Vibration test evaluation method and device suitable for long-focus wide-angle vehicle-mounted camera

Abstract

The invention relates to the technical field of vehicle-mounted equipment testing devices, and discloses a vibration test evaluation method and device suitable for a long-focus wide-angle vehicle-mounted camera, a plurality of cameras to be tested are installed on a six-degree-of-freedom vibration table in a darkroom, and a position-adjustable test chart card and a light source system are arranged in front of the cameras; the driving module is adopted to lighten the camera, so that remote controllable shooting is realized; configuring a test environment, and adjusting parameters such as a graphic card position and illumination; driving a camera to shoot an image card under multiple working conditions, outputting an original image sequence, and driving a module to complete a traversal test; the driving module returns a shooting result to the image analysis module, and the image analysis module analyzes imaging quality in real time, evaluates indexes such as a modulation transfer function and motion blur, and generates a multi-dimensional optical performance report; generating a multi-degree optical dimension performance report of the camera; the technical problem that a real vehicle multi-degree-of-freedom direction vibration coupling scene cannot be simulated in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted equipment testing devices, in particular to a vibration testing and evaluation method and device suitable for long-focus wide-angle vehicle-mounted cameras. BACKGROUND

[0002] With the rapid development and popularization of intelligent driving technology, the demand for vehicle-mounted cameras has shown explosive growth. Long-focus wide-angle cameras have a wide application prospect in intelligent driving systems due to their unique perspective and shooting range. High-quality imaging can provide clear and accurate environmental perception information for intelligent driving systems, enabling the system to make more accurate decisions; and good stability ensures that the camera can always work stably during vehicle driving, avoiding image blur or failure due to vibration and other factors, thereby ensuring the safe and reliable operation of the intelligent driving system.

[0003] In actual application, vehicle-mounted cameras need to work continuously in various complex and harsh vibration environments with the vehicle, and always maintain high-precision imaging performance. However, the existing traditional testing method adopts a single variable detection mode when simulating the test scene. It only focuses on evaluating the static imaging performance of the camera, ignoring the fact that in the actual scene of intelligent driving, the vehicle will be affected by vibration coupling from multiple degrees of freedom during driving. This single testing mode cannot truly simulate the working environment of the actual vehicle, resulting in a large deviation between the test results and the actual application situation, making it difficult to accurately evaluate the real performance of the camera in a complex vibration environment.

[0004] The traditional testing method relies too much on manual operation. During the testing process, key testing parameters such as lighting conditions, object distance, and field of view angle often need to be adjusted manually by the test personnel, or only single variable adjustment can be performed. This operation method is not only inefficient, but also due to the error and subjectivity of manual operation, making it difficult to ensure the consistency of the test results, and unable to meet the large-scale and high-precision testing requirements. SUMMARY

[0005] The present application aims to provide a vibration testing and evaluation method and device suitable for long-focus wide-angle vehicle-mounted cameras to solve the technical problem that the existing technology cannot simulate the multi-degree-of-freedom vibration coupling scene of the actual vehicle.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solution: a vibration testing and evaluation method suitable for long-focus wide-angle vehicle-mounted cameras, comprising: S1, mounting a plurality of to-be-tested cameras on a six-degree-of-freedom vibration table in a darkroom, installing a test chart in front of the to-be-tested cameras, the test chart being equipped with a chart light source system, and the relative position of the test chart and the camera being adjustable; S2, lighting each to-be-tested camera by using the driving module, so that each to-be-tested camera tests and shoots remotely controllable; S3, configuring a test environment, adjusting a test card position, centering the initial position of the to-be-tested camera with the test card, setting a six-degree-of-freedom vibration table excitation input, setting a test card light environment, and setting a relative posture of the test card and the camera; S4, driving the camera to shoot the test card under multiple working conditions, outputting original image sequences under different light environments, shaking environments, posture angles, and simulated distances, and completing the traversal test by the driving module; the driving module drives each to-be-tested camera of different types to perform the traversal test and shooting, and returns the shooting results to the image analysis module; S5, transmitting the evaluation camera imaging performance analysis original image generated by shooting to the image analysis module; the image analysis module performs real-time analysis on the imaging quality; the image analysis module performs modulation transfer function, motion blur, distortion rate, signal-to-noise ratio, field of view angle, focusing stability, and target tracking accuracy analysis on the shooting pictures of the camera under different working conditions; S6, generating a multi-dimensional optical performance report of the camera.

