CN212363263U

CN212363263U - Calibration support

Info

Publication number: CN212363263U
Application number: CN202020465404.9U
Authority: CN
Inventors: 刘连军; 赖毕望; 张凯凯
Original assignee: Autel Intelligent Technology Corp Ltd
Current assignee: Autel Intelligent Technology Corp Ltd
Priority date: 2020-04-01
Filing date: 2020-04-01
Publication date: 2021-01-15
Anticipated expiration: 2030-04-01

Abstract

The embodiment of the utility model discloses calibration support, include: the support main body is used for mounting a calibration element, and the calibration element is used for calibrating a driving auxiliary system of a vehicle; the image acquisition device is connected with the bracket main body and is used for acquiring images of the vehicle; the processing device is arranged on the bracket main body, is electrically connected with the image acquisition device, and is used for calculating the moving position of the bracket main body relative to the vehicle according to the image acquired by the image acquisition device and outputting a control signal comprising the moving position; and the control device is arranged on the bracket main body, is electrically connected with the processing device, and is used for receiving the control signal and controlling the bracket main body to move. In this way, the utility model discloses can the automatic acquisition vehicle the image, according to the position that image automatic calculation support subject removed for the vehicle to control support subject removes this position, realizes support subject automatic movement to the position of maring the vehicle, need not operating personnel manual movement, the convenient precision and the reliability of just improving the demarcation.

Description

Calibration support

Technical Field

The embodiment of the utility model provides a relate to the automobile calibration technical field, especially relate to a calibration support.

Background

An Advanced Driver Assistance System (ADAS) is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processing such as identification, detection, tracking and the like of static and dynamic objects, so that a Driver can perceive a possible danger at the fastest time to draw attention and improve safety. The ADAS uses sensors, such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located in the front and rear bumpers, side-view mirrors, and the inside of the steering column or on the windshield of the vehicle. In the use process of a vehicle, the physical installation state of the sensor can be changed due to vibration, collision, environment temperature and humidity and the like, so that irregular calibration or calibration is required. When calibrating the sensor, the calibration element is usually mounted on a calibration bracket, and the calibration bracket is aligned with the vehicle by being swung.

At present, the placing line of the calibration bracket is determined mainly by manually finding points and marking lines, and then the calibration bracket is dragged to the placing line and then is aligned with the calibration element. In the calibration process, an operator needs to drag the calibration support and also needs to observe whether the calibration support meets the placement requirement, on one hand, the operator can easily make mistakes by visual observation, the accuracy is low, on the other hand, the operator needs to adjust the calibration support back and forth, the operation is complex, and the working efficiency is low.

SUMMERY OF THE UTILITY MODEL

The embodiment of the utility model provides a aim at providing a mark support, can the automatically regulated mark support for the position of calibration equipment, need not operating personnel manual regulation and mark the support, it is convenient and the degree of accuracy is high.

The embodiment of the utility model provides a solve its technical problem and adopt following technical scheme: providing a calibration support comprising: the calibration component is used for calibrating a driving auxiliary system of the vehicle;

the image acquisition device is connected with the bracket main body and is used for acquiring images of the vehicle;

the processing device is arranged on the bracket main body, is electrically connected with the image acquisition device, and is used for calculating the moving position of the bracket main body relative to the vehicle according to the image acquired by the image acquisition device and outputting a control signal comprising the moving position; and

and the control device is arranged on the support main body, is electrically connected with the processing device, and is used for receiving the control signal and controlling the support main body to move according to the control signal.

In some embodiments, the stent body comprises: the base comprises a roller, and the roller is driven by the control device to roll.

In some embodiments, the stent body further comprises: the vertical frame assembly is arranged on the base and is arranged along the vertical direction;

the processing device and the control device are arranged in the stand assembly.

In some embodiments, the stent body further comprises: and the beam assembly is arranged on the vertical frame assembly and used for mounting the image acquisition device.

In some embodiments, the beam assembly is movable in a vertical direction relative to the riser assembly;

wherein the distance of movement of the beam assembly in the vertical direction is determined by the processing means or movement of the beam assembly is driven by the control means.

In some embodiments, the cross-beam assembly is rotatable about a central axis of the riser assembly such that the cross-beam assembly is perpendicular to a central plane of the vehicle;

wherein the angle of rotation of the beam assembly about the central axis of the riser assembly is determined by the processing means or the rotation of the beam assembly about the central axis of the riser assembly is driven by the control means.

In some embodiments, the beam assembly includes a slider and a horizontal rail, the slider being mounted to the horizontal rail, the slider being movable in a horizontal direction along the horizontal rail;

the sliding block is used for mounting one of the image acquisition device and the calibration element.

In some embodiments, the distance of movement of the slide in the horizontal direction along the horizontal rail is determined by the processing means, or the movement of the slide in the horizontal direction along the horizontal rail is driven by the control means.

Compared with the prior art, the calibration bracket in the embodiment comprises: the calibration component is used for calibrating a driving auxiliary system of the vehicle; the image acquisition device is connected with the bracket main body and is used for acquiring images of the vehicle; the processing device is arranged on the bracket main body, is electrically connected with the image acquisition device, and is used for calculating the moving position of the bracket main body relative to the vehicle according to the image acquired by the image acquisition device and outputting a control signal comprising the moving position; and the control device is arranged on the bracket main body, is electrically connected with the processing device, and is used for receiving the control signal and controlling the bracket main body to move according to the control signal.

