WO2022028530A1 - Dispositif d'étalonnage et procédé d'étalonnage - Google Patents

Dispositif d'étalonnage et procédé d'étalonnage Download PDF

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Publication number
WO2022028530A1
WO2022028530A1 PCT/CN2021/110891 CN2021110891W WO2022028530A1 WO 2022028530 A1 WO2022028530 A1 WO 2022028530A1 CN 2021110891 W CN2021110891 W CN 2021110891W WO 2022028530 A1 WO2022028530 A1 WO 2022028530A1
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WO
WIPO (PCT)
Prior art keywords
light projection
bracket
calibration
projection device
image display
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Application number
PCT/CN2021/110891
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English (en)
Chinese (zh)
Inventor
刘连军
张攀飞
Original Assignee
深圳市道通科技股份有限公司
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Application filed by 深圳市道通科技股份有限公司 filed Critical 深圳市道通科技股份有限公司
Publication of WO2022028530A1 publication Critical patent/WO2022028530A1/fr

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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 present application relates to the technical field of automobile detection, and in particular, to a calibration device and a calibration method.
  • 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-mentioned set pattern.
  • 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 and a calibration method to solve the technical problem of the current calibration device in a high temperature and humid environment, the ink at the edge of the set pattern is easily diffused outwards and affects the display effect of the set pattern.
  • a calibration device comprising:
  • a light projection device mounted on the bracket, for projecting light to the image display panel to form a setting pattern on the image display panel, the setting pattern being used to assist in calibrating a sensor to be tested on a vehicle to be tested ;as well as
  • An adjustment device including a manual adjustment mechanism, the manual adjustment mechanism is mounted on the bracket, and the manual adjustment mechanism is used to adjust the position of the light projection device relative to the image display panel, so as to adjust the presentation of the set pattern display state on the image display panel.
  • the manual adjustment mechanism includes a lift rod
  • the lifting rod is arranged below the light projection device and is connected with the bracket. One end of the lifting rod is arranged close to the bottom of the light projection device, and the other end extends away from the light projection device.
  • the lifting rod can move up and down relative to the bracket to abut or separate from the bottom of the projector, so as to adjust the position of the light projection device relative to the image display panel.
  • the manual adjustment mechanism includes at least three lifting rods, and the tops of the at least three lifting rods are enclosed in a polygonal shape.
  • the lifting rod is screwed to the bracket.
  • the lift rod includes a main rod body and a handle, the main rod body is threadedly connected to the bracket, and the handle is fixed to the bottom of the lift rod.
  • the bracket includes a receiving box
  • the light projection device is accommodated in the storage box, the bottom of the storage box is provided with a through hole, and the top of the lift rod can extend into or pass through the through hole and abut against the bottom of the light projection device. hold.
  • the lifting rod is threadedly connected to the receiving box at the through hole.
  • one of the bottom of the light projection device and the bottom of the receiving box is provided with a positioning column, and the other is provided with a positioning hole, and the positioning column is inserted into the positioning hole and is connected with the The positioning hole clearance fit.
  • the bracket further 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, the image display panel and the accommodating box are both mounted on the stand assembly, and the accommodating box is arranged above the image display panel .
  • the adjusting device further includes a driving module, the driving modules are respectively connected with each of the lifting rods, and the driving module is used to drive each of the lifting rods to perform a lifting movement.
  • the drive module includes a drive assembly, one of the drive assemblies corresponds to one of the lift rods, and the drive assembly is connected to the lift rod and used to drive the lift rod to move up and down .
  • the drive assembly includes:
  • a first pulley which is arranged below the light projection device and is rotatably mounted on the bracket; the lifting rod passes through the first pulley coaxially and is threadedly connected with the first pulley; the The lifting rod is circumferentially fixed relative to the bracket;
  • the belt is wound around the first pulley and the second pulley.
  • the adjusting device further includes an input module and a processing module, and both the input module and the driving module are electrically connected to the processing module;
  • the input module is used for receiving an instruction input by a user
  • the processing module is used for controlling the driving module to drive the lifting rod to perform a lifting movement according to the instruction.
  • the input module includes at least one of a display screen, a keyboard and a key.
  • a calibration method applied to the above-mentioned calibration equipment, the calibration method comprising:
  • 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 for projecting light to the image display panel to form a set pattern, so as 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 flowchart of a calibration method according to an 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 above-mentioned image display panel 200 to form a setting pattern on the image display panel 200 , and the setting pattern is used to assist in calibrating the sensor under test on the vehicle under test.
  • the adjusting device 400 includes a manual adjusting mechanism 410 , the manual adjusting mechanism 410 is installed on the bracket 100 and is used for adjusting the position of the light projection device 300 relative to the image display panel 200 to adjust the above-mentioned setting pattern presented on the image display panel 200 . Display state.
  • the stand 100 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-like structure as a whole, and is used for presenting the set pattern formed by the light projected by the light-projecting device 300 .
  • 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 a Other shapes, not limited to cuboid shapes.
  • the image display panel 200 and the bracket 100 are detachably connected, so that the calibration device can be easily disassembled into scattered parts during transportation, so as to reduce the overall occupied volume of the device and facilitate transportation.
  • 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 formed by the light projected by the light projection device 300 maintains a better effect.
