CN211652021U - Calibration device for automobile camera - Google Patents

Abstract

The utility model discloses a car camera calibration device. The car camera calibration device comprises: a first mounting frame for connecting with a vehicle body, the first mounting frame is provided with a first laser transmitter and a second laser transmitter; The base is placed in front of the first installation frame; the second installation frame installed on the base is rotated, and the second installation frame is provided with a center alignment and alignment card, and the center alignment and alignment card is provided with a light-transmitting hole and a first target. position, the laser beam emitted by the second laser transmitter can be aligned with the first target position through the light-transmitting hole, the second mounting frame is also provided with a second target position, and the laser beam emitted by the first laser transmitter can be aligned with the second target position a target position; and a calibration plate, which is installed on the back of the second mounting frame, and the calibration plate is perpendicular to the central axis of the light-transmitting hole. The beneficial effects of the utility model are as follows: the dependence on the harsh calibration environment can be eliminated, the calibration is simple, the flexibility is high, and the calibration device has a simple structure and is convenient to carry.

Description

A car camera calibration device

technical field

The utility model relates to the technical field of automobiles, in particular to an automobile camera calibration device.

Background technique

Self-driving cars are the future development trend. Cameras are one of the important sensors of self-driving cars and play an important role in environmental perception. The measurement accuracy of cameras will directly affect the use of driverless functions. Therefore, the calibration of cameras has a very important meaning.

At present, the calibration of the car camera needs to be carried out in the workshop. A fixed calibration board needs to be set up in the workshop, and then the vehicle to be calibrated is moved to the designated position, and the body posture must be strictly controlled and the body level must be maintained. Uneven and lean body stance.

Utility model content

The purpose of the utility model is to overcome the deficiencies of the prior art and provide a car camera calibration device, which can get rid of the harsh requirements of the calibration environment in the calibration process, allow the calibration site to be uneven on the ground, the body posture is inclined, etc., and improve the flexibility of calibration sex.

In order to achieve the above purpose, a first aspect of the present utility model provides a car camera calibration device, which includes:

a first mounting frame, used for connecting with the vehicle body;

a first laser transmitter, mounted on the first mounting frame;

a second laser transmitter, mounted on the first mounting frame and capable of displacement relative to the first laser transmitter;

a base, which is used to be placed in front of the first mounting frame, and the base can be extended and retracted in a vertical direction;

The second mounting frame is rotatably mounted on the top of the base;

The center alignment card is installed on the second mounting frame, the center alignment card is provided with a light-transmitting hole, and the center alignment card is provided at a position passing through the central axis of the light-transmitting hole. a target position, the laser beam emitted by the second laser transmitter can be aimed at the first target position through the light-transmitting hole;

a second target position, mounted on the second mounting frame and capable of displacement relative to the first target position, and the laser beam emitted by the first laser transmitter can be aimed at the second target position; and

A calibration plate is installed on the back of the second mounting frame, and the calibration plate is perpendicular to the central axis of the light-transmitting hole.

As a preferred solution, a horizontal alignment and alignment card is also provided on the second mounting frame, and a linear chute is provided on the horizontal alignment and alignment card, and the linear chute is parallel to the calibration plate and parallel to the light transmission The central axis of the hole is vertical, and the second target position is slidably arranged in the linear chute.

As a preferred solution, both the center alignment card and the horizontal alignment card are snapped on the second mounting frame.

As a preferred solution, the center alignment card includes:

a plate body, mounted on the second mounting frame perpendicular to the calibration plate;

a first extension portion extending upward or downward along the front end of the plate body, and the light-transmitting hole is opened on the first extension portion; and

The second extension portion is formed to extend upward or downward along the rear end of the plate body, and the first target is arranged on the surface of the second extension portion facing the first extension portion.

As a preferred solution, the first mounting frame includes:

a connecting piece, the rear end of which is connected to the body; and

a support piece, which is vertically arranged with the connecting piece;

The support member includes a first support rod and a second support rod that are slidably connected, the first support rod is rotatably connected to the connecting member, and the first laser transmitter is mounted on the first support rod At the position connected with the connecting piece, the second laser emitter is mounted on the second support rod.

As a preferred solution, the first support rod is also provided with:

a first locking member for locking the first support rod and the connecting member; and

The second locking member is used for locking the second support rod and the first support rod.