[0007] The principle and advantages of the scheme are as follows: the scheme installs multiple to-be-tested cameras on a six-degree-of-freedom vibration table in a darkroom, sets an adjustable test card and a test card light source system in front of the camera, configures a test environment, adjusts the position of the camera and the test card, the vibration table excitation input, the light environment, and the relative posture, drives the camera to shoot the test card under multiple working conditions, outputs original image sequences under different conditions, and returns the results to the image analysis module. Finally, the image analysis module performs multiple imaging quality analyses on the shooting pictures, and generates a multi-dimensional optical performance report.

[0008] The six-degree-of-freedom vibration table provides independent or composite simulation excitation in six-degree-of-freedom directions for the camera, truly simulates the multi-degree-of-freedom direction vibration coupling effect in the actual driving process, makes the test results closer to the actual application situation, and accurately evaluates the real performance of the camera under a complex vibration environment.

[0009] The entire test process is automatically controlled and analyzed by the driving module, the image analysis module, and the like, reduces manual adjustment of test parameters, improves test efficiency, reduces the influence of manual operation errors and subjectivity on the consistency of test results, meets large-scale and high-precision test requirements. The image analysis module performs modulation transfer function, motion blur, distortion rate, signal-to-noise ratio, field of view angle, focusing stability, and target tracking accuracy analyses on the shooting pictures of the camera under different working conditions, and comprehensively and quantitatively evaluates the imaging performance of the camera under a dynamic vibration environment.

[0010] Preferably, as an improvement, the S3 specifically includes: S301, adjusting the initial position of the camera and the centering of the test chart includes that a high-precision calibration chart is also arranged on the test chart, the high-precision calibration chart is photographed by the to-be-tested camera, the relative position and angle of the calibration chart and the to-be-tested camera are automatically adjusted, the center of the calibration chart is coincided with the center of the camera imaging, and the self-adaptive centering is completed; S302, setting a vibration excitation spectrum and inputting the vibration excitation spectrum to a six-degree-of-freedom vibration table to simulate a real vehicle excitation working condition, the six-degree-of-freedom vibration table provides independent or composite simulation excitation in six-degree-of-freedom directions of the camera during shooting; S303, setting a chart light environment, the test chart is provided with different illumination environments by a chart light source system, and different weather environments are simulated; the chart light source system supports continuous adjustment in the range of illumination intensity; S304, setting a relative attitude of the test chart and the to-be-tested camera and a simulated object distance, the spatial attitude of the test chart and the chart light source system is adjusted by a multi-degree-of-freedom mechanical arm, and dynamic combination adjustment of horizontal / vertical deflection angle, pitch angle and rotation angle of the test chart relative to the to-be-tested camera is realized.

[0011] The improved beneficial effects are that the relative position and angle are automatically adjusted by photographing the high-precision calibration chart, the self-adaptive centering is realized, the centering precision and efficiency are improved, the manual operation error is reduced, and the accuracy and consistency of the test are ensured. The vibration excitation spectrum is set and input to the six-degree-of-freedom vibration table, the excitation working condition of the real vehicle in different driving states can be accurately simulated, the test is closer to the actual situation, and a reliable basis is provided for the camera performance evaluation.

[0012] The chart light source system provides different illumination environments, different weather conditions such as sunny day, cloudy day and night can be simulated, and the imaging performance of the camera under various illumination environments is comprehensively evaluated. The spatial attitude of the test chart and the chart light source system is dynamically combined and adjusted by the multi-degree-of-freedom mechanical arm, the test of various relative attitudes and simulated object distances is realized, and the performance of the camera under different shooting angles and distances is more comprehensively evaluated.

