CN118067414A - Bracket system for automobile vision test and vision test method - Google Patents

Abstract

The invention provides a bracket system for automobile vision test and a vision test method, and relates to the technical field of automobile test, wherein the bracket system comprises: the device comprises image acquisition equipment, a bracket device, a cradle head device and a stereoscopic vision camera; the bracket device is arranged on the main driving seat and provided with an installation part, and the position of the installation part can be adjusted along the length direction, the width direction and the height direction of the automobile to be tested by the bracket device; the cradle head device is used for driving the image acquisition device to rotate around a first axis, a second axis and a third axis, the first axis is parallel to the direction of the automobile chassis, the second axis is perpendicular to the first axis, and the third axis is perpendicular to the first axis and the second axis; a stereoscopic camera is disposed on the co-pilot seat for determining an eyepoint position and an imaging point position of the image capturing device. The bracket system provided by the invention has the advantages of operation traversal, maintenance of normal cabin light environment, accurate reproduction of eye point positions and the like.

Description

Bracket system for automobile vision test and vision test method

Technical Field

The present disclosure relates generally to the field of automotive testing technology, and in particular, to a bracket system for automotive vision testing and a vision testing method.

Background

The visual output performance of the automobile cabin is directly related to driving safety, and the cabin visual perception directly influences the acceptance of the user on the cabin science and technology sense, so that the current automobile standard regulations at home and abroad all put a great deal of requirements on the related technology products. Therefore, it is necessary to test and objectively evaluate the visual quality of the automobile cabin, so as to ensure the consistency of the visual quality test result in the cabin and the subjective visual feeling of the driver.

The automobile cabin vision test needs to acquire, record and analyze the image display, brightness, chromaticity, vision size and other optical parameters of related functional products in the cabin through the image acquisition equipment. In the existing vision test system, the image acquisition device and the like are usually erected on a main driving seat through a simple device such as a tripod, or a mechanical support is arranged after the main driving seat is removed to support the image acquisition device, and then, an external industrial robot extends into a cabin through a main driving wind window to support the image acquisition device. The defects that the assembly is inconvenient, the eye point position cannot be accurately reproduced or the cabin light environment is influenced exist in the mode, and the problems of inaccurate test results and low reliability are caused.

Disclosure of Invention

In view of the foregoing drawbacks or shortcomings of the prior art, it is desirable to provide a bracket system for visual testing of an automobile and a visual testing method to solve the foregoing problems.

A first aspect of the present application provides a rack system for vision testing of an automobile, installed in a cabin of the automobile to be tested, comprising:

The image acquisition equipment is used for acquiring images and optical parameters in the automobile seat to be tested;

the bracket device comprises a fixed assembly and an adjusting assembly arranged on the fixed assembly, and the fixed assembly is arranged on the main driving seat; the adjusting assembly is provided with an installation part and is used for adjusting the position of the installation part along the length direction, the width direction and the height direction of the automobile to be tested;

The cradle head device is arranged on the installation part and is provided with the image acquisition equipment; the cradle head device is used for driving the image acquisition equipment to rotate around a first axis, a second axis and a third axis, the first axis is parallel to the direction of the automobile chassis, the second axis is perpendicular to the first axis, and the third axis is perpendicular to the first axis and the second axis;

And the stereoscopic vision camera is arranged on the copilot seat and is used for determining the eye point position and the imaging point position of the image acquisition device.

According to the technical scheme provided by the embodiment of the application, the fixing assembly comprises:

the hip-imitating base is used for being attached to the main driving seat cushion;

The auxiliary support rod is arranged at one end of the hip-like base, far away from the main driving seat backrest, and is provided with a clamping part which is used for being clamped with a steering wheel of the automobile to be tested.

According to the technical scheme provided by the embodiment of the application, the adjusting component comprises:

The base is embedded at one end of the hip-imitating base, which is close to the backrest of the main driving seat;

One end of the rotating seat is hinged with the base and can rotate around a hinge shaft parallel to the width direction of the automobile to be tested;

One end of the first connecting piece is slidably arranged at the other end of the rotating seat, and the sliding direction is parallel to the width direction of the automobile to be tested;

The second connecting piece is slidably arranged on the first connecting piece, and the sliding direction is perpendicular to the direction of the hinge shaft; the mounting part is arranged on the second connecting piece;

The first driving device is used for driving the rotating seat to rotate around the hinge shaft;

the second driving device is used for driving the first connecting piece to move;

and the third driving device is used for driving the second connecting piece to move.

According to the technical scheme provided by the embodiment of the application, the cradle head device comprises:

The connecting seat is arranged on the mounting part;

The first rotating mechanism comprises a first rotating part and a first connecting part, the first rotating part is connected with the connecting seat and one end of the first connecting part, and the first rotating part is used for driving the first connecting part to rotate around the first axis;

the second rotating mechanism comprises a second rotating part and a second connecting part, the second rotating part is connected with the other end of the second connecting part and one end of the second connecting part, and the second rotating part is used for driving the second connecting part to rotate around the second axis;

The third rotating mechanism comprises a third rotating part and a third connecting part, the third rotating part is connected with the other end of the second connecting part and the third connecting part, the third connecting part is fixedly connected with the image acquisition equipment, and the third rotating part is used for driving the image acquisition equipment to rotate around the third axis;

The first connecting part or the second connecting part is provided with a first identification light source for identifying the stereoscopic vision camera.

According to the technical scheme provided by the embodiment of the application, the imaging point position of the image acquisition equipment is positioned at the intersection point position of the first axis, the second axis and the third axis.

According to the technical scheme provided by the embodiment of the application, the device further comprises a horizontal balancing device, wherein the horizontal balancing device is connected with the connecting seat and the mounting part and is used for keeping the connecting seat in a horizontal state.