  • the light projection device 300 is installed on the bracket 100, and is used for projecting light to the above-mentioned image display panel 200 to form a set pattern.
  • the setting pattern is a pattern adapted to the vehicle type of the vehicle to be tested, which is used to assist in calibrating the sensor to be tested on the vehicle to be tested; the light projection device can acquire the setting pattern by the light projection device 300 itself
  • the stored data can also be obtained from an external device (such as a computer, tablet, mobile phone, etc.) by means of data communication.
  • 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 bracket 100 further includes a receiving box, and the receiving box is fixed to the stand assembly of the bracket 100 and disposed above the image display panel 200 .
  • FIG. 2 shows an exploded schematic view of the calibration device in one direction behind the hidden bracket 100 and the image display panel 200 .
  • the receiving box 130 is in the shape of a box body without a cover. , 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 a 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 too large a movement 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, which facilitates the positioning and installation of the light projection device 300 on the one hand, and prevents the light projection device 300 from having an excessively large movable margin on the other hand.
  • the positioning column 310 is provided in the light projection device 300 and the positioning hole 131 is provided in the receiving box 130, but the present invention is not limited to this; in other embodiments of the present invention, the positioning The column can also be arranged on the side of the bottom of the receiving box facing the first receiving cavity, and correspondingly, the positioning hole is arranged on the bottom of the light projection device; that is, one of the bottom of the light projection device and the bottom of the receiving box is provided with a positioning column , and the other is provided with a positioning hole.
  • the adjusting device 400 includes a manual adjusting mechanism 410, the manual adjusting mechanism 410 is installed in the receiving box 130 of the bracket 100, and is specifically used for adjusting the light projection according to the user's operation
  • the position of the device 300 relative to the image display panel 200 adjusts the display state of the set pattern presented on the image display panel 200 to the desired device.
  • the desired state specifically refers to that the shape, position, and proportion of the set pattern presented on the image display panel 200 are all in line with expectations, and can be used to assist in calibrating the state of the vehicle to be tested.
  • the manual adjustment mechanism 410 includes at least three lift rods 411 , each lift rod 411 is disposed below the light projection device 300 and connected to the bracket 100 , and one end of each lift rod 411 is disposed close to the bottom of the light projection device 300 to accommodate
  • the box 130 is provided with a through hole 132 at a position corresponding to the lifting rod 411 , the lifting rod 411 is threadedly connected to the receiving box 130 at the through hole 132 , and the top of the lifting rod 411 can extend into or pass through the through hole 132 and project light with the light.
  • the bottom of the device 300 abuts against; the other end of each lift rod 411 extends in a direction away from the light projection device 300 .
  • Each lift rod 411 can move up and down relative to the bracket 100 to abut or separate from the bottom of the light projection device 300 , that is, the part of the light projection device 300 corresponding to the lift rod 411 can be lifted or lowered adaptively.
  • the position of the light projection device 300 relative to the image display panel 200 can be adjusted until the setting pattern displayed on the image display panel 200 is adjusted to the above-mentioned desired state.
  • the manual adjustment mechanism 410 includes three lifting rods 411, and the three lifting rods 411 can be used to realize the left-right direction (for FIG. 1 ) and the up-down direction (for FIG. 1 ) of the setting pattern displayed on the image display panel 200 .
  • the number of lifting rods 411 may be more than four, as long as it is ensured that the top of each lifting rod 411 is enclosed in a polygonal shape.
  • 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 manual adjustment mechanism 410 includes at least three lifting rods 411 is only a preferred embodiment, and its application adaptability is high, but the present invention does not limit the specific number of the lifting rods 411 in detail; for example, in the present invention
  • the light projection device 300 will only have displacement deviation in one direction, for example, the light projection device 300 is high on the left and low on the right (as shown in FIG. 1 ), in this case, one lifting rod 411 or two lifting rods 411 can be used. Adjustments to the light projection device 300 .
  • the lift rod 411 specifically includes a main rod body 412 and a handle 413 .
  • the main rod body 412 is disposed below the light projection device 300 and is threadedly connected to the receiving box 130 in the bracket 100 , and the top of the main rod body 412 can extend into or pass through the above-mentioned through hole 132 and connect with the light projection device 300 .
  • the bottom is abutted; the bottom of the main rod body 412 extends in a direction away from the light projection device 300 along the vertical direction shown in the figure.
  • the handle 413 is fixed on the bottom of the main rod body 412, then the staff can directly and conveniently drive the lifting rod 411 to lift and move as a whole by twisting the handle 413, so that the top of the lifting rod 411 abuts or separates from the bottom of the light projection device 300 .
  • the above-mentioned adjusting device 400 further includes a driving module (not shown in the figure), the driving modules are respectively It is connected with each lifting rod 411 and is used to drive each lifting rod 411 to perform lifting motion.
  • the driving module includes several driving components (not shown in the figure), one driving component corresponds to a lifting rod 411 , and the driving component is connected with the lifting rod 411 and is used for driving the lifting rod 411 to move up and down.
  • the drive assembly includes a motor (not shown in the figure), a first pulley (not shown in the figure), a second pulley (not shown in the figure) and a belt (not shown in the figure).
  • the first pulley and the lifting rod 411 are coaxially arranged, which are rotatably installed on the bottom of the receiving box 130 and can only rotate relative to the bracket 100; the lifting rod 411 coaxially passes through the first pulley and is connected to the first belt
  • the wheels are threadedly connected, and the lifting rod 411 is circumferentially fixed relative to the bracket 100 , that is, the lifting rod 411 cannot rotate relative to the bracket 100 .