[0013] Preferably, as an improvement, the vibration isolation platform setting method also includes a three-stage vibration isolation structure: The first-stage vibration isolation layer adopts a 9-group T-shaped matrix uniform distribution damping sheet structure, each group of damping sheets is formed by four layers of steel sheets and three layers of rubber pads alternately stacked to form a sandwich structure; The second-stage vibration isolation layer adopts a 4-group spring+damping structure, which is uniformly distributed at an interval of 90° around the platform, and the four groups are inclined to the center by 30°; each group of structure includes two end spherical hinge connectors, a pre-compressed spiral spring and a spring center damping; The third-stage vibration isolation layer adopts 6 groups of rubber air springs, which are uniformly distributed at an interval of 60° on the bottom of the platform.

[0014] The improved beneficial effect is: adopt three-stage vibration isolation structure, the first stage adopts the vibration damping piece structure of the field type matrix uniform distribution, the second stage adopts the spring + damping structure, the third stage adopts the rubber air spring, the different levels of structure cooperate with each other, can effectively isolate external vibration, provide stable test environment for camera test, reduce the interference of external vibration on test result, improve test precision. By the three-stage vibration isolation structure, the vibration isolation platform can effectively isolate 0.5~200Hz full frequency vibration, realize complete isolation of external vibration interference, and ensure the accuracy of vibration simulation.

[0015] Preferably, as an improvement, four base sensors are arranged on the upper surface of the vibration isolation platform to monitor the vibration transmitted from the outside to the vibration isolation platform and feedback to the excitation input controller, which considers the external vibration of the vibration isolation platform in the excitation input control end and adjusts the actual excitation input. The six-degree-of-freedom vibration table is provided with a group of three exciter sensors to monitor the vibration excitation of the six-degree-of-freedom vibration platform to the camera mounting platform and feedback to the excitation input controller.

[0016] The improved beneficial effect is: arranging base sensors on the upper surface of the vibration isolation platform to monitor the external incoming vibration and feedback to the excitation input controller, so that the controller can consider the external vibration and adjust the actual excitation input, further improve the stability of the test environment and ensure the accuracy of the test results.

[0017] The six-degree-of-freedom vibration table is provided with a group of three exciter sensors to monitor the vibration excitation of the six-degree-of-freedom vibration platform to the camera mounting platform and feedback to the excitation input controller, which can monitor the vibration excitation in real time, adjust in time, ensure that the vibration excitation meets the test requirements, and improve the reliability and accuracy of the test.

[0018] Preferably, as an improvement, the vibration excitation input method further comprises: Step 1, monitor the external vibration interference of the six-degree-of-freedom vibration table in static state through the base sensor; Step 2, obtain the target vibration excitation data input by the six-degree-of-freedom vibration table; Step 3, monitor the actual vibration excitation data in the vibration process of the six-degree-of-freedom vibration table through the exciter sensor; Step 4, compare whether the actual vibration excitation data of the six-degree-of-freedom vibration table is consistent with the target vibration excitation data, if not, adjust the vibration excitation data actually input by the six-degree-of-freedom vibration table according to the deviation value and external vibration interference data, and return to execute step 1 after adjustment is completed; if consistent, execute the next step; Step 5, install the camera to be detected on the six-degree-of-freedom vibration table for test shooting.

[0019] The improved beneficial effect is that the external vibration interference and actual vibration excitation data are monitored in real time through the base sensor and the exciter sensor, and compared with the target vibration excitation data, the actual input vibration excitation data is adjusted in time according to the deviation value and the external vibration interference data, the vibration excitation input by the six-degree-of-freedom vibration table is ensured to be accurate and stable, a reliable vibration environment is provided for the camera test, and the reliability of the test result is improved.

[0020] Preferably, as an improvement, a device for evaluating the vibration test of a long-focus wide-angle vehicle-mounted camera comprises: A darkroom environment system is provided with a darkroom box, so that the illumination inside the box is less than or equal to 0.1 Lux when the light device is started; A camera clamp is used to simultaneously clamp and fix multiple different types of cameras, and the cameras are installed on the six-degree-of-freedom vibration table; The six-degree-of-freedom vibration table comprises an upper platform, a lower platform and an exciter, the exciter is located between the upper platform and the lower platform, the camera to be tested is installed on the upper platform through a mounting chuck, the exciter comprises six excitation rods, the two ends of the excitation rods are connected with the upper platform and the lower platform respectively, the excitation rods can axially stretch and retract to provide vibration excitation for the upper platform; the six excitation rods are sequentially arranged in an end-to-end manner to support X / Y / Z and RX / RY / RZ rotary vibration; A figure card and light source posture adjustment system is provided, the test figure card and the light source are suspended above the camera to be tested by a multi-axis mechanical arm, and are controlled and adjusted by the multi-axis mechanical arm, which supports the pitch angle of the test figure card to be ±90° and the yaw angle to be ±180°, simulates different shooting angles, a light pipe is provided at the end of the figure card and light source posture adjustment system, and a lens group in the light pipe is moved to realize virtual object distance adjustment from 400 mm to infinity; the illumination of the light source can be continuously adjusted in the range of 0.1-50 kLux.