According to the technical scheme provided by the embodiment of the application, the device also comprises a course calibration device, wherein the course calibration device comprises:

the calibrating cross rod is provided with supporting legs at two ends;

The first calibration longitudinal rod and the second calibration longitudinal rod are perpendicular to the calibration transverse rod and are arranged on the calibration transverse rod in a sliding mode, and the sliding direction is parallel to the extending direction of the calibration transverse rod; the first calibration longitudinal rod is arranged at a position close to one end of the calibration transverse rod; the second calibration longitudinal rod is arranged at a position close to the other end of the calibration transverse rod;

At least the first calibration vertical rod is provided with a second identification light source for the identification of the stereoscopic vision camera.

A second aspect of the present application provides a vision testing method based on a rack system for vision testing of an automobile as described above, comprising the steps of:

The automobile to be tested is kept in a parking state, and a main driving side door and a copilot side door at the front row position of the cabin are opened; placing and assembling the stent system;

The calibration cross rod penetrates through the front row of the cabin along the width direction of the automobile to be tested, the positions of the first calibration longitudinal rod and the second calibration longitudinal rod are adjusted, the first calibration longitudinal rod and a door lock ring positioned on the main driving side of the front row of the cabin are fixed, and the second calibration longitudinal rod and a door lock ring positioned on the front row of the cabin and on the auxiliary driving side of the front row of the cabin are fixed;

establishing a standard coordinate system by taking the stereoscopic vision camera as a coordinate origin, and acquiring a first coordinate and a second coordinate by the stereoscopic vision camera, wherein the first coordinate is the coordinate of the first identification light source in the standard coordinate system, and the second coordinate is the coordinate of the second identification light source in the standard coordinate system;

Obtaining imaging point position coordinates of the image acquisition equipment according to the first coordinates; acquiring the eye point position coordinates of the cabin according to the second coordinates; removing the course calibration device, and closing a main driving side door and a copilot side door at the front row position of the cabin;

Calculating a first coordinate difference value according to the eyepoint position coordinates and the imaging point position coordinates, and controlling the bracket device to move the imaging point position of the image acquisition equipment to the eyepoint position coordinates according to the first coordinate difference value;

And starting the image acquisition equipment to acquire images and optical parameters in the cabin.

In a preferred embodiment, the obtaining the coordinates of the imaging point of the image capturing device according to the first coordinates specifically includes the following steps:

Acquiring a first distance, wherein the first distance is the distance between the first identification light source and the imaging point; acquiring a first rotation angle, a second rotation angle and a third rotation angle, wherein the first rotation angle is an angle at which the first rotation part rotates relative to the image acquisition equipment at an initial position, the second rotation angle is an angle at which the second rotation part rotates relative to the image acquisition equipment at the initial position, and the third rotation angle is an angle at which the third rotation part rotates relative to the image acquisition equipment at the initial position;

And calculating the imaging point position coordinates according to the first rotation angle, the second rotation angle, the third rotation angle, the first distance and the first coordinates.

In a preferred embodiment, the obtaining the coordinates of the position of the eyepoint in the automobile seat compartment to be tested according to the second coordinates specifically includes the following steps:

acquiring a second coordinate difference value, wherein the second coordinate difference value is determined according to the position of the second identification light source position on the second calibration vertical rod; calculating a third coordinate according to the second coordinate difference value and the second coordinate, wherein the third coordinate is the coordinate of a door lock ring on the front row main driving side of the automobile to be tested;

Acquiring a third coordinate difference value, wherein the third coordinate difference value is determined according to the model of the automobile to be tested; calculating reference point coordinates of the cabin according to the third coordinate difference value and the third coordinate;

acquiring a fourth coordinate difference value, wherein the fourth coordinate difference value is determined according to an industry standard; and calculating the position coordinates of the eyepoint according to the fourth coordinate difference value and the reference point coordinates.

Compared with the prior art, the application has the beneficial effects that: the position of the image acquisition equipment can be adjusted by arranging the bracket device, so that the imaging point position of the image acquisition equipment can be conveniently positioned at the eyepoint position of the cabin; the cradle head device is arranged to adjust the course angle, the roll angle and the pitch angle of the image acquisition equipment, so that the angle actually observed by a driver can be simulated; by arranging the stereoscopic vision camera, the eye point position and the imaging point position of the image acquisition equipment can be adjusted, and the bracket device is convenient to adjust according to the relative position of the sum imaging point position of the grinding units. The support system provided by the application is completely arranged in the cabin of the automobile to be tested and placed on the seat in the cabin, the seat is not required to be disassembled, and the external industrial robot does not need to extend into the cabin to support the image acquisition equipment, so that the position of the image acquisition equipment is convenient to adjust, the influence on the optical environment in the cabin is avoided, and the test result is more accurate and has higher reliability.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:

FIG. 1 is a schematic structural view of a rack system for vision testing provided by the present application;

FIG. 2 is a schematic elevational view of the rack system of FIG. 1;

FIG. 3 is a schematic side elevational view of the rack system of FIG. 1;

FIG. 4 is a schematic view of the mounting structure of the cradle head device and cradle head device;

FIG. 5 is a schematic diagram of the test structure of FIG. 4;

FIG. 6 is a schematic diagram of a stereoscopic camera;

FIG. 7 is a schematic diagram of a heading calibration device;

Fig. 8 is a flow chart of the steps of the vision testing method provided by the present application.

Reference numerals: 100. an image acquisition device; 200. a bracket device; 210. a fixing assembly; 211. a buttock-imitating base; 212. an auxiliary support rod; 220. an adjustment assembly; 221. a mounting part; 222. a base; 223. a rotating seat; 224. a first connector; 225. a second connector; 226. a first driving device; 227. a second driving device; 228. a third driving device; 229. a weight member; 300. a cradle head device; 310. a connecting seat; 320. a first rotation mechanism; 321. a first rotating part; 322. a first connection portion; 330. a second rotation mechanism; 331. a second rotating part; 332 a second connection; 340. a third rotation mechanism; 341. a third rotating part; 342. a third connecting portion; 400. a stereoscopic camera; 410. a camera mounting bracket; 500. a horizontal balancing device; 600. heading calibration device; 610. calibrating a cross bar; 611. a first mounting frame; 612. a second mounting frame; 620. a support leg; 630. a first calibrated vertical rod; 640. a second calibration vertical rod; 650. a hook.

