，请参阅图8，其示出了该标定设备的校正方法的流程示意图；请同时结合图1至图6，该标定设备包括上述的支架100、图像显示板200、光投射装置300以及调节装置400。调节装置400包括调节机构410、处理模块420、调节盒430以及图像采集传感器440；其中，图像采集传感器 440用于获取具有图像显示板200上的预设标记210的标记图像。该标定设备的校正方法包括以下步骤：
S100：获取图像采集传感器所获取的标记图像。
S200：根据所述标记图像确定待调位移。处理模块420获取图像采集传感器440所获取的标记图像，并根据该标记图像确定出光投射装置300相对图像显示板200的待调位移。
较优地，处理模块420通过获取预设标记210在标记图像中的真实坐标，以及，预设标记的预设坐标，并根据所述真实坐标与所述预设坐标，确定待调位移。其中，所述预设坐标是处理模块内部预设的、预设标记210所处的坐标，该“处理模块内部预设的、预设标记210所处的坐标”可以是预设标记210整体轮廓的坐标，亦可以是预设标记整体轮廓中部分点的坐标。处理模块420将真实坐标与预设坐标进行对比，当真实坐标与预设坐标之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零；反之，待调位移为零。
S300：控制所述调节机构410根据所述待调位移调整所述光投射装置300相对于所述图像显示板200的位置。具体地，当待调位移不为零时，处理模块控制调节机构410适应性地调整光投射装置300相对于所述图像显示板200的位置，以使呈现于图像显示板200上的设定图案的显示状态为期望状态；当待调位移为零时，则不用控制调节机构410运作。
本发明实施例提供的标定设备的校正方法运用于标定设备执行标定之前，由于图像采集传感器440将实时获取标记图像，处理模块420可根据该标记图像确定出光投射装置300的待调位移，适应性驱使驱动模组412运作，直至呈现于图像显示板200上的设定图案的显示状态为期望状态；从而便于后续的标定过程。
基于同一发明构思，本发明还提供另一种标定设备的校正方法，其应用于上述实施例中的标定设备，请参阅图9，其示出了该标定设备的校正方法的流程示意图；请同时结合图1至图6，该标定设备包括上述的支架100、图像显示板200、光投射装置300以及调节装置400。调节装置400包括调节机构410、处理模块420、调节盒430以及图像采集传感器440；其中，图像采集传感器440用于获取具有呈现于图像显示板200上的设定图案的标记图像。该标定设备的校正方法包括以下步骤：
S100′：获取图像采集传感器所获取的标记图像。
S200′：根据所述标记图像确定待调位移。处理模块420获取图像采集传感器440所获取的标记图像，并根据该标记图像确定出光投射装置300相对图像显示板200的待调位移。
较优地，处理模块420通过获取设定图案在标记图像中的真实坐标，以及，设定图案的预设坐标，并根据所述真实坐标与所述预设坐标，以确定待调位移。其中，所述预设坐标是处理模块内部预设的、设定图案所处的坐标，该“处理 模块内部预设的、设定图案所处的坐标”可以是设定图案整体轮廓的坐标，亦可以是设定图案整体轮廓中部分点的坐标。处理模块420将真实坐标与预设坐标进行对比，当真实坐标与预设坐标之间具有偏差时，光投射装置300相对图像显示板200的待调位移不为零；反之，待调位移为零。
S300′：控制所述调节机构410根据所述待调位移调整所述光投射装置300相对于所述图像显示板200的位置。具体地，当待调位移不为零时，处理模块控制调节机构410适应性地调整光投射装置300相对于所述图像显示板200的位置，以使呈现于图像显示板200上的设定图案的显示状态为期望状态；当待调位移为零时，则不用控制调节机构410运作。
本发明实施例提供的标定设备的校正方法运用于标定设备执行标定之前，由于图像采集传感器440将实时获取标记图像，处理模块420可根据该标记图像确定出光投射装置300的待调位移，适应性驱使驱动模组412运作，直至呈现于图像显示板200上的设定图案的显示状态为期望状态；从而便于后续的标定过程。