The embodiment of the utility model provides a can the automatic acquisition vehicle the image, according to the image automatic calculation support of collection for the position that the vehicle removed to control support main part removes this position, greatly reduced the complexity of operation, improved calibration equipment's precision, reliability and work efficiency, also improved the competitiveness simultaneously.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is an application scene diagram of a calibration bracket according to an embodiment of the present invention;

fig. 2 is a connection diagram of components of a calibration bracket according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of the main body of the calibration bracket shown in FIG. 1;

FIG. 4 is a schematic view of the construction of the base in the holder body shown in FIG. 3;

FIG. 5 is a schematic view of the stand assembly in the stand body of FIG. 3;

FIG. 6 is a schematic upper structural view of the drive mechanism in the riser assembly shown in FIG. 5;

FIG. 7 is a schematic view of the lower portion of the drive mechanism in the stand assembly shown in FIG. 5;

FIG. 8 is a schematic view of the nut seat assembly in the bracket body shown in FIG. 3;

FIG. 9 is a schematic view of the fastening assembly on the nut seat assembly shown in FIG. 8;

FIG. 10 is an exploded view of the cross-beam assembly in the bracket body shown in FIG. 3;

FIG. 11 is a schematic view of the cross member assembly in the main body of the bracket shown in FIG. 3;

FIG. 12 is a schematic view of the fine tuning assembly in the holder body shown in FIG. 3;

FIG. 13 is an installation schematic of the trim assembly;

FIG. 14 is a schematic view of the installation of the fine adjustment assembly with the nut holder assembly;

FIG. 15 is a schematic view of the installation of the fine adjustment assembly with the cross-beam assembly;

fig. 16 illustrates a method of calibrating a component according to the present invention;

fig. 17 illustrates a method for calibrating components according to another embodiment of the present invention.

Detailed Description

To facilitate understanding of the present invention, the present invention will be described in more detail with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. The terms "upper", "lower", "inner", "outer", "vertical", "horizontal", and the like as used herein are used in the description to indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1 and fig. 2, a calibration stand according to an embodiment of the present invention includes a stand body 100, an image capturing device 200, a processing device 300, and a control device 400. The bracket body 100 is used for mounting a calibration element, which is used for calibrating a driving assistance system of the vehicle 500. The image capturing device 200 is connected to the stand body 100, and is configured to capture an image of the vehicle 500. The image capturing device 200 is a device that has an image capturing function and may process an image, such as format conversion, storage, pixel calculation, clipping, or assignment of the image. The image capturing device 200 may include an image capturing sensor, or the image capturing device 200 may be a camera or a video camera, etc. The processing device 300 is disposed on the stand main body 100, electrically connected to the image capturing device 200, and configured to calculate a moving position of the stand main body 100 relative to the vehicle 500 according to an image captured by the image capturing device 200, and output a control signal including the moving position. The processing device 300 may be a processor, a microprocessor, or other device with computing capabilities. The processing device 300 may be integrated with the image capturing device 200, such as integrated on a Printed Circuit Board (Printed Circuit Board) or an Application-specific integrated Circuit (ASIC), or the processing device 300 may be separately disposed from the image capturing device 200, such as the processing device 300 and the image capturing device 200 are separately disposed at two locations of the stand body 100, and communicate with each other in a wired or wireless manner. The control device 400 is disposed on the stent body 100, electrically connected to the processing device 300, and configured to receive the control signal and control the stent body 100 to move according to the control signal. The control means 400 may include a driver capable of driving the movable part in the cradling body 100, thereby allowing the cradling body 100 to be controlled by the control means 400. The control device 400 may control the moving direction, moving distance, moving manner, etc. of the stand body 100. It is understood that the control device 400 may drive the stent body 100 to move and may also drive the stent body to stop. The control device 400 may be disposed near the movable part of the stand body 100. The control device 400 and the processing device 300 may be electrically connected by wired or wireless communication. The number of the control means 400 may be one or more, or the number of the control means 400 may be related to, e.g., equal to, the number of the movable parts of the stand body.

While the embodiment of the present application illustrates a structure of the movable bracket body 100, it is understood that other structures for calibrating the bracket body of the vehicle assistant driving system are within the scope of the present application. Referring to fig. 3, the bracket body 100 includes a base 10, a stand assembly 20, a beam assembly 30, and a fine adjustment assembly 40. Wherein, the processing device 300 and the control device 400 are both disposed in the stand assembly 20. The stand assembly 20 may also be used to house electrical wires or the like that transmit electrical signals. Of course, the processing device 300, the control device 400, and the electrical wires may be housed in the base 10 or the beam assembly 30, or the devices may be housed in external components attached to the outer surfaces of the base 10, the stand assembly 20, the beam assembly 30, or the fine adjustment assembly 40. It is understood that the bracket main body 100 may further be provided with a power supply device, the power supply device includes a battery for supplying power to the image acquisition device, the processing device and the control device, and the battery may be a zinc-manganese battery, an alkaline battery, a nickel-cadmium battery and a lithium battery, or a rechargeable storage battery, etc. Alternatively, the power supply device may be detachably mounted to the stand main body, or the power supply device may be fixedly mounted to the stand main body 100.

The stand assembly 20 is installed on the base 10 and is disposed in a vertical direction. The beam assembly 30 is mounted on the stand assembly 20 and can move up and down relative to the stand assembly 20 along the vertical direction, and the beam assembly 30 is used for mounting the image capturing device 200. The image capture device 200 may be moved in a horizontal direction along the cross beam assembly 30 or the image capture device 200 may be moved in a vertical direction relative to the stand assembly 30 by the cross beam assembly 30. Alternatively, the moving range of the image capturing apparatus 200 is not limited to the cross member assembly 30, and it can be achieved by other moving mechanisms that the image capturing apparatus 200 moves in any direction relative to the support main body 100, or the moving height can be higher than the stand assembly 20, or the moving horizontal distance can be out of the range of the length of the cross member assembly 30, or a combination of at least two of the above three manners.