As a preferred solution, the second mounting frame includes:

a first adjustment frame, rotatably connected to the base, and

a second adjusting frame, rotatably connected with the first adjusting frame;

Wherein, the rotation axis of the first adjustment frame is perpendicular to the rotation axis of the second adjustment frame, and the center alignment card and the second target position are both mounted on the second adjustment frame.

As a preferred solution, the first adjustment frame is provided with a first arc-shaped installation groove, a first fastener is slidably passed through the first arc-shaped installation groove, and the first fastener is connected to the first arc-shaped installation groove. an adjusting frame and the base;

The second adjustment frame is provided with a second arc-shaped installation groove, and a second fastener is slidably passed through the second arc-shaped installation groove, and the second fastener is connected to the first adjustment frame and the the base.

For the same purpose, the second aspect of the present utility model also provides a car camera calibration method, which utilizes the car camera calibration device as described in any one of the first aspects, and specifically includes the following steps:

Step 1. Connect the first mounting frame to the front side or the rear side of the vehicle body, and set the base above the first mounting frame;

Step 2: Move the second laser transmitter so that the connection line between the second laser transmitter and the first laser transmitter is parallel to the y-axis in the vehicle coordinate system, and at the same time, the second laser transmitter is located in the vehicle body. At the center axis along the y-axis direction of the vehicle coordinate system;

Step 3: Turn on the second laser transmitter, move the base, adjust the height of the base, and rotate the second mounting frame, so that the laser beam emitted by the second laser transmitter passes through the base. Align the first target position after the light-transmitting hole; turn on the first laser transmitter, and move the second target position, so that the laser beam emitted by the first laser transmitter is aimed at the second target position Target position; at this time, the positioning of the calibration plate in the vehicle coordinate system is completed, thereby establishing a positional relationship function between the calibration coordinate system and the vehicle coordinate system;

Step 4: Set a calibration point on the calibration board, and determine the coordinate value of the calibration point in the vehicle coordinate system according to the coordinate value of the calibration point in the calibration coordinate system and the position relationship function; measure the calibration point through the camera. The coordinate value in the camera coordinate system is used to calibrate the camera by comparing the coordinate value of the calibration point in the camera coordinate system with the coordinate value in the vehicle coordinate system.

As a preferred solution, in the first step, the first mounting frame is connected to the front towing hole or the rear towing hole of the vehicle body.

Compared with the prior art, a car camera calibration device and method according to the embodiment of the present utility model has the following beneficial effects:

In the car camera calibration device and calibration method according to the embodiment of the present invention, a first mounting frame is installed on the vehicle body, a second installation frame connected with a calibration plate is placed in front of the vehicle body, and a first laser transmitter is arranged on the first installation frame and the second laser transmitter, the second mounting frame is correspondingly provided with a second target position and a first target position; in the camera calibration process, the first laser transmitter and the second laser transmitter are respectively adjusted to the vehicle coordinate system. Then adjust the calibration plate so that the laser beam emitted by the second laser transmitter is aligned with the first target position after passing through the light-transmitting hole, and the laser beam emitted by the first laser transmitter is aligned with the second target position. In order to complete the positioning of the calibration plate, a positional relationship function is established between the calibration coordinate system and the vehicle coordinate system; in this embodiment, the harsh requirements for the calibration environment are reduced, and it is only necessary to adjust the position between the calibration plate and the vehicle body. relationship, the camera can be calibrated, and the calibration flexibility is high.

Description of drawings

1 is a schematic structural diagram of a car camera calibration device in an embodiment of the present invention;

2 is a schematic diagram of a calibration process of a car camera in an embodiment of the present invention;

3 is a schematic diagram of the installation structure of the first mounting frame in the calibration process of the car camera in the embodiment of the present invention;

4 is a partial schematic diagram of a second mounting frame of a car camera calibration device in an embodiment of the present invention;

FIG. 5 is a partial schematic diagram of a first mounting frame of a car camera calibration device according to an embodiment of the present invention.

In the figure, 1, the first mounting frame; 11, the connecting piece; 12, the support piece; 121, the first support rod; 122, the second support rod; 13, the first locking piece; 14, the second locking piece; 2. The first laser transmitter; 3. The second laser transmitter; 4. The base; 5. The second mounting frame; 51, The first adjusting frame; 511, The first arc-shaped mounting groove; 521, the second arc-shaped installation slot; 53, the first fastener; 54, the second fastener; 6, the center alignment card; 61, the light-transmitting hole; 62, the first target position; 63, the board ; 64, the first extension; 65, the second extension; 7, the horizontal alignment card; 71, the second target; 72, the linear chute; 8, the calibration plate.