基于同一发明构思，本发明实施例还提供了一种非易失性计算机存储介质，所述计算机存储介质存储有计算机可执行指令，该计算机可执行指令被一个或多个处理器执行，例如图6中的一个处理器421，可使得上述一个或多个处理器可执行上述描述的处理模块所执行的步骤。
基于同一发明构思，本发明实施例还提供了一种计算机程序产品，所述计算机程序产品包括存储在非易失性计算机可读存储介质上的计算机程序，所述计算机程序包括程序指令，当所述程序指令被所述电子设备执行时，使所述电子设备执行上述描述的处理模块所执行的步骤。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (26)

  1. 一种标定设备，其特征在于，包括：
    支架；
    图像显示板，安装于所述支架；
    光投射装置，安装于所述支架，用于向所述图像显示板投射光以在所述图像显示板上形成设定图案，所述设定图案用于辅助标定待测车辆上的待测传感器；以及
    调节装置，安装于所述支架，所述调节装置包括调节机构以及与所述调节机构电连接的处理模块，所述处理模块用于获取所述光投射装置相对于所述图像显示板的待调位移，并控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置，以调整所述设定图案呈现于所述图像显示板上的显示状态。
  2. 根据权利要求1所述的标定设备，其特征在于，所述调节装置还包括图像采集传感器，所述图像采集传感器安装于所述光投射装置，且所述图像采集传感器与所述处理模块电连接；
    所述图像显示板上设有预设标记，所述图像采集传感器用于获取具有所述预设标记的标记图像；
    所述处理模块用于获取所述标记图像，并根据所述标记图像确定所述待调位移。
  3. 根据权利要求2所述的标定设备，其特征在于，所述根据所述标记图像确定所述待调位移，包括：
    所述处理模块获取所述预设标记在所述标记图像中的真实坐标，以及，所述预设标记的预设坐标；
    所述处理模块根据所述真实坐标与所述预设坐标，确定所述待调位移。
  4. 根据权利要求2所述的标定设备，其特征在于，所述预设标记设于所述图像显示板的表面的边角。
  5. 根据权利要求4所述的标定设备，其特征在于，所述预设标记包括第一标记组和第二标记组，所述第一标记组与所述第二标记组均设于所述边角，且所述第一标记组与所述第二标记组关于所述图像显示板的中心轴呈中心对称。
  6. 根据权利要求1所述的标定设备，其特征在于，所述调节装置还包括图像采集传感器，所述图像采集传感器安装于所述光投射装置，且所述图像采 集传感器与所述处理模块电连接；
    所述图像采集传感器用于获取具有所述设定图案的标记图像；
    所述处理模块用于获取所述标记图像，并根据所述标记图像确定所述待调位移。
  7. 根据权利要求6所述的标定设备，其特征在于，所述根据所述标记图像确定所述待调位移，包括：
    所述处理模块获取所述设定图案在所述标记图像中的真实坐标，以及，所述设定图案的预设坐标；
    所述处理模块根据所述真实坐标与所述预设坐标，确定所述待调位移。
  8. 根据权利要求1所述的标定设备，其特征在于，所述调节装置还包括姿态传感器，所述姿态传感器安装于所述光投射装置，且所述姿态传感器与所述处理模块电连接；
    所述姿态传感器用于测量所述光投射装置相对所述图像显示板的真实姿态，所述处理模块根据所述真实姿态，以及所述光投射装置相对所述图像显示板的预设姿态确定所述待调位移；
    和/或，所述调节装置还包括至少三个距离传感器，所述距离传感器安装于所述光投射装置，且所述距离传感器与所述处理模块电连接，所述距离传感器用于测量该距离传感器相对所述图像显示板的真实距离，所述处理模块根据所述真实距离，以及所述距离传感器相对所述图像显示板的预设距离确定所述待调位移。
  9. 根据权利要求1所述的标定设备，其特征在于，所述支架包括底座与立架组件；
    所述底座的底部包括有驱动轮；
    所述立架组件安装于所述底座且沿竖直方向延伸，所述图像显示板及所述光投射装置均安装于所述立架组件。