Detailed Description

The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.

It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.

Example 1

Referring to fig. 1-7, the present embodiment provides a bracket system for visual testing of an automobile, which is installed in a cabin of the automobile to be tested, and includes:

the image acquisition device 100 is used for acquiring images and optical parameters in the automobile seat to be tested by the image acquisition device 100;

A cradle apparatus 200, the cradle apparatus 200 comprising a fixed assembly 210 and an adjustment assembly 220 mounted on the fixed assembly 210, the fixed assembly 210 being mounted on a primary ride seat; the adjusting assembly 220 is provided with an installing part 221, and the adjusting assembly 220 is used for adjusting the position of the installing part 221 along the length direction, the width direction and the height direction of the automobile to be tested;

A cradle head device 300, wherein the cradle head device 300 is mounted on the mounting portion 221, and the image acquisition apparatus 100 is mounted on the cradle head device 300; the pan-tilt device 300 is configured to drive the image capturing apparatus 100 to rotate around a first axis, a second axis and a third axis, where the first axis is parallel to the direction of the chassis of the vehicle, the second axis is perpendicular to the first axis, and the third axis is perpendicular to the first axis and perpendicular to the second axis;

A stereoscopic camera 400, said stereoscopic camera 400 being arranged on the co-pilot seat for determining the eye point position and the imaging point position of said image acquisition device 100.

Specifically, when the automobile vision test is performed, the image acquisition equipment 100 needs to be placed in the automobile cabin to be tested, and the purpose of observing functional products in the vision field of the intelligent cabin in different automobile models is achieved by using the image acquisition equipment 100 instead of human eyes; the testing process aims at the target to be tested through the camera of the image acquisition equipment 100, and the image and the optical parameters of the target to be tested are acquired; meanwhile, the interior of the automobile seat cabin to be tested can be observed in real time.

The image acquisition device 100 is an IC-PMI16-XBND type imaging type luminance meter including an EL-0050R type 50mm electronic focusing lens, the pixel resolution is 4849×3264=1600 ten thousand pixels, and the image acquisition device can acquire, record and analyze optical parameters such as image display or luminance, chromaticity and the like of visual field functional products such as head-up display HUD, hollow large screen, panoramic view, back image, rear entertainment screen, electronic rearview mirror CMS, atmosphere lamp, digital instrument and the like. The brightness precision of the image acquisition equipment 100 is less than or equal to 3 percent, the chromaticity precision is less than or equal to 0.003, and the brightness range is 0.00001cd/m ²～10¹⁰cd/m², so that the human eye visual characteristic is completely covered.

Specifically, after the four doors and four windows of the automobile to be tested are closed, the test is formally started, and in the test process, the image acquisition device 100, the bracket device 200, the cradle head device 300 and the stereoscopic vision camera 400 are all arranged in a closed space formed by the cabin of the automobile to be tested. The windows on the main driving side of the rear row of the automobile to be tested do not need to be completely closed. Specifically, the bracket system further comprises a control device, wherein the control device is arranged outside the closed space formed by the automobile cabin to be tested; the vehicle window on the main driving side of the rear row of the automobile to be tested does not need to be completely closed to form a gap for the wire harness to pass through, and the control device passes through the wire harness to pass through the gap to be respectively in communication connection with the image acquisition equipment 100, the bracket device 200, the holder device 300 and the stereoscopic vision camera 400 and supply power.

Specifically, the stereoscopic camera 400 is mounted on the passenger seat in the cabin through a camera mounting bracket 410. The stereoscopic camera 400 is used as a basis for positioning and coordinate reference, the observation direction of the stereoscopic camera 400 is directed to the bracket device 200, the cradle head device 300 and the image acquisition device 100, the viewing angle of the stereoscopic camera 400 in the horizontal direction is 30 degrees, and the viewing angle in the numerical direction is 60 degrees; and establishing the standard coordinate system by taking the geometric center of the camera of the stereoscopic vision camera 400 as an origin, taking the front-back direction of the automobile to be tested as an X axis, taking the left-right direction of the automobile to be tested as a Y axis and taking the up-down direction of the automobile to be tested as a Z axis. By setting the identification light source in the visual field of the stereoscopic camera 400, the stereoscopic camera 400 is used for collecting the identification light source, and then the coordinates of the identification light source in the standard coordinate system can be obtained and sent to the control device through a line beam.

Further, the fixing assembly 210 includes:

the seat cushion comprises a buttock-imitating base 211, wherein the buttock-imitating base 211 is used for being attached to a main driving seat cushion;

The auxiliary support rod 212, the auxiliary support rod 212 sets up imitate buttockss base 211 is kept away from the one end of main driving seat back, be equipped with joint portion on the auxiliary support rod 212, joint portion is used for with the car steering wheel joint that awaits measuring.

Specifically, the shape of the bottom surface of the hip-imitating base 211 may be matched with the shape of the cushion of the main driving seat of the automobile to be tested, and the hip-imitating base 211 is used for supporting the whole bracket system on the main driving seat. The auxiliary support rods 212 are arranged at one end of the hip-imitating base 211 far away from the backrest of the main driving seat, the auxiliary support rods 212 extend upwards and are bifurcated at the free ends to form clamping parts, and the clamping parts are clamped on the steering wheel to stabilize the hip-imitating base 211. The weight members 229 are respectively arranged on the two sides of the support bar 212, and the weight members 229 are mounted on the upper surface of the hip-like base 211 and used for increasing the weight of the support system, so that the support system can better conform to the weight of a human body on one hand, and the stability of the support system in placement can be improved on the other hand. The hip-like base 211 is provided with a groove on the upper surface of one end close to the backrest of the main driving seat, and the groove is used for being connected with the adjusting component.