[0021] The improved beneficial effect is that the darkroom box is provided to make the internal illumination less than or equal to 0.1 Lux, a stable darkroom environment without external light interference is provided for the camera test, and it is ensured that the test result only reflects the performance of the camera itself, thereby improving the test accuracy. Multiple different types of cameras can be simultaneously clamped and fixed, the test requirements of different models of cameras are met, and the universality and applicability of the device are improved.

[0022] The excitation rods can axially stretch and retract to provide six-degree-of-freedom vibration excitation for the upper platform, which can truly simulate the vibration condition in the process of driving the actual vehicle and comprehensively evaluate the performance of the camera in the complex vibration environment. The multi-axis mechanical arm controls and adjusts the test figure card and the light source, supports large-angle rotation to simulate different shooting angles, the light pipe moves the lens group to realize virtual object distance adjustment, and the illumination of the light source is continuously adjustable, so that the imaging performance of the camera under different shooting angles, object distances and illumination conditions can be comprehensively evaluated.

[0023] Preferably, as an improvement, it also comprises: The automatic centering device adjusts the relative position of the calibration card and the camera by setting the calibration card at the light source, shooting the center of the calibration card by the camera, and controlling the multi-axis robot to move the calibration card. The camera driving and image acquisition module integrates the lighting driving circuit, image sensor interface, and high-speed data transmission channel. The image analysis and processing module calculates the modulation transfer function, dynamic distortion rate, signal-to-noise ratio, motion blur, field of view, defocus curve, and lateral chromatic aberration in real time, and generates a multi-dimensional performance report.

[0024] The improvement has the beneficial effects of: automatic centering by shooting the center of the calibration card by the camera and controlling the multi-axis robot to move the calibration card, improving the centering efficiency and accuracy, reducing the manual operation error, and ensuring the accuracy and consistency of the test.

[0025] The camera driving and image acquisition module integrates the lighting driving circuit, image sensor interface, and high-speed data transmission channel.

[0026] The image analysis and processing module calculates the modulation transfer function, dynamic distortion rate, signal-to-noise ratio, motion blur, field of view, defocus curve, and lateral chromatic aberration in real time, and generates a multi-dimensional performance report.

[0027] Preferably, as an improvement, it also comprises: The three-stage vibration isolation system includes a first-stage vibration isolation layer, a second-stage vibration isolation layer, and a third-stage vibration isolation layer, arranged from top to bottom; adjacent vibration isolation layers are separated by steel plates. The first-stage vibration isolation layer includes 9 groups of field-shaped matrix damping pieces, each group including four layers of steel sheets and three layers of rubber pads, with rubber pads sandwiched between adjacent steel sheets in a sandwich structure. The second-stage vibration isolation layer includes 4 groups of spring damping structures, each group containing two spherical hinge connectors, a pre-compressed spiral spring, and a damping center, connected by the spherical hinges of the two ends to the upper and lower steel plates, and connected by the pre-compressed spiral spring to the damping center. The third-stage vibration isolation layer includes 6 groups of rubber air springs, evenly distributed at the bottom of the platform at an interval of 60°.

[0028] The improved beneficial effects are that the three-stage vibration isolation system is composed of vibration isolation layers with different structures, that is, a first-stage damping sheet structure, a second-stage spring damping structure and a third-stage rubber air spring, which are matched with each other to isolate external vibrations from different frequency and amplitude ranges, effectively reduce the influence of external vibrations on the test device, provide a more stable test environment for camera testing, and improve the test precision and reliability. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The test flowchart of the embodiment of the application.