Detailed ways

The specific embodiments of the present utility model will be described in further detail below with reference to the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be understood that the terms "first", "second", etc. are used to describe various information, but these terms should not be limited to these terms, and these terms are only used to describe the same type of information distinguished from each other. For example, "first" information may also be referred to as "second" information, and similarly, "second" information may also be referred to as "first" information without departing from the scope of the present invention.

As shown in Figures 1-5, a car camera calibration device according to a preferred embodiment of the present invention includes: a first mounting frame 1, a first laser transmitter 2, a second laser transmitter 3, a base 4, The second mounting frame 5 , the center alignment card 6 , the second target position 71 and the calibration plate 8 ; specifically, the first mounting frame 1 is used for connecting with the vehicle body, and the first laser transmitter 2 is mounted on the first mounting frame 1, the second laser transmitter 3 is mounted on the first mounting frame 1 and can be displaced relative to the first laser transmitter 2, and the base 4 is used to be placed in front of the first mounting frame 1 , the base 4 can be extended and retracted in the vertical direction, the second mounting frame 5 is rotatably mounted on the top of the base 4, the center alignment card 6 is mounted on the second mounting frame 5, and the center alignment The alignment card 6 is provided with a light-transmitting hole 61 , and a first target position 62 is provided on the center alignment card 6 at a position passing through the central axis of the light-transmitting hole 61 . The laser beam can be aligned with the first target position 62 through the light-transmitting hole 61 , and the second target position 71 is mounted on the second mounting frame 5 and can be displaced relative to the first target position 62 . The laser beam emitted by the first laser transmitter 2 can be aimed at the second target position 71 , the calibration plate 8 is installed on the back of the second mounting frame 5 , and the calibration plate 8 is connected to the light-transmitting hole 61 . The central axis is vertical.

Specifically, the specific steps of using the above device to calibrate the car camera are:

Step 1. Connect the first mounting frame 1 to the front or rear side of the vehicle body, and place the base 4 in front of the first mounting frame 1; 1 is installed on the front side of the vehicle body, when calibrating the rear camera, the first mounting bracket 1 is installed on the rear side of the vehicle body;

Step 2: Move the second laser transmitter 3 so that the connecting line between the second laser transmitter 3 and the first laser transmitter 2 is parallel to the y-axis in the vehicle coordinate system (specifically, the vehicle coordinate system is x-y-z). , as shown in FIG. 2 ), at the same time, the second laser transmitter 3 is located at the center axis of the vehicle body along the y-axis direction of the vehicle coordinate system, that is, the second laser transmitter 3 is ensured to be located at the center along the width of the vehicle body, For details, please refer to Figure 3;

Step 3: Turn on the second laser transmitter 3, move the base 4, adjust the height of the base 4 and rotate the second mounting frame 5, so that the second laser transmitter 3 emits After the laser beam passes through the light-transmitting hole 61, it is aligned with the first target position 62. At this time, it is ensured that the calibration plate 8 is perpendicular to the x-axis of the vehicle coordinate system; the first laser transmitter 2 is turned on, and the For the second target position 71 , the laser beam emitted by the first laser transmitter 2 is aligned with the second target position 71 . At this time, the orthographic projection of the first target position 62 on the calibration plate 8 is guaranteed to be the same as the second target position 71 . The connection line between the orthographic projections of the target position 71 on the calibration plate 8 is parallel to the y-axis of the vehicle coordinate system; at this time, the positioning of the calibration plate 8 in the vehicle coordinate system is completed, so that the calibration coordinate system and the vehicle coordinate system are completed. A definite positional relationship function is established between them;

Step 4: Set a calibration point on the calibration plate 8, and determine the coordinate value of the calibration point in the vehicle coordinate system according to the coordinate value of the calibration point in the calibration coordinate system and the position relationship function; The coordinate value of the camera coordinate system is used to calibrate the camera by comparing the coordinate value of the calibration point in the camera coordinate system with the coordinate value in the vehicle coordinate system.