Further, the adjusting assembly 220 includes:

the base 222 is embedded at one end of the hip-like base 211 close to the backrest of the main driving seat;

A rotating seat 223, wherein one end of the rotating seat 223 is hinged with the base 222 and can rotate around a hinge shaft parallel to the width direction of the automobile to be tested;

a first connecting member 224, wherein one end of the first connecting member 224 is slidably mounted on the other end of the rotating seat 223, and the sliding direction is parallel to the width direction of the automobile to be tested;

A second link 225, the second link 225 being slidably mounted on the first link 224 in a sliding direction perpendicular to the direction of the hinge shaft; the mounting part 221 is disposed on the second connecting member 225;

a first driving device 226, wherein the first driving device 226 is used for driving the rotating seat 223 to rotate around the hinge shaft;

A second driving device 227, where the second driving device 227 is used to drive the first connecting piece 224 to move;

and a third driving device 228, where the third driving device 228 is used to drive the second connecting piece 225 to move.

Specifically, the base 222 is embedded in a groove formed on the hip-like base 211; one end of the rotating seat 223 extends into the groove and is hinged with the base 222, and the rotating seat 223 can rotate around the hinge shaft to adjust the angle; the rotating seat 223 is driven by a first driving device 226 to rotate around the hinging shaft, the first driving device 226 is mounted on the hip-imitating base 211 and provided with a telescopic free end, optionally, the first driving device 226 is a stroke controllable cylinder, the first driving device 226 is hinged with the hip-imitating base 211, the free end of the first driving device 226 is hinged with the rotating seat 223, and the rotating seat 223 is driven to rotate around the hinging shaft through telescopic free end of the first driving device 226, so that the angle adjustment of the rotating seat 223 is realized. The rotating seat 223 is connected with a first encoder for detecting the rotating angle of the rotating seat 223, and the first encoder is connected with the control module through a wire harness and used for transmitting the detected angle to the control module. The control module controls the first driving device 226 through a wire harness.

The first connecting piece 224 is slidably connected with one end, away from the hinge shaft, of the base 222 through a sliding rail, and the first connecting piece 224 is driven by a second driving device 227 to realize sliding along the width direction of the automobile to be tested; the second driving device 227 is fixedly mounted on the rotating seat 223, and optionally, the second driving device 226 is a stroke controllable cylinder. The rotating seat 223 drives the first connecting piece 224 to rotate together when rotating around the hinge shaft. The first connecting piece 224 is connected with a second encoder for detecting the moving distance of the first connecting piece 224, and the second encoder is connected with the control module through a wire harness and used for transmitting the measured distance to the control module. The control module controls the second driving device 227 through a wire harness.

The second connecting piece 225 is slidably connected with the first connecting piece 224 through a sliding rail, and the second connecting piece 225 is driven by a third driving device 228 to slide along the extending direction of the first connecting piece 224; the third driving device 228 is fixedly mounted on the first connecting member 224, and optionally, the second driving device 226 is a stroke controllable cylinder. The second connecting piece 225 is connected with a third encoder for detecting the moving distance of the second connecting piece 225, and the third encoder is connected with the control module through a wire harness and used for transmitting the detected distance to the control module. The control module controls the third driving device 228 through a wire harness, the mounting portion 221 is disposed on the second connecting piece 225, and the mounting portion 221 can be adjusted in the length, width and height directions along the automobile to be tested through the driving actions of the first driving device 226, the second driving device 227 and the third driving device 228, so that the position of the image capturing device 100 mounted on the mounting portion 221 can be adjusted to adjust the position of the imaging point.

Wherein the image capturing apparatus 100 has a stroke of 250mm along the X-axis, 120mm along the Y-axis, and 260mm along the Z-axis.

Compared to the conventional mechanism for adjusting the front-back, left-right, and up-down directions, the adjusting component 220 is not provided with a guide rail along the front-back, left-right, and up-down directions, for example, if the image capturing device 100 is to be adjusted along the front-back direction, the rotation angle of the rotating base 223 needs to be adjusted first to implement the adjustment of the image capturing device 100 along the front-back direction, and since the front-back position of the image capturing device 100 is changed and the up-down position is also changed during the rotation of the rotating base 223, the adjustment of the image capturing device 100 along the extending direction of the first connecting piece 224 is also required to be implemented through the second connecting piece 225. According to the invention, on one hand, the adjusting component 220 of the adjusting component 220 can more accurately simulate the change rule of the human eye position when the human body moves, and meanwhile, the adjusting mode can effectively avoid influencing the adjusting component 220 on the light environment in the automobile seat cabin to be tested.

Further, the cradle head device 300 includes:

A connection base 310, wherein the connection base 310 is mounted on the mounting portion 221;

A first rotation mechanism 320, wherein the first rotation mechanism 320 includes a first rotation portion 321 and a first connection portion 322, the first rotation portion 321 connects the connection base 310 and one end of the first connection portion 322, and the first rotation portion 321 is used for driving the first connection portion 322 to rotate around the first axis;

A second rotating mechanism 330, the second rotating mechanism 330 including a second rotating portion 331 and a second connecting portion 332, the second rotating portion 331 connecting the other end of the second connecting portion 332 and one end of the second connecting portion 332, the second rotating portion 331 being configured to drive the second connecting portion 332 to rotate about the second axis;

A third rotating mechanism 340, where the third rotating mechanism 340 includes a third rotating portion 341 and a third connecting portion 342, the third rotating portion 341 connects the other end of the second connecting portion 332 and the third connecting portion 342, the third connecting portion 342 is fixedly connected to the image capturing apparatus 100, and the third rotating portion 341 is used to drive the image capturing apparatus 100 to rotate around the third axis;

the second connection part 332 is provided with a first recognition light source for the stereoscopic camera 400 to recognize.

Specifically, the cradle head device 300 is detachably connected with the bracket device 200, so that the transportation, the debugging and the installation of the equipment are facilitated.