[0030] Figure 2 The vibration excitation input control flowchart.

[0031] Figure 3 The overall structure schematic diagram of the embodiment of the application.

[0032] Figure 4 The structure schematic diagram of the vibration table.

[0033] Figure 5 The structure schematic diagram of the damping sheet.

[0034] Figure 6 The structure schematic diagram of the spring damping structure.

[0035] Figure 7 The structure schematic diagram of the rubber air spring.

[0036] Figure 8 The structure schematic diagram of the three-stage vibration isolation system with hidden steel plate.

[0037] The reference signs in the drawings of the specification include: a darkroom box body 1, a camera clamp 2, a six-degree-of-freedom vibration table 3, an upper platform 4, a lower platform 5, an exciter 6, a picture card and light source 7, a light pipe 8, a multi-axis mechanical arm 9, a first-stage vibration isolation layer 10, a second-stage vibration isolation layer 11, a third-stage vibration isolation layer 12, a damping sheet 13, a spherical hinge connecting piece 14, a spiral spring 15, a damping resistance 16, a rubber air spring 17, a base sensor 18 and an exciter sensor 19. DETAILED DESCRIPTION

[0038] The following will be further described in detail through specific embodiments: EMBODIMENT A vehicle-mounted camera vibration test evaluation method and device suitable for long-focus wide-angle, which integrates vehicle-mounted state vibration excitation and darkroom light environment, optimizes test scene building, realizes full-process test automation, reduces manual participation, reduces cost, improves efficiency and result reliability, and can be widely applied to camera development and production detection stage, effectively prevents imaging quality defects of vehicle-mounted cameras when the vehicle shakes.

[0039] Specifically, as shown in the accompanying drawings Figure 1As shown, a kind of long focal wide-angle vehicle-mounted camera vibration test evaluation method, comprising: S1, the multiple cameras to be tested are clamped on the six-degree-of-freedom vibration table in the darkroom, a test card is installed in front of the camera to be tested, the test card is equipped with a card light source system, and the relative position of the test card and the camera is adjustable.

[0040] The cabin door of the darkroom is closed, so that the light environment illuminance is lower than 0.1 Lux without turning on the test card light source system, and the natural light environment is removed from the darkroom to interfere with the test.

[0041] S2, each camera to be tested is lit using a driving module, so that each camera to be tested can be remotely controlled during testing.

[0042] S3, configure the test environment; adjust the position of the test card so that the initial position of the camera to be tested is centered with the test card, set the excitation input of the six-degree-of-freedom vibration table, set the card lighting environment, and set the relative attitude of the card and the camera.

[0043] Wherein, S3 is specifically, S301, adjusting the initial position of the camera to be tested and the test card includes that a high-precision calibration card is also provided on the test card, the high-precision calibration card is photographed by the camera to be tested, the relative position and angle of the calibration card and the camera to be tested are automatically adjusted, the center of the calibration card is coincided with the center of the camera imaging, and self-adaptive centering is completed.

[0044] S302, set the vibration excitation spectrum and input it to the six-degree-of-freedom vibration table to simulate the real vehicle excitation working condition, and the six-degree-of-freedom vibration table provides independent or composite simulation excitation in six-degree-of-freedom directions when the camera is shooting.

[0045] The vibration excitation spectrum is set according to the road conditions and vibration characteristics that may be encountered during real vehicle driving, the vibration directions include X, Y, Z direction translation vibration and RX, RY, RZ direction rotation vibration spectrum; the vibration frequency range is set to 0.1~200Hz, and the amplitude can be adjusted according to actual needs to simulate the vibration intensity under different road conditions.

[0046] S303, set the card lighting environment, provide different illuminance environment for the test card through the card light source system, simulate different weather environment; the card light source system supports continuous adjustment in the range of 0.1~50kLux light intensity, and simulates the light environment of morning, noon, dusk, night or tunnel in and out through dynamic light source; S304, set the relative attitude of the test card and the camera to be tested and simulate the object distance. Through the multi-degree-of-freedom robot, the spatial attitude of the test card and the card light source system is adjusted to realize the dynamic combination adjustment of the horizontal / vertical deflection angle (±15°), the pitch angle (±10°) and the rotation angle (0°~360°) of the test card relative to the camera to be tested, covering all relative angle scenes required by 210° field of view test.