Alternatively, the image capturing apparatus 200 may be combined with the movable mechanism by using the moving manner of the beam assembly 30, for example, the movable mechanism is disposed on the beam assembly 30, the image capturing apparatus 200 can move along the vertical direction through the beam assembly 30, and the image capturing apparatus 200 can be disposed at a position beyond the moving range of the vertical direction through the movable mechanism, or the movable mechanism can move along the beam assembly 30 along the horizontal direction, and when reaching one end of the beam assembly 30 or reaching a position on the beam for limiting the movement, the image capturing apparatus 200 can be disposed at a position beyond the moving range of the horizontal direction through the movable mechanism. In the embodiment of the present application, the movement of the beam assembly 30 in the vertical direction, or the movement of the movable mechanism, can be controlled by the control device 400.

The number of the image capturing devices 200 may be one, and the image capturing devices 200 are connected to the stand main body 100 through a movable mechanism or mounted on the beam assembly 30. The processing device 300 can acquire the image of the vehicle acquired by the image acquisition device 200 in real time, determine whether the vehicle contour in the image can be used for calculating the position of the stand main body 100 relative to the vehicle 500, if not, the processing device 300 sends a control command to the control device 400, the control device 400 controls the position movement of the image acquisition device 200, for example, the position movement is moved to the position indicated by the control command, or the movement of the image acquisition device 200 is controlled according to the movement direction, the movement distance, the movement angle and the like of the control command, or, the control device 400 controls the image acquisition device 200 to move randomly, the image acquisition device 200 feeds back the image to the processing device 300 in real time, and after the processing device 300 detects that the vehicle contour in the image can be used for calculating the position of the stand main body 100 relative to the vehicle 500, the image acquisition device 200 can be controlled by the control device 400 to stop moving.

The number of the image capturing devices 200 may be two or more, the positions of the image capturing devices may be fixed with respect to the stand body 100, or each image capturing device 200 may be mounted on the stand body 100 by the above-described mounting manner of one image capturing device 200. Two or more image acquisition devices 200 can acquire images synchronously, and the processing device 300 performs splicing processing on the images acquired by the image acquisition devices 200 to judge whether the acquired vehicle contour can be used for calculating the position of the bracket main body 100 relative to the vehicle 500. Alternatively, the processing device 300 may control one or more of the two or more image capturing devices 200 to perform image capturing. Two or more image capturing devices 200 may each face the vehicle 500; or, a part of the image capturing devices 200 of the two or more image capturing devices 200 faces the vehicle 500, and another part of the image capturing devices 200 faces the stand main body 100, and the relative positions of the two parts of the image capturing devices 200 are known or can be known, so that the processing device 300 can respectively obtain the images of the two parts, and further know the position of the stand main body 100 relative to the vehicle 500; alternatively, a first partial image capturing device of the two or more image capturing devices 200 faces the vehicle, a second partial image capturing device faces the first partial image capturing device, and the position of the second partial image capturing device relative to the stent body 100 is known or known, so that the processing device 300 can determine the position of the stent body 100 relative to the vehicle 500 from the images captured by the two partial image capturing devices.

The above manner is not only suitable for the image acquisition device 200 to acquire the image of the vehicle 500, and the processing device 300 determines the position of the stand main body 100 relative to the vehicle 500 according to the image of the image acquisition device 200, and then controls the stand main body 100 to move through the control device 400; the above method is also suitable for the image acquisition device 200 to acquire an image of a device to be calibrated on the vehicle, and the processing device 300 determines the position of the image acquisition device 200 relative to the device to be calibrated according to the image of the image acquisition device 200, and then controls the image acquisition device 200 to move to a specific position through the control device 400.

Alternatively, the image capturing device 200 may be detachably mounted to the stand body 100, and the image capturing device 200 may be mounted to different positions of the stand body 100 as required. When the overall movement of the stand body 100 needs to be controlled, the image capturing device 200 may be mounted on the movable mechanism or the beam assembly 30, and the position of the stand body 100 relative to the vehicle 500 is determined by the image captured by the image capturing device 200; when it is desired to control the movement of a component of the stand body 100, such as the movement of the beam assembly 30, the image capturing device 200 may be mounted to the beam assembly 30, and the position of the beam assembly 30 relative to the vehicle 50 may be determined by the image captured by the image capturing device 200.

The cross member assembly 30 is rotatable about a central axis of the stand assembly 20 such that the cross member assembly 30 is perpendicular to a central plane of the vehicle 500. The fine adjustment assembly 40 is mounted on the stand assembly 20, and the fine adjustment assembly 40 is used for driving the cross beam assembly 30 to move left and right relative to the stand assembly 20 along the horizontal direction.