The first rotating portion 321 is rotatably mounted on the upper surface of the connection seat 310, and the rotation axis of the first rotating portion 321 is perpendicular to the surface of the connection seat 310, that is, the first axis is perpendicular to the surface of the connection seat 310; one end of the first connecting portion 322 is fixedly connected with the first rotating portion 321, and when the first rotating portion 321 works, the first connecting portion 322 is driven to rotate around the first axis; optionally, the first rotating portion 321 is a stroke controllable motor, and the first connecting portion 322 is a bent arm; the first rotating portion 321 is controlled by the control device through a wire harness.

The second rotating portion 331 is rotatably mounted at an end of the first connecting portion 322 away from the first rotating portion 321, and a rotation axis of the second rotating portion 331 is perpendicular to the first axis, that is, the second axis is perpendicular to the first axis; one end of the second connecting portion 322 is fixedly connected with the second rotating portion 331, and when the second rotating portion 331 works, the second connecting portion 332 is driven to rotate around the second axis; optionally, the second rotating portion 331 is a stroke controllable motor, and the second connecting portion 332 is a bent arm; the second rotating portion 331 is controlled by the control device through a wire harness.

The third rotating portion 341 is rotatably mounted at one end of the second connecting portion 332 away from the second rotating portion 331, and the rotation axis of the third rotating portion 341 is perpendicular to the first axis and perpendicular to the second axis, that is, the third axis is perpendicular to the first axis and the second axis; the third rotating portion 341 is provided with the third connecting portion 342, the image capturing device 100 is fixedly installed on the third connecting portion 342, and the image capturing device 100 is driven to rotate around the third axis when the third rotating portion 341 works; optionally, the third rotating part 341 is a stroke controllable motor.

The first identification light source is disposed on the first connection portion 322 or the second connection portion 332, and after the first identification light source is collected by the stereo vision camera 400, the stereo vision camera 400 generates coordinates of the first identification light source in the standard coordinate system, and then sends the coordinates to the control module through a line beam.

Through the cooperative cooperation of the first rotating portion 321, the second rotating portion 331 and the third rotating portion 341, the heading angle, the roll angle and the pitch angle of the image capturing device 100 can be adjusted, so that a real observation state of human eyes can be simulated. The course angle is an angle deviating from the front-rear direction of the automobile to be tested in the left or right direction, and the course angle is adjusted to simulate the left-right head swing condition of a driver; the roll angle is an angle deviating from the up-down direction of the automobile to be tested, and the roll angle is adjusted to simulate the situation that a driver leans the head; the pitching angle is an angle which is upward or believed to deviate from the front-rear direction of the automobile to be detected, and the pitching angle is adjusted to be used for simulating the head raising or head lowering of a driver. Preferably, the range of adjustment of the pan-tilt device 300 for the heading angle is ±60°, the limit angle for the adjustment of the elevation angle is 5 °, the limit angle for the adjustment of the depression angle is 25 °, and the range of adjustment for the roll angle is ±2°.

Further, the imaging point position of the image capturing apparatus 100 is located at the intersection point position of the first axis, the second axis and the third axis.

Specifically, the imaging point of the image capturing apparatus 100 is located at the intersection point of the first axis, the second axis and the third axis, so that the distance between the imaging point and the first identifying light source is always kept consistent, and the imaging point is not affected by the rotation of the first rotating portion 321, the second rotating portion 331 and the third rotating portion 341, so that the coordinates of the imaging point can be conveniently determined by the coordinates of the first identifying light source.

Further, a horizontal balancing device 500 is further included, the horizontal balancing device 500 connects the connection base 310 and the mounting portion 221, and the horizontal balancing device 500 is used for maintaining the connection base 310 in a horizontal state.

Specifically, the horizontal balancing device 500 is installed on the installation portion 221, the connection base 310 is installed on the installation portion 221 through the horizontal balancing device 500, the horizontal balancing device 500 includes a gyroscope, the horizontal balancing device 500 ensures that the connection base 310 always maintains a horizontal state through a gyroscopic principle, and further ensures that the entire pan-tilt device 300 always maintains stability. The horizontal balancing device 500 is a device capable of maintaining the horizontal of the pan-tilt in the prior art, and the specific model of the horizontal balancing device 500 is not limited herein.

Further, the heading calibration device 600 is further included, and the heading calibration device 600 includes:

a calibration cross rod 610, wherein two ends of the calibration cross rod 610 are provided with support legs 620;

A first calibration vertical rod 630 and a second calibration vertical rod 640, wherein the first calibration vertical rod 630 and the first calibration vertical rod 630 are perpendicular to the calibration horizontal rod 610 and are slidably mounted on the calibration horizontal rod 610, and the sliding direction is parallel to the extending direction of the calibration horizontal rod 610; the first calibration vertical pole 630 is disposed near one end of the calibration horizontal pole 610; the second calibration vertical pole 640 is disposed near the other end of the calibration horizontal pole 610;

At least the first calibration vertical pole 630 is provided with a second identification light source for the stereoscopic camera 400 to recognize.

Specifically, the length of the calibration cross bar 610 is greater than the width direction of the automobile to be tested, the support legs 620 positioned at two ends of the calibration cross bar 610 are used for supporting the calibration cross bar 610, and the height of the support legs 620 is adjustable. A first mounting frame 611 and a second mounting frame 612 are slidably mounted on the calibration cross rod 610, the sliding direction is parallel to the extending direction of the calibration cross rod 610, and the first mounting frame 611 and the second mounting frame 612 can be locked with the calibration cross rod 610 through bolts; the first calibration vertical rod 630 is rotatably mounted on the first mounting frame 611, and the direction of the rotation axis is parallel to the extending direction of the calibration horizontal rod 610; the second calibration vertical rod 640 is rotatably mounted on the second mounting frame 612, and the direction of the rotation axis is parallel to the extending direction of the calibration horizontal rod 610; the first calibration vertical rod 630 and the second calibration vertical rod 640 are both perpendicular to the calibration horizontal rod 610, and hooks 650 are provided on the first calibration vertical rod 630 and the second calibration vertical rod 640.