In the above-mentioned calibration process, the calibration coordinate system is X-Y, which is a plane coordinate system. When the orthographic projection of the first target position 62 on the calibration plate 8 is set at the origin of the calibration coordinate system, the first target position 62 is on the calibration plate 8. The connecting line between the orthographic projection and the orthographic projection of the second target position 71 on the calibration plate 8 is the Y-axis, then the Y-axis of the calibration coordinate system is parallel to the y-axis of the vehicle coordinate system, and the X-axis of the calibration coordinate system is the vehicle coordinate. The x-axis of the system is parallel; at this time, if it is known that the coordinate value of the second laser transmitter 3 in the vehicle coordinate system is (x1, y1, z1), and the distance between the second laser transmitter 3 and the first target position 62 is L1, the distance between the first target position 62 and the calibration plate 8 is L2, it can be known that the coordinate value of the origin of the calibration coordinate system in the vehicle coordinate system is (x1+L1+L2, y1, z1), any arbitrary value on the calibration plate 8 The coordinate value of a point (δy,δz) in the vehicle coordinate system is (x1+L1+L2,y1+δy,z1+δz), so a definite position relationship function is established between the calibration coordinate system and the vehicle coordinate system.

Based on the above technical solutions, in this embodiment, in the process of calibrating the car camera, only after the calibration plate 8 is positioned, a definite positional relationship function can be established between the calibration coordinate system and the vehicle coordinate system, without the need for The levelness of the body is ensured, thus reducing the requirements for the calibration environment, the calibration is simple, the flexibility is high, and the calibration device has a simple structure and is convenient to carry.

In addition, since most vehicles are provided with front towing holes on the front side of the vehicle body and rear towing holes on the rear side of the vehicle body; therefore, during the calibration process, install the first mounting bracket 1 in the front or rear towing holes. middle.

In this embodiment, in order to facilitate the adjustment of the second target position 71 , the second mounting frame 5 is further provided with a horizontal alignment card 7 , and the horizontal alignment card 7 is provided with a linear chute 72 . The groove 72 is parallel to the calibration plate 8 and perpendicular to the central axis of the light-transmitting hole 61 , and the second target position 71 is slidably arranged in the linear sliding groove 72 .

Exemplarily, in this embodiment, in order to facilitate disassembly, both the center alignment card 6 and the horizontal alignment card 7 are clamped on the second mounting frame 5 .

Further, in order to facilitate the adjustment of the calibration plate 8 to be perpendicular to the laser beam emitted by the second laser transmitter 3, the center calibration and alignment card 6 includes a plate body 63, a first extension portion 64 and a second extension portion 65; The body 63 is installed on the second mounting frame 5 perpendicular to the calibration plate 8 , the first extension portion 64 is formed extending upward or downward along the front end of the plate body 63 , and the light-transmitting hole 61 is opened in the On the first extension portion 64 , a second extension portion 65 extends upward or downward along the rear end of the plate body 63 , and the first target position 62 is provided on the second extension portion 65 and the first extension portion 65 . The face of the part 64 facing each other.

In order to facilitate installation and adjustment, the first mounting frame 1 includes a connecting member 11 and a supporting member 12; It includes a first support rod 121 and a second support rod 122 that are slidably connected, the first support rod 121 is rotatably connected to the connecting piece 11 , and the first laser transmitter 2 is mounted on the first support rod 121 At the position connected to the connecting piece 11, the second laser transmitter 3 is mounted on the second support rod 122, as shown in FIG. 5 for details; by attaching the second support rod 122 along the first support rod The relative position of the second laser emitter 3 relative to the first laser emitter 2 can be adjusted by sliding the 121 .

In this embodiment, in order to lock the positional relationship between the first support rod 121 and the connecting member 11 and the positional relationship between the second support rod 122 and the first support rod 121 , the first support rod 121 is further provided with a first support rod. The locking member 13 and the second locking member 14; the first locking member 13 is used to lock the first support rod 121 and the connecting member 11, and the second locking member 14 is used to lock the second locking member 14. The support rod 122 and the first support rod 121 .

Similarly, as shown in FIG. 4 , in order to facilitate the adjustment of the position of the calibration plate 8 , the second mounting frame 5 includes a first adjusting frame 51 and a second adjusting frame 52 , and the first adjusting frame 51 rotates with the base 4 . The second adjustment frame 52 is connected with the first adjustment frame 51 in rotation; wherein, the rotation axis of the first adjustment frame 51 is perpendicular to the rotation axis of the second adjustment frame 52, and the center alignment snap 6 and the second target position 71 are both mounted on the second adjusting frame 52, the first adjusting frame 51 is mainly used for adjusting the pitch angle, and the second adjusting frame 52 is used for adjusting the roll angle.