The moving distance of the beam assembly 30 in the vertical direction may be determined by the processing device 300, or the moving of the beam assembly 30 in the vertical direction is driven by the control device 400. For example, the processing device 300 may determine a distance that the beam assembly 30 needs to move in the vertical direction according to the image captured by the image capturing device 200, and send a control instruction carrying the moving distance to the control device 400, and the control device 400 controls the driving mechanism that drives the beam assembly 30 to move in the vertical direction to move, so as to drive the beam assembly 30 to move in the vertical direction by a specific distance. For example, the drive mechanism for moving the beam assembly 30 in the vertical direction may include: a gear transmission mechanism, a lead screw transmission mechanism and the like; alternatively, the processing device 300 can prompt the required moving distance of the beam assembly 30 through the prompting module, and the operator can manually move the beam assembly 30 according to the required moving distance. The prompting module may include a display, a sounder, or the like.

The angle of rotation of the beam assembly 30 about the central axis of the riser assembly 20 is determined by the processing device 300 or the rotation of the beam assembly 30 about the central axis of the riser assembly 20 is driven by the control device 400. For example, the processing device 300 may determine, according to the image captured by the image capturing device 200, a rotation angle of the beam assembly 30 relative to the central axis of the stand assembly 20, and then send a control command to the control device 400, and the control device 400 controls the driving mechanism for driving the beam assembly 30 to rotate according to the control command, so as to drive the beam assembly 30 to rotate by a specific angle around the central axis of the stand assembly 20, for example, the driving mechanism for driving the beam assembly to rotate may include: link-type rotary mechanisms, crank-type rotary mechanisms, and the like; alternatively, the processing device 300 may prompt the beam assembly 30 for a desired rotation angle through the prompt module, and the operator controls the driving mechanism for driving the beam assembly 30 to rotate, so as to rotate the beam assembly 30 by a specific angle.

The moving distance of the beam assembly 30 in the horizontal direction may be determined by the processing device 300, or the moving of the beam assembly 30 in the horizontal direction is driven by the control device 400. For example, the processing device 300 may determine a distance that the beam assembly 30 needs to move in the horizontal direction according to the image captured by the image capturing device 200, and send a control command carrying the moving distance to the control device 400, and the control device 400 controls the fine adjustment assembly 40 driving the beam assembly 30 to move in the horizontal direction to move, so as to drive the beam assembly 30 to move in the horizontal direction by a specific distance. Alternatively, the processing device 300 may prompt the desired moving distance of the beam assembly 30 through the prompt module, and the operator manually moves the beam assembly 30 according to the desired moving distance. The prompting module may include a display, a sounder, or the like.

Referring to fig. 4, the base 10 includes a base body 12, a roller 14 and a height adjusting member 16, wherein the roller 14 is driven by the control device 400 to roll so as to drive the calibration bracket to move. For example, after the processing device 300 calculates the moving position of the stand main body 100 relative to the vehicle 500, the control device drives the roller 14 to move the stand main body 100 to the position.

It will be appreciated that in some embodiments, the indexing carriage may also be moved by the roller 14 by manually pushing the indexing carriage.

Base body 12 wholly is "worker" type and symmetry setting, include a main part and certainly the main part extends the both sides portion that forms to both sides, base body 12 can be made by metal material, gyro wheel 14 install in base body 12's both sides portion basal surface, the quantity of gyro wheel 14 can be four, and one is all installed to the end of each lateral part gyro wheel 14 is used for conveniently removing base body 12. In this embodiment, the roller 14 is a universal moving roller, so that the base body 12 can move freely back and forth, left and right.

The height adjusting member 16 is mounted to the base body 12 for adjusting the height of the base body 12. In this embodiment, the height adjusting members 16 are adjusting knobs, the number of the adjusting knobs is four, and at least one section of screw rod is arranged below the adjusting knobs, and the screw rod is matched with the threaded through holes at the base body 12, so that the height adjustment can be realized. Each of the height adjusting members 16 is installed at both ends of each of the side portions and is adjacent to a corresponding one of the rollers 14. In one implementation, the height adjusting member 16 can be adjusted to make the height adjusting member 16 contact with the ground, so as to jack up the roller 14, and prevent the base 10 from sliding under the driving of the roller 14 during the calibration process.

It is understood that in some other embodiments, the shape of the base body 12 may vary according to actual requirements, and is not limited to the "i" shape, for example, the base body 12 may be rectangular or triangular claw-shaped; the number of the rollers 14 and the height adjusting members 16 may be increased or decreased according to actual requirements, for example, for a triangular claw-shaped base body, the base body includes three claws extending in three different directions, the number of the rollers may be three, each roller is mounted at the end of a corresponding claw, the number of the height adjusting members is three, each height adjusting member is mounted at a corresponding claw and is close to a corresponding roller, and the three height adjusting members are distributed in a regular triangle.

Referring to fig. 5 and 8, the stand assembly 20 includes a stand body 22, a first slide rail 24, a nut seat assembly 26 and a driving mechanism 28, the stand body 22 is a symmetrical structure, the stand body 22 is vertically fixed to the base body 12, a central axis L of the stand body 22 is a central axis of the stand assembly 20, the first slide rail 24 is fixed to a side surface of the stand body 22, and the first slide rail 24 extends from a top end of the stand body 22 to a bottom end of the stand body 22. In this embodiment, the number of the first slide rails 24 is 2, and the first slide rails are respectively disposed at two ends of the same side of the stand body 22. The cross beam assembly 30 is mounted on the nut holder assembly 26, a first sliding block 261 matched with the first sliding rail 24 is fixedly arranged on the nut holder assembly 26, and the first sliding block 261 is matched with the first sliding rail 24, so that the nut holder assembly 26 can move along the length direction of the stand body 22. The drive mechanism 28 is mounted to the stand body 22 for driving the nut seat assembly 26 to move along the stand body 22 to move the cross beam assembly 30 in a vertical direction relative to the stand body 22.