The first calibration vertical rod 630 is provided with a second identification light source, the second identification light source is arranged at a position which is convenient to be collected by the stereoscopic vision camera 400, after the second identification light source is collected by the stereoscopic vision camera 400, the stereoscopic vision camera 400 can generate the coordinate of the position of the second identification light source in the standard coordinate system, and then the coordinate is sent to the control module through a line beam. The first calibration vertical rod 630 and the second calibration vertical rod 640 are respectively connected with the door lock rings on the main driving side and the co-driving side at the front row position of the cabin through the hooks 650, and the distance between the first calibration vertical rod 630 and the second calibration vertical rod 640 is adjusted to be equal to the distance between the door lock rings on the main driving side and the co-driving side at the front row position of the cabin, so that the position of the second identification light source and the door lock ring on the main driving side in the standard coordinate system are guaranteed to have the same Y-direction coordinate, and the eye position of the automobile to be tested is further determined conveniently.

Example 2

Referring to fig. 8, the present embodiment provides a vision testing method, based on the bracket system for vehicle vision testing described in embodiment 1, comprising the following steps:

S1: the automobile to be tested is kept in a parking state, and a main driving side door and a copilot side door at the front row position of the cabin are opened; placing and assembling the stent system;

S2: the calibration cross rod 610 is passed through the front row position of the cabin along the width direction of the automobile to be tested, the positions of the first calibration vertical rod 630 and the second calibration vertical rod 640 are adjusted, the first calibration vertical rod 630 and a door lock ring positioned on the main driving side of the front row position of the cabin are fixed, and the second calibration vertical rod 640 and a door lock ring positioned on the front row position of the cabin and on the assistant driving side of the cabin are fixed;

S3: establishing a standard coordinate system by taking the stereoscopic vision camera 400 as a coordinate origin, and acquiring a first coordinate and a second coordinate by the stereoscopic vision camera 400, wherein the first coordinate is the coordinate of the first identification light source in the standard coordinate system, and the second coordinate is the coordinate of the second identification light source in the standard coordinate system;

S4: obtaining imaging point location coordinates of the image capturing device 100 according to the first coordinates; acquiring the eye point position coordinates of the cabin according to the second coordinates; removing the course calibration device 600, and closing the main driving side door and the assistant driving side door at the front row position of the cabin;

S5: calculating a first coordinate difference value according to the eyepoint position coordinates and the imaging point position coordinates, and controlling the bracket device 200 to move the imaging point position of the image acquisition equipment 100 to the eyepoint position coordinates according to the first coordinate difference value;

S6: the image acquisition device 100 is turned on to acquire images and optical parameters in the cabin.

Specifically, in step S1, before the test starts, the automobile to be tested is slowly driven to a test area and is properly parked, and the gear position of the automobile to be tested is located at a parking gear or the automobile to be tested is kept in a parking locking state; opening the front row position main driving side door and the front driving side door of the cabin, assembling and placing the bracket system in the cabin of the automobile to be tested, passing a wire harness through a gap on the rear row position main driving side door of the cabin, and respectively connecting the image acquisition equipment 100, the bracket device 200, the cradle head device 300 and the stereoscopic vision camera 400 with the control device through the wire harness.

Specifically, in step S2, the calibration cross bar 610 penetrates through the front row position of the cabin, the stand 620 is adjusted and the calibration cross bar 610 is fixed, the distance between the first mounting rack 611 and the second mounting rack 612 is adjusted, so that the hook 650 at the end of the first calibration vertical bar 630 is hooked on the door lock ring at the main driving side, and the hook 650 at the end of the second calibration vertical bar 640 is hooked on the door lock ring at the co-driving side, at this time, the calibration cross bar 610 extends along the width direction of the automobile to be tested, the heights of the first calibration vertical bar 630 and the door lock ring are the same, and then the Y-direction coordinates and the Z-direction coordinates of the second identification light source mounted on the first calibration vertical bar 630 and the door lock ring at the main driving side are the same.

Specifically, in step S3, after the heading calibration device 600 is placed, the first identification light source and the second identification light source are turned on, and coordinates of the first identification light source and the second identification light source are collected by the stereoscopic vision camera 400, so as to obtain the first coordinates and the second coordinates; the acquired first coordinates and the second coordinates are transmitted to the control device through a wire harness for processing.

Specifically, in step S4, after the control device receives the first coordinate and the second coordinate, the heading calibration device 600 is disassembled and removed, and the main driving side door and the auxiliary driving side door at the front row position of the cabin are closed, so that a closed space is formed in the cabin, an actual use scene can be better simulated in a testing process, and factors affecting the light environment in the cabin are eliminated. And then the control device obtains the imaging point position coordinates of the image acquisition equipment 100 according to the processing of the first coordinates, and simultaneously the control device obtains the eye point position coordinates in the automobile seat cabin to be tested according to the processing of the second coordinates.

Further, in step S4, the obtaining the coordinates of the imaging point of the image capturing device 100 according to the first coordinates specifically includes the following steps:

s41: acquiring a first distance, wherein the first distance is the distance between the first identification light source and the imaging point; acquiring a first rotation angle, a second rotation angle and a third rotation angle, wherein the first rotation angle is an angle at which the first rotation part 321 rotates relative to the image acquisition device 100 at an initial position, the second rotation angle is an angle at which the second rotation part 331 rotates relative to the image acquisition device 100 at an initial position, and the third rotation angle is an angle at which the third rotation part 341 rotates relative to the image acquisition device 100 at an initial position;

S42: and calculating the imaging point position coordinates according to the first rotation angle, the second rotation angle, the third rotation angle, the first distance and the first coordinates.

Specifically, since the position of the imaging point is the intersection point of the first axis, the second axis and the third axis, when the position of the first marker light source is determined, the distance between the imaging point and the first marker light source is a fixed value, that is, the first distance is a fixed value. It should be noted that, when the image capturing device 100 is at the initial position, the heading angle, the roll angle and the pitch angle of the image capturing device 100 are all 0, that is, the line of sight of the image capturing device 100 is parallel to the length direction of the automobile to be tested. The heading angle, the roll angle and the pitch angle of the image capturing apparatus 100 at this time are respectively acquired, that is, the first rotation angle, the second rotation angle and the third rotation angle are acquired. The relative positions of the imaging point position and the first identification light source can be obtained through the first rotation angle, the second rotation angle and the third rotation angle; the imaging point location coordinates are calculated from the imaging point location and the relative position of the first identification light source, knowing the first coordinates.