Further, in order to facilitate adjustment and locking, the first adjustment frame 51 is provided with a first arc-shaped installation groove 511 , and a first fastener 53 is slidably passed through the first arc-shaped installation groove 511 . The first fastener 53 is connected to the first adjusting frame 51 and the base 4 ; the second adjusting frame 52 is provided with a second arc-shaped installation groove 521, and the second arc-shaped installation groove 521 slides inside A second fastener 54 is passed through, and the second fastener 54 is connected to the first adjusting frame 51 and the second adjusting frame 52 , as shown in FIG. 4 . Exemplarily, the above-mentioned first fastener 53 and second fastener 54 are both fastening bolts.

Exemplarily, the base 4 in this embodiment is hydraulically driven for height adjustment.

To sum up, the embodiments of the present invention provide a car camera calibration device and method. During the car camera calibration process, only after positioning the calibration plate, a determination can be established between the calibration coordinate system and the vehicle coordinate system. Therefore, it can get rid of the dependence on the harsh calibration environment, the calibration is simple, the flexibility is high, and the calibration device has a simple structure and is easy to carry.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the technical principles of the present invention, several improvements and replacements can be made. These improvements And replacement should also be regarded as the protection scope of the present invention.

Claims (8)

1. The utility model provides an automobile camera calibration device which characterized in that includes:

the first mounting frame is used for being connected with a vehicle body;

the first laser transmitter is arranged on the first mounting frame;

the second laser emitter is mounted on the first mounting frame and can displace relative to the first laser emitter;

the base is placed in front of the first mounting rack and can stretch out and draw back along the vertical direction;

the second mounting rack is rotatably mounted at the top of the base;

the central calibration alignment card is arranged on the second mounting frame, a light hole is formed in the central calibration alignment card, a first target position is arranged at the position, passing through the central axis of the light hole, of the central calibration alignment card, and the laser beam emitted by the second laser emitter can be aligned to the first target position through the light hole;

the second target position is arranged on the second mounting frame and can be displaced relative to the first target position, and the laser beam emitted by the first laser emitter can be aligned to the second target position; and

and the calibration plate is arranged on the back surface of the second mounting frame and is vertical to the central axis of the light hole.

2. The calibration device for the automobile camera according to claim 1, wherein a horizontal calibration alignment card is further disposed on the second mounting frame, a linear sliding slot is disposed on the horizontal calibration alignment card, the linear sliding slot is parallel to the calibration plate and perpendicular to the central axis of the light hole, and the second target position is slidably disposed in the linear sliding slot.

3. The calibration device for the camera of the vehicle as claimed in claim 2, wherein the central calibration alignment card and the horizontal calibration alignment card are both clipped on the second mounting frame.

4. The vehicle camera calibration device of claim 1, wherein the center alignment card comprises:

the plate body is perpendicular to the calibration plate and is arranged on the second mounting frame;

the first extension part extends upwards or downwards along the front end of the plate body, and the light hole is formed in the first extension part; and

the second extension portion extends upwards or downwards along the rear end of the plate body, and the first target position is arranged on the face, opposite to the first extension portion, of the second extension portion.

5. The vehicle camera calibration device of claim 1, wherein the first mounting bracket comprises:

the rear end of the connecting piece is connected with the vehicle body; and

the supporting piece is vertically arranged with the connecting piece;

the support piece comprises a first support rod and a second support rod which are connected in a sliding mode, the first support rod is connected with the connecting piece in a rotating mode, the first laser emitter is installed on the first support rod and is connected with the connecting piece, and the second laser emitter is installed on the second support rod.

6. The calibration device for the camera of the vehicle as claimed in claim 5, wherein the first supporting rod is further provided with:

the first locking piece is used for locking the first supporting rod and the connecting piece; and

and the second locking piece is used for locking the second supporting rod and the first supporting rod.

7. The vehicle camera calibration device of claim 1, wherein the second mounting bracket comprises:

a first adjusting bracket rotatably connected to the base, an

The second adjusting frame is rotatably connected with the first adjusting frame;

the rotation axis of the first adjusting frame is perpendicular to the rotation axis of the second adjusting frame, and the center calibration aligning card and the second target position are both mounted on the second adjusting frame.

8. The calibration device for the automobile camera as claimed in claim 7, wherein the first adjusting bracket is provided with a first arc-shaped mounting groove, a first fastening member is slidably inserted in the first arc-shaped mounting groove, and the first fastening member connects the first adjusting bracket and the base;

a second arc-shaped mounting groove is formed in the second adjusting frame, a second fastener penetrates through the second arc-shaped mounting groove in a sliding mode, and the second fastener is connected with the first adjusting frame and the base.

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