In one embodiment, a limiting device is disposed at each end of the first slide rail 24 to prevent the nut mounting seat 26 from sliding out of the stand body 22.

Referring to fig. 6 and 7, the driving mechanism 28 includes a handwheel 281, a housing 282, a lead screw 283 and a gear assembly.

The gear assembly includes a first bevel gear 284, a second bevel gear 285, a first drive gear 286, a second drive gear 287, a timing belt 288, and a motor assembly.

The housing 281 is fixedly installed at the upper end of the stand body 22, and the motor assembly is installed at the lower end of the stand body 22.

The hand wheel 281 is mounted on the housing 281, and the hand wheel 281 is rotatable about a first rotation axis O1.

The gear assembly, in which the first helical gear 284 is located within the housing 281 and is fixedly mounted to the hand wheel 281, may allow the positional movement of the nut carrier assembly 26 to be more precise and labor-efficient. The rotation axis of the first bevel gear 284 coincides with the rotation axis of the hand wheel 281, and the first bevel gear 284 and the hand wheel 281 are rotatable together about the first rotation axis O1.

The second bevel gear 285 is located in the housing 281, is fixedly mounted on the top end of the lead screw 283, and is rotatable about a second rotation axis O2, and the central axis L of the stand body is parallel to the second rotation axis O2. The first bevel gear 284 meshes with the second bevel gear 285.

The rotation axis of the lead screw 283 coincides with the rotation axis of the second bevel gear 285, and the first rotation axis O1 is perpendicular to the second rotation axis O2.

When the handwheel 281 rotates around the first rotation axis O1, the first bevel gear 284 is driven to rotate around the first rotation axis O1, and the second bevel gear 285 and the lead screw 283 rotate around the second rotation axis O2.

The motor assembly comprises a motor 289, wherein a first transmission gear 286 is arranged in the motor assembly, the first transmission gear 286 is connected with an output shaft of the motor 289, a second transmission gear 287 is fixedly arranged at the bottom end of the screw rod 283, and the first transmission gear 286 and the second transmission gear 287 are transmitted through the synchronous belt 288.

The rotation axis of the second driving gear 287 coincides with the rotation axis of the lead screw 283, and when the motor 289 drives the first driving gear 286 to rotate, the second driving gear 287 and the lead screw 283 rotate around the second rotation axis O2 under the action of the timing belt 288.

Referring to fig. 8 and 9, the nut 262 matched with the lead screw 283 is fixedly disposed on the nut seat assembly 26, specifically, the lead screw 283 is in threaded connection with the nut 262, when the lead screw 283 rotates, the nut 262 can ascend or descend along the lead screw 283, that is, when the lead screw 283 rotates, the nut seat assembly 26 is driven to ascend or descend along the length direction of the lead screw 283, so that the beam assembly 30 ascends or descends along the vertical direction relative to the stand body 22.

The rotation of the motor 289 can be driven by the control device 400, for example, the control device 400 drives the motor 289 to rotate, so as to drive the lead screw 283 to rotate, so that the cross beam assembly 30 moves in the vertical direction.

It will be appreciated that the hand wheel 281 may also be manually rotated to move the cross-beam assembly 30 up and down in a vertical direction.

In some embodiments, the nut holder assembly 26 further comprises a fastening assembly for fixing the nut holder assembly 26 to the stand body 22, and the fastening assembly may comprise a fastening member 263 and a bolt 264, wherein the fastening member 263 is "Z" shaped, one end of the fastening member 263 hooks the stand body 22, and the other end is fixed to the nut holder assembly 26 by the bolt 264.

When it is desired to move the nut block assembly 26 vertically up and down relative to the stand body 22, the bolt 264 is loosened, and when the nut block assembly 26 is moved to a desired position, the bolt 264 is tightened so that the nut block assembly 26 is fixed in the desired position.

Referring to fig. 10 and 11, the beam assembly 30 includes a mounting base 31, a rotating mechanism 32, a beam mounting plate 33, and a cover plate 34. The rotating mechanism 32 can adjust the beam mounting plate 33 to rotate relative to the rotating shaft of the screw rod 283; the beam mounting plate 33 is used for fixing a beam 35, the beam mounting plate 33 is mounted between the mounting seat 31 and the cover plate 34, the cover plate 34 is fixed at the upper end of the mounting seat 31, and the cover plate 34 is pressed on the top end of the beam mounting plate 33.

The rotating mechanism 32 includes a rotating shaft 321, a first bolt 322, a second bolt 323, and an elastic member 324, wherein the rotating shaft 321 is fixed in the middle of the beam mounting plate 33 and connected between the mounting seat 31 and the cover plate 34, and the first bolt 322 and the second bolt 323 are respectively disposed on two sides of the rotating shaft 321.

The rotation axis O3 of the rotation shaft 321 is parallel to the central axis L of the stand assembly 20, the cover plate 34 and the mounting seat 31 are both provided with holes matched with the rotation shaft 321, and the holes matched with the rotation shaft 321 on the cover plate 34 are blind holes.

The first bolt 322 is sleeved with a nut, and the nut is in threaded connection with the first bolt 322.

The mounting seat 31 is provided with a first through hole 311 through which the first bolt 322 passes, the first bolt 322 passes through the first through hole 311, one end of the first bolt 322 is in threaded connection with the beam mounting plate 33, and the other end of the first bolt 322 is exposed out of the mounting seat 31 together with a nut sleeved on the first bolt 322 for a predetermined distance.