[0047] The lens group inside the moving light pipe of the card light source system is controlled to move in the light axis direction by micro / nano displacement (precision ≤1μm), and combined with the optical parameters of the lens group, the continuous simulation of 400mm to infinite virtual object distance is dynamically calculated and realized.

[0048] The light pipe is a closed cylindrical metal or plastic pipe body, which integrates lens group, light source interface and test card fixing device inside. By moving the position of the lens group relative to the card, the convergence point of light on the camera sensor is changed, thereby simulating objects at different distances. Among them, the near distance scene (200mm~500mm): the lens group is close to the card, and the light divergence angle is increased to simulate the near distance object; the far distance scene (500mm~∞): the lens group is away from the card, and the light tends to be parallel to simulate the infinite target.

[0049] The test angle, step and point of the simulated distance are set, and the automatic traversal of the preset station in the test shooting process is completed through remote control, so as to realize the field of view angle and defocus test of the camera.

[0050] Among them, the test angle is the angle between the test card and the camera to be tested, the angle step is the horizontal / vertical deflection angle with an interval of 5°, and the pitch angle with an interval of 3°. The object distance step is 50mm in the range of 200mm~1m, and 200mm in the range of 1m~∞. The key point is to set the forced detection point at the edge of the field of view (±105°), the center (0°) and the typical distortion area (±60°).

[0051] This scheme realizes three-dimensional decoupling control of attitude-object distance-illumination, and can cover 126 angle points × 28 object distance points in 210° field of view in a single test, which is 8 times more efficient than traditional fixed station test, while ensuring that the measurement accuracy of defocus curve (MTF vs. object distance) and field of view distortion (≤2%) meets the requirements of ISO 12233 standard.

[0052] S4, drive the camera to shoot the card under multiple working conditions, output the original image sequence under different illumination environments, shaking environments, attitude angles and simulated object distances, and drive the module to complete the traversal test; the driving module drives each different type of camera to be tested to complete the traversal test, and returns the shooting result to the image analysis module.

[0053] S5. The original image generated by the camera for evaluating its imaging performance is transmitted to the image analysis module. The image analysis module performs real-time analysis of the imaging quality. The image analysis module analyzes the modulation transfer function (MTF), motion blur, distortion rate, signal-to-noise ratio, field of view, focus stability, and target tracking accuracy of the images captured by the camera under different working conditions.

[0054] S6 generates a multi-dimensional optical performance report for the camera.

[0055] To minimize vibrations transmitted to the equipment from the installation ground, a vibration isolation platform is installed between the equipment and the ground. Specific methods for setting up vibration isolation platforms include: as shown in the attached document. Figure 4 To be continued Figure 8 As shown, a three-stage vibration isolation structure is adopted; The primary vibration isolation layer 10 adopts a structure of 9 groups of evenly distributed vibration damping plates in a grid pattern. Each group of vibration damping plates 13 consists of a sandwich structure formed by alternating layers of four steel sheets and three rubber pads.

[0056] The steel sheet is 2mm thick, the rubber pad is 3mm thick, and the total height is 21mm. Through the rigid load-bearing of the steel sheet and the elastic deformation of the rubber pad, high-frequency vibrations in the frequency range of 20Hz~1000Hz are effectively isolated, and the attenuation rate can reach more than 80%.

[0057] The grid-shaped matrix layout ensures uniform load distribution, with a single damping plate bearing capacity of ≥50kg and a total bearing capacity of ≥450kg for 9 groups.

[0058] The secondary vibration isolation layer 11 employs a four-spring + damping structure, evenly distributed around the platform at 90° intervals, with all four sets tilted 30° towards the center. Each structure includes ball joint connectors 14 at both ends, a pre-compressed helical spring 15, and a central damping damper 16. The spring stiffness coefficient is 50 N / mm, and the damping coefficient is 10 N·s / m. The springs provide elastic support, and the dampers dissipate vibration energy, jointly isolating mid-frequency vibrations in the frequency range of 5 Hz to 50 Hz, with an attenuation rate of 65%. The ball joint connectors allow for ±5° angular deflection to accommodate slight platform tilts and ensure the spring force is vertical.