Further, in step S4, the obtaining the eye point position coordinates of the cabin according to the second coordinates specifically includes the following steps:

S43: acquiring a second coordinate difference value, wherein the second coordinate difference value is determined according to the position of the second identification light source position on the second calibration vertical rod 640; calculating a third coordinate according to the second coordinate difference value and the second coordinate, wherein the third coordinate is the coordinate of a door lock ring on the front row main driving side of the automobile to be tested;

s44: acquiring a third coordinate difference value, wherein the third coordinate difference value is determined according to the model of the automobile to be tested; calculating reference point coordinates of the cabin according to the third coordinate difference value and the third coordinate;

S45: acquiring a fourth coordinate difference value, wherein the fourth coordinate difference value is determined according to an industry standard; and calculating the position coordinates of the eyepoint according to the fourth coordinate difference value and the reference point coordinates.

Specifically, since the first calibration vertical rod 640 is connected to the main driving side door lock ring at the front row position of the cabin, and the second identification light source is located on the first calibration vertical rod 640, the position of the second identification light source is the same as the Y-direction coordinate of the main driving side door lock ring position, and then the position of the second identification light source is determined to be the same as the Z-direction coordinate of the main driving side door lock ring position according to the same height of the first calibration vertical rod 640 and the main driving side door lock ring position, so that the second coordinate difference is only the coordinate difference of the first coordinate and the coordinate of the main driving side door lock ring in the X-direction, and the difference is only determined to the position of the second identification light source on the second calibration vertical rod 640. The coordinates of the main driving side door lock ring can be obtained by the first coordinates and the first coordinate difference.

After the model of the automobile to be tested is determined, the relative position of the main driving side door lock ring and the reference point of the cabin of the automobile can also be determined, namely the third coordinate difference value is a determined value; the third coordinate difference value can be obtained by a manufacturer of the automobile to be tested. Therefore, the reference point coordinate of the automobile cabin to be tested can be determined according to the coordinate of the main driving side automobile door lock ring and the third coordinate difference value.

According to the design rule in the automobile field, the relative positions of the datum point and the eyepoint of the automobile are required to meet the industry standard, namely the fourth coordinate difference value is determined according to the industry standard and is a fixed value. Therefore, the eye point position coordinate can be obtained according to the reference point coordinate of the automobile cabin to be detected and the fourth coordinate difference value.

Specifically, in step S5, the first coordinate difference may be calculated according to the eye point position coordinate and the imaging point position coordinate, where the first coordinate difference may represent a relative position between the eye point position coordinate and the imaging point position coordinate. The control module controls the bracket device 200 to act according to the first coordinate difference value, so as to move the imaging point to the eyepoint.

Specifically, in step S6, after the imaging point position is adjusted, the image acquisition device 100 is turned on, and the image and the optical parameters in the automobile seat to be tested are acquired by the image acquisition device; in the acquisition process, the course angle, the roll angle and the pitch angle of the image acquisition equipment 100 can be changed by adjusting the cradle head device 300, and the position of the imaging point is not changed when the cradle head device 300 adjusts the image acquisition equipment 100; and visual testing can be performed on the interior of the seat cabin of the automobile to be tested by the collected images and optical parameters.

The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.

Claims (10)

1. A rack system for vision testing of an automobile, installed in a cabin of the automobile to be tested, comprising:

An image acquisition device (100), the image acquisition device (100) being configured to acquire images and optical parameters within the cabin;

-a bracket device (200), the bracket device (200) comprising a fixed assembly (210) and an adjustment assembly (220) mounted on the fixed assembly (210), the fixed assembly (210) being mounted on a primary ride seat; the adjusting assembly (220) is provided with an installing part (221), and the adjusting assembly (220) is used for adjusting the position of the installing part (221) along the length direction, the width direction and the height direction of the automobile to be tested;

A cradle head device (300), wherein the cradle head device (300) is installed on the installation part (221), and the image acquisition equipment (100) is installed on the cradle head device (300); the cradle head device (300) is used for driving the image acquisition equipment (100) to rotate around a first axis, a second axis and a third axis, the first axis is parallel to the direction of the automobile chassis, the second axis is perpendicular to the first axis, and the third axis is perpendicular to the first axis and perpendicular to the second axis;

a stereoscopic camera (400), the stereoscopic camera (400) being arranged on the co-pilot seat for determining an eyepoint position and an imaging point position of the image acquisition device (100).

2. The bracket system for automotive vision testing according to claim 1, characterized in that the fixing assembly (210) comprises:

the seat cushion comprises a hip-imitating base (211), wherein the hip-imitating base (211) is used for being attached to a main driving seat cushion;

The auxiliary support rod (212), auxiliary support rod (212) set up imitate buttockss base (211) and keep away from the one end of main driving seat back, be equipped with joint portion on auxiliary support rod (212), joint portion is used for with the car steering wheel joint that awaits measuring.

3. The bracket system for automotive vision testing of claim 2, wherein the adjustment assembly (220) comprises:

the base (222) is embedded at one end of the hip-imitating base (211) close to the main driving seat backrest;

A rotating seat (223), wherein one end of the rotating seat (223) is hinged with the base (222) and can rotate around a hinge shaft parallel to the width direction of the automobile to be tested;

A first connecting piece (224), wherein one end of the first connecting piece (224) is slidably mounted on the other end of the rotating seat (223), and the sliding direction is parallel to the width direction of the automobile to be tested;

a second link (225), the second link (225) being slidably mounted on the first link (224) in a sliding direction perpendicular to the direction of the hinge axis; the mounting part (221) is arranged on the second connecting piece (225);

-first driving means (226), said first driving means (226) being adapted to drive said rotation seat (223) in rotation about said articulation axis;

-a second driving device (227), the second driving device (227) being adapted to drive the movement of the first connection member (224);

-third driving means (228), said third driving means (228) being adapted to drive the movement of said second connection (225).