The elastic member 324 is sleeved on the second bolt 323, and the elastic member 324 is connected between the mounting seat 31 and the beam mounting plate 33. The mounting seat 31 is provided with a second through hole 312 through which the second bolt 323 passes, the second bolt 323 passes through the second through hole 312, one end of the second bolt 323 is fixed to the beam mounting plate 33, and the other end of the second bolt 323 is exposed out of the mounting seat 31 for a certain distance.

In the present embodiment, the elastic body 28 is a spring, and it is understood that in some other embodiments, the elastic body 28 may be other elastic elements, such as a spring sheet.

When the cross beam mounting plate 33 needs to rotate relative to the rotating shaft 321, the first bolt 322 is rotated, and when the first bolt 322 is rotated rightwards, the elastic member 324 is in a stretching state, and the cross beam mounting plate 33 can rotate anticlockwise in a certain range around the rotating shaft 321; when the first bolt 322 is rotated to the left, the elastic member 324 is in a compressed state, and the beam mounting plate 33 can rotate clockwise within a certain range around the rotation shaft 321.

That is, the cross member 35 can be rotated within a certain range around the center axis L of the stand assembly 20 by adjusting the first bolt 322.

The rotation of the first bolt 322 may be driven by the control device 400, for example, the control device 400 may drive the first bolt 322 to rotate, so that the cross beam 35 rotates around the central axis L of the stand assembly 20, so that the cross beam 35 is perpendicular to the central plane of the vehicle.

It will be appreciated that the cross member 35 may also be rotated about the central axis L of the riser assembly 20 by manually turning the first bolt 322.

In some embodiments, referring to fig. 11, the beam assembly 30 further includes a second slider 36 and a second guide rail 37, the second guide rail 37 is disposed parallel to the beam 35, the second slider 36 is mounted on the second guide rail 37, and the second slider 36 can move in a horizontal direction along the second guide rail 37. The second slider 36 is used for mounting one of the image capturing device 200 and the calibration element.

The moving distance of the second slider 36 in the horizontal direction along the second guide rail 37 is determined by the processing means 300, or the moving of the second slider 36 in the horizontal direction along the second guide rail 37 is driven by the control means 400. For example, after the vehicle 500 moves to a designated position, the image capturing device 200 captures an image of the vehicle 500, the processing device 300 calculates the position of the image capturing device 200 relative to the vehicle 500 according to the image captured by the image capturing device 200, the processing device 300 determines the distance that the image capturing device 200 needs to move according to the distance of the image capturing device 200 relative to the vehicle 500 and the preset distance of the image capturing device 200 relative to the vehicle, and the control device drives the sliding block to move the distance.

It is understood that in some embodiments, the image capturing device 200 or the calibration element may also be slid along the second guiding rail by acting on the image capturing device 200 or the calibration element by hand.

Referring to fig. 12 and 13, the fine adjustment assembly 40 is mounted on the nut mounting base 26, the fine adjustment assembly 40 includes a knob 41, a third transmission gear 42, a fixing plate 43 and a rack 44, and the fine adjustment assembly 40 is fixed on the nut mounting base 26 through the fixing plate 43.

The knob 41 is mounted on the fixing plate 43, the third transmission gear 42 is fixedly mounted at the bottom end of the knob 41, the fixing plate 43 is located between the knob 41 and the third transmission gear 42, and the fixing plate 43 is pressed at the upper end of the mounting seat 31. The rack 44 is fixed on the mounting seat 31, and the third transmission gear 42 is meshed with the rack 44.

The knob 41 is rotatable about a fourth rotation axis O4, the rotation axis of the third transmission gear 42 coincides with the rotation axis of the knob 41, and the knob 41 and the third transmission gear 42 are rotatable together about the fourth rotation axis O4.

When the knob 41 is rotated, the mounting seat 31 can move left and right within a certain range relative to the nut mounting seat 26.

The rotation of the knob 41 may be driven by the control device 400. It will be appreciated that the beam assembly 30 can also be moved side-to-side by manually turning the knob 41.

Referring to fig. 14 and 15, in some embodiments, in order to make the mounting base 31 more stable in moving left and right, a third sliding rail 263 is disposed on the nut mounting base 26, and a third sliding block 313 matched with the third sliding rail 263 is fixedly disposed on the mounting base 31.

The cross beam assembly 30 is connected to the nut seat assembly 26 through the sliding block 313 on the mounting seat 31 and the third sliding rail 263.

Optionally, the fine adjustment assembly 40 further comprises a locking mechanism (not shown) for securing the mounting block 31 to the nut block assembly 26. The locking mechanism is installed on the fixing plate 43, the locking mechanism includes a fastening ring 45 and a locking bolt 46, the fastening ring 45 is sleeved on the knob 41, and the locking bolt 46 is installed at two ends of the fastening ring 45.

When the cross beam assembly 30 needs to be moved left and right relative to the nut holder assembly 26, the locking bolt 46 is rotated to loosen the knob 41 by the fastening ring 45, the knob 41 is rotated to move the cross beam assembly 30 left and right in the horizontal direction relative to the nut holder assembly 26, and when the required position is reached, the locking bolt 46 is rotated to fasten the knob 41, so that the cross beam assembly 30 is fixed at the required position.

The loosening or tightening of the locking bolt 46 can be driven by the control device 400. It will be appreciated that the cross-beam assembly 30 can also be moved to the left or right by manually loosening or tightening the locking bolt 46.