  10. 根据权利要求9所述的标定设备，其特征在于，所述图像显示板立直安装于所述立架组件，所述光投射装置设于所述图像显示板的上方。
  11. 根据权利要求1所述的标定设备，其特征在于，所述图像显示板由塑胶材料制成。
  12. 根据权利要求2至7中任一项所述的标定设备，其特征在于，所述支架包括收容盒，所述光投射装置容置于所述收容盒，收容盒的底部设有通孔，所述图像采集传感器设于所述通孔处并与所述光投射装置固定。
  13. 根据权利要求1至11中任一项所述的标定设备，其特征在于，所述调节机构包括：
    至少三个升降杆，设于所述光投射装置的下方，所述至少三个升降杆的顶部围合呈一多边形；以及
    驱动模组，与各所述升降杆连接，并与所述处理模块电连接，所述驱动模组用于驱动各所述升降杆进行升降，以使所述升降杆的顶部与所述光投射装置的底部抵持或分离。
  14. 根据权利要求13所述的标定设备，其特征在于，所述调节机构包括三个所述升降杆，该三个所述升降杆的顶部围合呈三角形。
  15. 根据权利要求13所述的标定设备，其特征在于，所述驱动模组包括至少三驱动组件，一所述驱动组件对应一所述升降杆，所述驱动组件与所述升降杆连接，所述驱动组件用于驱动所述升降杆进行升降。
  16. 根据权利要求15所述的标定设备，其特征在于，所述升降杆为丝杆；
    所述驱动组件包括电机、第一带轮、第二带轮与皮带，所述第一带轮仅可相对所述支架转动，所述丝杆同轴穿过所述第一带轮并与所述第一带轮螺纹连接，且所述丝杆相对所述支架周向固定，所述第二带轮安装于所述电机的输出端，所述皮带绕设于所述第一带轮及第二带轮。
  17. 根据权利要求13所述的标定设备，其特征在于，所述支架包括收容盒，所述光投射装置容置于所述收容盒，所述收容盒的底部设有过孔，所述升降杆的顶部可伸入或穿过所述过孔并与所述光投射装置抵持。
  18. 根据权利要求17所述的标定设备，其特征在于，所述光投射装置的底部设有定位柱，所述收容盒的底部设有定位孔，所述定位柱插入所述定位孔并与所述定位孔间隙配合。
  19. 根据权利要求17所述的标定设备，其特征在于，所述调节机构还包括调节盒，所述调节盒固定于所述收容盒底部；
    所述升降杆至少部分收容于所述调节盒，所述驱动模组收容于所述调节盒。
  20. 根据权利要求19所述的标定设备，其特征在于，所述处理模块收容于所述调节盒。
  21. 根据权利要求1所述的标定设备，其特征在于，所述光投射装置为投影仪。
  22. 一种标定方法，应用于如权利要求1至21中任一项所述的标定设备，其特征在于，所述标定方法包括：
    控制所述光投射装置向所述图像显示板投射光形成设定图案，以使待测车辆中的待测传感器采集具有所述设定图案的标定图像，并将所述标定图像与所述待测车辆中的预设图像进行对比。
  23. 一种标定设备的校正方法，应用于如权利要求2至5中任一项所述的标定设备，其特征在于，所述校正方法包括：
    获取所述图像采集传感器所获取的标记图像；
    根据所述标记图像确定待调位移；
    控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置。
  24. 根据权利要求23所述的方法，其特征在于，所述根据所述标记图像确定待调位移，包括：
    获取所述预设标记在所述标记图像中的真实坐标，以及，所述预设标记的预设坐标；
    根据所述真实坐标与所述预设坐标，确定待调位移。
  25. 一种标定设备的校正方法，应用于如权利要求6至7中任一项所述的标定设备，其特征在于，所述校正方法包括：
    获取所述图像采集传感器所获取的标记图像；
    根据所述标记图像确定待调位移；
    控制所述调节机构根据所述待调位移调整所述光投射装置相对于所述图像显示板的位置。
  26. 根据权利要求25所述的方法，其特征在于，所述根据所述标记图像确定待调位移，包括：
    获取所述设定图案在所述标记图像中的真实坐标，以及，所述设定图案的预设坐标；
    根据所述真实坐标与所述预设坐标，确定待调位移。
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