  • the main body of the motor is fixed on the bottom of the receiving box 130 , the second pulley is installed on the output end of the motor, and the belt is wound around the first pulley and the second pulley.
  • the user can control the start of the motor, control the second pulley to drive the first pulley to rotate, and then drive the lift rod 411 to lift up (screw lift) or push down (gravity pushes down) the light projection device 300, thereby
  • the purpose of adjusting the light projection device 300 is achieved; that is, the adjusting device 400 has the functions of manual adjustment and motor adjustment at the same time, and the adaptability of the scene is higher.
  • the present invention does not specifically limit the specific structural form of the lift rod 411 and the drive module, and the installation form of the lift rod 411 and the bracket 100, as long as the drive module can drive the lift rod 411 to lift and lower;
  • the lift rod 411 is an optical axis
  • the driving module includes a plurality of linear motors corresponding to the lift rod 411 one-to-one.
  • the adjustment device 400 in this embodiment has a manual adjustment function
  • the user or staff may not necessarily use manual adjustment, that is, the above-mentioned “manual adjustment mechanism 410" does not cause the adjustment device 400 must be limited by manual adjustment, and it should be understood that, in some scenarios, the adjustment device can be adjusted manually.
  • the adjusting device 400 further includes an input module (not shown in the figure) and a processing module (not shown in the figure) .
  • both the input module and the above-mentioned driving module are electrically connected with the processing module.
  • the input module can realize the human-computer interaction with the user, and is used for receiving the instruction input by the user.
  • the processing module is configured to control the above-mentioned driving module to drive the lifting rod 411 to perform an adaptive lifting movement according to the instruction, so as to adjust the position of the light projection device 300 relative to the image display panel 200 .
  • the user can observe the actual display state of the set pattern presented on the image display panel 200 with the naked eye, and directly input the specific instruction of adjustment to the output module based on practical experience, until the display state of the set pattern is the desired state.
  • the operation of inputting instructions may be intermittent or continuous; for example, in some embodiments, the input module includes at least one of a display screen, a keyboard and a key, and the user can touch the display screen intermittently, or intermittently The user can also continuously touch the display screen, or continuously trigger the keyboard, or continuously press the keys.
  • the setting pattern projected on the image display panel 200 tends to be slightly deformed than the expected pattern, which will affect the accuracy of the ADAS calibration of the vehicle under test.
  • the deformation of the set pattern such as the slight position change of the light projection device 300 relative to the bracket 100 due to vibration during the movement of the calibration device (for example, the light projection device is high on the left and low on the right, high in the front and low in the back). ); and the setting of the adjusting device 400 well overcomes this deficiency, thereby ensuring the accuracy of the subsequent calibration process.
  • the above-mentioned processing module as a control device connecting the input module and the driving module, includes a first processor and a first memory, and the first processor and the first memory can be connected by a bus or other means. Both the input module and the drive module are connected to the bus.
  • the first memory can be used to store non-volatile software programs, non-volatile computer-executable programs and modules.
  • the first processor executes the steps performed by the processing modules described above by executing non-volatile software programs, instructions and modules stored in the first memory.
  • the first memory may include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required by at least one function; the stored data area may store data output by the input module and the like.
  • the first memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the first memory may optionally include memory located remotely from the first processor, these remote memories being connectable to the first processor 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 first memory and, when executed by the one or more first processors, 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 the image display panel 200 , the light projection device 300 , and the adjustment device 400 and other 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. 3 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 that is adapted to the vehicle type to be tested; the way of acquiring the set pattern by the light projection device can be stored by the light projection device 300 itself, or can be obtained from the outside through data communication. device (such as 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 process of controlling the light projection device to project the set pattern is realized by a controller (not shown), and the controller is a control device, which can be integrated in the light projection device, or can be integrated with the light projection device.
  • the controller is a control device, which can be integrated in the light projection device, or can be integrated with the light projection device.
  • 300 are provided independently of each other, and include a second processor and a second memory, and the second processor and the second memory may be connected by a bus or other means.
  • the second memory can be used to store non-volatile software programs, non-volatile computer-executable programs and modules.
  • the second processor executes the steps performed by the controller described above by executing non-volatile software programs, instructions and modules stored in the second memory.
  • the second memory may include a stored program area and a stored data area, wherein the stored program area may store an operating system, an application program required for at least one function.
  • the memory 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.
  • the second memory may optionally include memory located remotely from the second processor, these remote memories being connectable to the second processor 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 second memory and, when executed by the one or more second processors, perform the steps performed by the controller described above.
  • controller and the above-mentioned processing module are the same device.
  • 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.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Radar, Positioning & Navigation (AREA)
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  • Projection Apparatus (AREA)