For example, the control device 400 controls the locking bolt 46 to be loosened, so that the fastening ring 45 loosens the knob 41, the control device 400 drives the knob 41 to rotate, so that the cross beam assembly 30 moves left and right relative to the nut seat assembly 26 along the horizontal direction, and when the required position is reached, the control device 400 controls the locking bolt 46 to be tightened, so that the fastening ring 45 locks the knob 41, so that the cross beam assembly 30 is fixed at the required position.

The embodiment of the present application exemplifies an application process of the above-described stent:

firstly, the processing device 300 calculates the moving position of the support body relative to the vehicle according to the image acquired by the image acquisition device, and outputs a control signal including the moving position, so that the control device controls the support body to move according to the control signal, and the calibration support moves to the position for calibrating the vehicle. Then, the processing device 300 determines the height of the vehicle or the height of the device to be calibrated on the vehicle according to the image of the vehicle acquired by the image acquisition device 200, determines the height of the calibration element to be placed when the vehicle is calibrated according to the height of the vehicle or the height of the device to be calibrated, determines the distance that the beam assembly 30 needs to move in the vertical direction according to the height of the beam assembly 30 relative to the bracket body 100 and the height of the calibration element to be placed, and drives the beam assembly 30 to move by the distance that the beam assembly needs to move in the vertical direction through the control device 400. Alternatively, if the image capturing device 200 is mounted on the beam assembly 30, the processing device 300 may determine whether the beam assembly 30 moves to a desired height according to the image captured by the image capturing device 200 in real time. If the desired height is not achieved, the distance that the beam assembly 30 moves may be further adjusted until the beam assembly 30 reaches the desired height. Then, the processing device 300 may calculate an angle of the beam assembly 30 with respect to a vehicle center plane, that is, an angle of the image capturing device 200 with respect to the vehicle center plane, according to the image captured by the image capturing device 200, where the vehicle center plane refers to a plane perpendicular to a ground supporting the vehicle and including a vehicle thrust line or a vehicle center line, and the vehicle thrust line or the vehicle center line is a straight line formed by connecting a center point between centers of two rear wheels of the vehicle and a center point between centers of two front wheels of the vehicle. In order to make the cross beam assembly 30 perpendicular to the center plane of the vehicle, the processing device 300 calculates the rotation angle of the cross beam assembly 30 about the center axis of the stand assembly 20, and sends an angle command to the control device 400, and the control device 400 further drives the cross beam assembly 30 to rotate about the center axis of the stand assembly 20, so that the cross beam assembly 30 faces the vehicle, that is, the cross beam assembly 30 is perpendicular to the center plane of the vehicle. Alternatively, if the image capturing device 200 is mounted on the beam assembly 30, for example, the beam assembly 30 includes a horizontally disposed guide rail and a slider, the slider can move along the horizontal direction of the guide rail, the image capturing device can be mounted on the guide rail, the image capturing device 200 can be aligned to the device to be calibrated on the vehicle by moving the position of the image capturing device 200 horizontally along the beam assembly 30, and the processing device 300 can determine whether the image capturing device 200 is aligned to the device to be calibrated on the vehicle by using the image captured by the image capturing device 200. The position of the image capturing device 200 represents the installation position of the calibration element on the bracket body 100, for example, the image capturing device 200 is installed on the second slide block 36 (see fig. 11), after the position is determined, the image capturing device 200 can be unloaded from the slide block 36, the calibration element is hung on the slide block 36, the positioning of the calibration element is completed, and finally the calibration is performed by the calibration element arranged on the cross beam assembly 30. The image capturing device 200 is movable in the horizontal direction relative to the beam assembly 30 and can be driven by the control device 400, or the processing device 300 can prompt the operator to move the image capturing device 200 through a prompting device, such as a display or the like.

Referring to fig. 16, the present application further provides a method for positioning a calibration element, which is applied to the calibration bracket, the method includes:

s1, the image acquisition device 200 acquires an outer contour image of the vehicle;

the outline image refers to an image outlined by edge lines defining the physical range of a representation object (i.e. a vehicle).

S2, the processing device 300 determines the position of the image acquisition device 200 relative to the center line of the vehicle according to the outer contour image of the vehicle;

the center line of the vehicle is a straight line formed by connecting a center point between the centers of two rear wheels of the vehicle and a center point between the centers of two front wheels of the vehicle, and is obtained by means of image recognition.

Step S3, the processing device 300 determines the position of the calibration bracket relative to the center line of the vehicle according to the position of the image acquisition device 200 relative to the center line of the vehicle 500 and the center position of the image acquisition device 200 relative to the calibration bracket; it should be noted that, in step S3, since the image processing device 200 is connected to the stent main body 100, the current central position of the image capturing device 200 relative to the calibration stent can be predetermined.

Step S4, the processing device 300 determines first movement information of the calibration bracket according to the position of the calibration bracket relative to the center line of the vehicle 500 and a first preset position of the calibration bracket relative to the center line of the vehicle, and outputs a first control instruction including the first movement information to the control device 400;

in step S4, the first preset position refers to a position for calibrating the vehicle, for example: aligned with the centerline of the vehicle and located 500 meters directly in front of the vehicle. The first movement information refers to information that the calibration support needs to move when the calibration support moves to a first preset position, in other words, after the calibration support moves according to the first movement information, the calibration support moves to the first preset position.

And S5, controlling the calibration support to move to the first preset position by the control device 400 according to the first control instruction.