[0059] The three-stage vibration isolation layer 12 uses six sets of rubber air springs 17, evenly distributed at 60° intervals at the bottom of the platform. The effective diameter of the air spring is 150mm, the inflation pressure is adjustable from 0.2 to 0.8MPa, and the corresponding stiffness range is 20N / mm to 80N / mm.

[0060] Low-frequency vibration isolation is achieved through air pressure regulation, covering a frequency range of 0.1Hz to 5Hz, with an attenuation rate of up to 50%. The elastic deformation of the rubber diaphragm in the rubber air spring can absorb horizontal vibrations, ensuring the platform's horizontal stability is ≤0.05mm.

[0061] Through three-stage vibration isolation, the vibration isolation frequency covers the external interference of 1hz-1000hz, and the vibration isolation rate is high.

[0062] Four base sensors 18 are arranged on the upper surface of the vibration isolation platform to monitor the vibration from the outside to the vibration isolation platform, and feedback to the excitation input controller. The external vibration of the vibration isolation platform is considered in the excitation input control end, and the actual excitation input is adjusted. The six-degree-of-freedom vibration table is provided with a group of three exciter sensors 19, which monitor the vibration excitation of the six-degree-of-freedom vibration platform to the camera mounting platform and feedback to the excitation input controller. The three exciter sensors are evenly distributed around the side of the six-degree-of-freedom vibration table at an angle of 120°.

[0063] As shown in the accompanying Figure 2 , the vibration excitation input method is as follows: Step 1, monitor the external vibration interference of the six-degree-of-freedom vibration table in static state through the base sensor; Step 2, obtain the target vibration excitation data input by the six-degree-of-freedom vibration table; Step 3, monitor the actual vibration excitation data during the vibration process of the six-degree-of-freedom vibration table through the exciter sensor; Step 4, compare whether the actual vibration excitation data of the six-degree-of-freedom vibration table is consistent with the target vibration excitation data, if not, adjust the vibration excitation data actually input by the six-degree-of-freedom vibration table according to the deviation value and the external vibration interference data, and return to execute step 1 after adjustment; if consistent, execute the next step; Step 5, mount the camera to be tested on the six-degree-of-freedom vibration table for testing and shooting.

[0064] Specifically, as shown in the accompanying Figure 3 and the accompanying Figure 4 , a vibration test and evaluation device for long-focus wide-angle vehicle-mounted camera: comprising Darkroom environment system, the darkroom box 1 is set to make the illumination inside the box ≤0.1Lux under the condition that the light equipment is not started, and the darkroom box 1 uses light shielding material to isolate natural light interference. Provide stable optical test environment, eliminate the influence of external light on image analysis. The bottom of the box is provided with a movable roller to facilitate the movement of the whole device.

[0065] Camera clamp 2, the camera clamp 2 is used to clamp and fix multiple different types of cameras at the same time, and the camera is mounted on the six-degree-of-freedom vibration table 3.

[0066] The six-degree-of-freedom vibration table 3 includes an upper platform 4, a lower platform 5, and a vibrator 6. The vibrator 6 is located between the upper platform 4 and the lower platform 5. The camera to be tested is mounted on the upper platform via a mounting clamp. The vibrator 6 includes six excitation rods, with both ends of the excitation rods connected to the upper and lower platforms respectively. The excitation rods are axially extendable to provide vibration excitation to the upper platform. The six excitation rods are arranged sequentially, end to end, to support X / Y / Z and RX / RY / RZ rotational vibrations. The frequency range of translational vibration is 0.1~200Hz; the angle range of rotational vibration is ±180°. This simulates road surface excitation and vehicle body attitude changes during real vehicle operation, such as bumps and steering.

[0067] The test chart and light source attitude adjustment system suspends the test chart and light source 7 above the camera under test via a multi-axis robotic arm 9. The multi-axis robotic arm 9 controls the adjustment and supports the test chart's pitch angle ±90° and yaw angle ±180° rotation to simulate different shooting angles.

[0068] Furthermore, at the end of the chart and light source attitude adjustment system, i.e., in the direction of the light source's optical axis, a light tube 8 is set, and the virtual object distance adjustment from 400mm to infinity is achieved by moving the lens group inside the light tube.