4. A rack system for automotive vision testing according to claim 3, characterized in that the pan-tilt device (300) comprises:

A connection base (310), the connection base (310) being mounted on the mounting portion (221);

A first rotation mechanism (320), wherein the first rotation mechanism (320) comprises a first rotation part (321) and a first connection part (322), the first rotation part (321) is connected with one ends of the connection base (310) and the first connection part (322), and the first rotation part (321) is used for driving the first connection part (322) to rotate around the first axis;

A second rotation mechanism (330), the second rotation mechanism (330) including a second rotation portion (331) and a second connection portion (332), the second rotation portion (331) connecting the other end of the second connection portion (332) and one end of the second connection portion (332), the second rotation portion (331) being configured to drive the second connection portion (332) to rotate about the second axis;

A third rotation mechanism (340), wherein the third rotation mechanism (340) comprises a third rotation part (341) and a third connection part (342), the third rotation part (341) is connected with the other end of the second connection part (332) and the third connection part (342), the third connection part (342) is fixedly connected with the image acquisition device (100), and the third rotation part (341) is used for driving the image acquisition device (100) to rotate around the third axis;

The first connection part (322) or the second connection part (332) is provided with a first identification light source for the identification of the stereoscopic camera (400).

5. The rack system for automotive vision testing according to claim 4, characterized in that the imaging point position of the image acquisition device (100) is located at the intersection point position of the first axis, the second axis and the third axis.

6. The bracket system for automotive vision testing according to claim 5, further comprising a horizontal balancing device (500), the horizontal balancing device (500) connecting the connection base (310) and the mounting portion (221), the horizontal balancing device (500) being for holding the connection base (310) in a horizontal state.

7. The bracket system for vehicle vision testing of claim 6, further comprising a heading calibration device (600), said heading calibration device (600) comprising:

a calibration cross rod (610), wherein two ends of the calibration cross rod (610) are provided with supporting feet (620);

The first calibration vertical rod (630) and the second calibration vertical rod (640), wherein the first calibration vertical rod (630) and the first calibration vertical rod (630) are perpendicular to the calibration horizontal rod (610) and are installed on the calibration horizontal rod (610) in a sliding mode, and the sliding direction is parallel to the extending direction of the calibration horizontal rod (610); the first calibration vertical rod (630) is arranged at a position close to one end of the calibration horizontal rod (610); the second calibration vertical rod (640) is arranged at a position close to the other end of the calibration horizontal rod (610);

At least the first calibration vertical rod (630) is provided with a second identification light source for the identification of the stereoscopic camera (400).

8. A vision testing method based on the rack system for automotive vision testing of claim 7, characterized by comprising the steps of;

The automobile to be tested is kept in a parking state, and a main driving side door and a copilot side door at the front row position of the cabin are opened; placing and assembling the stent system;

The calibration cross rod (610) passes through the front row position of the cabin along the width direction of the automobile to be tested, the positions of the first calibration longitudinal rod (630) and the second calibration longitudinal rod (640) are adjusted, the first calibration longitudinal rod (630) and a door lock ring positioned on the main driving side of the front row position of the cabin are fixed, and the second calibration longitudinal rod (640) and a door lock ring positioned on the auxiliary driving side of the front row position of the cabin are fixed;

establishing a standard coordinate system by taking the stereoscopic vision camera (400) as a coordinate origin, and acquiring a first coordinate and a second coordinate by the stereoscopic vision camera (400), wherein the first coordinate is the coordinate of the first identification light source in the standard coordinate system, and the second coordinate is the coordinate of the second identification light source in the standard coordinate system;

Obtaining imaging point location coordinates of the image acquisition device (100) according to the first coordinates; acquiring the eye point position coordinates of the cabin according to the second coordinates; removing the course calibration device (600) and closing the main driving side door and the auxiliary driving side door at the front row position of the cabin;

Calculating a first coordinate difference value according to the eyepoint position coordinates and the imaging point position coordinates, and controlling the bracket device (200) to move the imaging point position of the image acquisition equipment (100) to the eyepoint position coordinates according to the first coordinate difference value;

and starting the image acquisition equipment (100) to acquire images and optical parameters in the cabin.

9. The vision testing method according to claim 8, characterized in that said obtaining imaging point location coordinates of said image acquisition device (100) from said first coordinates comprises in particular the steps of:

acquiring a first distance, wherein the first distance is the distance between the first identification light source and the imaging point; acquiring a first rotation angle, a second rotation angle and a third rotation angle, wherein the first rotation angle is an angle at which the first rotation part (321) rotates relative to the image acquisition device (100) at an initial position, the second rotation angle is an angle at which the second rotation part (331) rotates relative to the image acquisition device (100) at the initial position, and the third rotation angle is an angle at which the third rotation part (341) rotates relative to the image acquisition device (100) at the initial position;

And calculating the imaging point position coordinates according to the first rotation angle, the second rotation angle, the third rotation angle, the first distance and the first coordinates.

10. The visual testing method according to claim 8, wherein the obtaining the eye point position coordinates of the cabin according to the second coordinates comprises the following steps:

acquiring a second coordinate difference value, wherein the second coordinate difference value is determined according to the position of the second identification light source position on the second calibration vertical rod (640); calculating a third coordinate according to the second coordinate difference value and the second coordinate, wherein the third coordinate is the coordinate of a door lock ring on the front row main driving side of the automobile to be tested;

Acquiring a third coordinate difference value, wherein the third coordinate difference value is determined according to the model of the automobile to be tested; calculating reference point coordinates of the cabin according to the third coordinate difference value and the third coordinate;

acquiring a fourth coordinate difference value, wherein the fourth coordinate difference value is determined according to an industry standard; and calculating the position coordinates of the eyepoint according to the fourth coordinate difference value and the reference point coordinates.