Abstract

L'invention concerne un dispositif d'étalonnage, comprenant un support (100), une carte d'affichage d'image (200), un appareil de projection de lumière (300) et un appareil de réglage (400). Le support (100) est utilisé pour transporter et installer différentes structures. L'appareil de projection de lumière (300) est utilisé pour projeter de la lumière sur la carte d'affichage d'image (200) de façon à former un motif défini servant à aider lors de l'étalonnage d'un capteur à tester sur un véhicule à tester. Le motif défini utilisé par le dispositif d'étalonnage pour étalonner le véhicule n'est pas formé par impression à l'encre, mais est formé au moyen de la projection de lumière sur la plaque d'affichage d'image (200) au moyen de l'appareil de projection de lumière (300), ce qui empêche efficacement l'encre sur le bord du motif défini de s'étaler facilement vers l'extérieur et d'affecter l'effet d'affichage du motif défini. L'invention concerne également un procédé d'étalonnage.
PCT/CN2021/110891 2020-08-07 2021-08-05 Dispositif d'étalonnage et procédé d'étalonnage WO2022028530A1 (fr)

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CN202010791071.3A CN111879528A (zh) 2020-08-07 2020-08-07 标定设备及标定方法
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CN111879528A (zh) * 2020-08-07 2020-11-03 深圳市道通科技股份有限公司 标定设备及标定方法

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