In the embodiment of the utility model, according to the outline image of vehicle, confirm the central line of vehicle; and then, according to the position of the center line of the vehicle relative to the image acquisition device, the position of the calibration support relative to the image acquisition device and the first preset position, determining first movement information of the calibration support, and moving the calibration support according to the first movement information, so that the calibration support automatically moves to the position for calibrating the vehicle, without manually moving the calibration support by a user, thereby reducing the complexity of operation and improving the working efficiency.

After the calibration support moves to the first preset position, a calibration element can be mounted on the calibration support, and the device to be calibrated in a driving system on a vehicle is calibrated through the calibration element.

The vehicle driving system can be divided into an adaptive cruise system, a night vision system, a blind spot system, a vehicle deviation warning system and the like according to different functions. The self-adaptive cruise system mainly comprises radars, the radars of the self-adaptive cruise system can be single radars or double radars, the single radars are generally arranged in the middle of the head of the vehicle, and the double radars are generally arranged on two sides of the head of the vehicle. The radar in the adaptive cruise system may be calibrated by an adaptive cruise system calibration element, which may be a radar calibration board (for reflecting waves emitted by the radar), a radar calibration box, a corner reflector, or other radar calibration elements. The night vision system is mainly arranged at a position of a vehicle head deviating from a midpoint, and can be calibrated through a night vision system calibrator 102c, which can be an infrared emitting device such as an infrared radar. The blind spot system mainly comprises a radar, the radar of the blind spot system is generally arranged at the tail of the vehicle, the blind spot system can be calibrated through a blind spot detection system calibration element, and the blind spot detection system calibration element can be a multi-common-radar generator, namely a blind spot box, a radar calibration box and the like. The vehicle deviation warning system mainly comprises a camera on a vehicle window of the vehicle, and the vehicle deviation warning system can be calibrated through the pattern plate.

Referring to fig. 17, fig. 17 is a diagram illustrating a second embodiment of a positioning method for a calibration element according to an embodiment of the present disclosure. The present embodiment is different from the above embodiments in that the method further includes:

step S6: the image acquisition device 200 acquires an image of the equipment to be calibrated on the vehicle;

it should be noted that the device to be calibrated may be a sensor of an adaptive cruise system, for example: sensors of night vision systems, sensors of blind spot systems, sensors of vehicle deviation warning systems, etc., whereas the position of the device to be calibrated of different systems on the vehicle is different, for example: the sensor of the blind spot system is generally arranged at the tail of the vehicle, the sensor of the night vision system is generally arranged at the position of the vehicle head deviated from the middle point, and the sensor of the self-adaptive cruise system is generally arranged at the two sides of the vehicle head.

Step S7: the processing device 300 determines the position of the image acquisition device 200 relative to the device to be calibrated according to the image of the device to be calibrated;

step S8: the processing device 300 determines second movement information of the image capturing device 200 relative to the calibration support according to the position of the image capturing device 200 relative to the device to be calibrated and a second preset position of the calibration element relative to the device to be calibrated, and outputs a second control instruction including the second movement information to the control device 400;

it should be noted that, in step S8, the second preset position is a calibration position of the calibration element relative to the device to be calibrated, for example: at a position 500 meters in front of the device to be calibrated. The second movement information refers to information that the image capturing device 200 needs to move when the image capturing device 200 moves to a second preset position, in other words, after the image capturing device 200 moves according to the second movement information, the image capturing device 200 moves to the second preset position.

Step S9: the control device 400 controls the image capturing device 200 to move to the second preset position according to the second control instruction.

After the image capturing device 200 moves to the second predetermined position, the image capturing device 200 is unloaded, and the calibration element is mounted at the second predetermined position, and the calibration element calibrates the vehicle.

In the embodiment of the utility model, according to the image of the equipment to be calibrated, the position of the image acquisition device relative to the equipment to be calibrated is determined; and then, second movement information of the image acquisition device is determined according to the position of the calibration element relative to the image acquisition device and a second preset position, and the image acquisition device is moved according to the second movement information, so that the image acquisition device is automatically moved to the position for calibrating the equipment to be calibrated, the image acquisition device is not required to be manually moved by a user, and the calibration precision and reliability are improved.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments can be combined, steps can be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A calibration support, comprising:

the support main body is used for mounting a calibration element, and the calibration element is used for calibrating a driving auxiliary system of a vehicle;

2. Calibration support according to claim 1, characterized in that the support body comprises:

the base comprises a roller, and the roller is driven by the control device to roll.

3. Calibration support according to claim 2, characterized in that the support body further comprises:

the vertical frame assembly is arranged on the base and is arranged along the vertical direction;

4. Calibration bracket according to claim 3, characterised in that the bracket body further comprises:

and the beam assembly is arranged on the vertical frame assembly and used for mounting the image acquisition device.

5. Calibration support according to claim 4,

the cross beam assembly is movable in a vertical direction relative to the stand assembly;

6. Calibration support according to claim 4,

the cross beam assembly is rotatable about a central axis of the stand assembly such that the cross beam assembly is perpendicular to a central plane of the vehicle;

wherein the angle of rotation of the cross beam assembly about the central axis of the riser assembly is determined by the processing means or the rotation of the cross beam assembly about the central axis of the riser assembly is driven by the control means.

7. Calibration support according to any one of claims 4 to 6,

the beam assembly comprises a sliding block and a horizontal guide rail, the sliding block is mounted on the horizontal guide rail, and the sliding block can move in the horizontal direction along the horizontal guide rail;

8. Calibration support according to claim 7,

the moving distance of the slider in the horizontal direction along the horizontal guide rail is determined by the processing means, or the movement of the slider in the horizontal direction along the horizontal guide rail is driven by the control means.