[0069] The illuminance of the light source can be continuously adjusted within the range of 0.1~50kLux, supporting dynamic light intensity changes, simulating day and night transitions, and covering the testing requirements of a 210° field of view, simulating the imaging performance of the camera under complex lighting and object distance conditions.

[0070] The automatic alignment device sets up a calibration chart at the light source, uses a camera to capture the center of the chart, and controls a multi-axis robotic arm to move the calibration chart, adjusting the relative position of the calibration chart and the camera to achieve alignment between the calibration chart and the camera, ensuring that the imaging center is aligned with an error of ≤0.05mm.

[0071] The camera driver and image acquisition module integrates a lighting drive circuit, an image sensor interface, and a high-speed data transmission channel. It supports rapid switching between different camera models and real-time acquisition of image sequences under vibration conditions (frame rate ≥ 60fps).

[0072] The image analysis and processing module is based on a hardware acceleration system using FPGA+DSP and incorporates algorithm libraries for MTF, motion blur, and distortion rate. It calculates real-time metrics such as modulation transfer function (MTF), dynamic distortion rate, signal-to-noise ratio, motion blur, field of view, defocus curve, and lateral chromatic aberration, generating a multi-dimensional performance report.

[0073] As attached Figure 4 To be continued Figure 8 As shown, the three-stage vibration isolation system includes a primary vibration isolation layer 10, a secondary vibration isolation layer 11, and a tertiary vibration isolation layer 12, arranged sequentially from top to bottom. Adjacent vibration isolation layers are separated by steel plates.

[0074] The first vibration isolation layer 10 includes 9 groups of field-shaped matrix damping pieces 13, each group of damping pieces 13 including four layers of steel pieces and three layers of rubber pads, the rubber pads being clamped between adjacent steel pieces, in a sandwich structure.

[0075] The second vibration isolation layer 11 includes 4 groups of spring-damping structures 14, each group of structure including a ball hinge connector at both ends, a pre-compressed spiral spring, and a damping at the center of the spring, each group being connected by the ball hinge connectors 14 at both ends to the upper and lower steel plates, and being connected by the pre-compressed spiral spring 15 and the damping 16 at the center of the spring to the ball hinge in the middle. The 4 groups of structures are evenly distributed at an interval of 90° around the platform, and the four groups are inclined to the center by 30°.

[0076] The third vibration isolation layer includes 6 groups of rubber air springs 17, evenly distributed at an interval of 60° at the bottom of the platform.

[0077] The vibration test evaluation device for the long-focus wide-angle vehicle-mounted camera can realize multi-device joint control. After the camera is placed in the test device, the automatic test analysis and result presentation under the composite working condition can be completed according to the self-defined working condition.

[0078] Example 1: Simulate the performance of the camera in the test scene of highway driving (high-frequency small-amplitude vibration) by using the method of the present application.

[0079] Implementation steps: Install the camera to be tested in the dark box of the test device, and close the dark box.

[0080] Install the camera to be tested on the vibration table, and automatically center the calibration card.

[0081] Set the vibration parameters: X / Y / Z direction 5~30Hz sine sweep, amplitude 0.15g.

[0082] Adjust the light source illumination to 50000Lux (simulate sunny noon).

[0083] Start the test, the camera continuously takes pictures of the card, and the image analysis module calculates the MTF drop rate, dynamic distortion rate, etc.

[0084] Output report: MTF drop rate ≤10%, dynamic distortion rate ≤1.5%, and focus delay <10ms under vibration.

[0085] Example 2: Simulate the field of view angle stability of the wide-angle camera in the test scene of off-road bumpy road (low-frequency large-amplitude vibration) by using the method.

[0086] Implementation steps: Install the camera to be tested in the dark box of the test device, and close the dark box.

[0087] Drive the camera to shoot the calibration card, and track the camera to shoot the center of the card.

[0088] Adjust the yaw angle of the card to 30° to simulate the detection of oblique obstacles.

[0089] Set the vibration parameters: 0-20 Hz random vibration in the Z direction, amplitude 1.0 g.

[0090] Switch the light source illumination to 10 Lux (simulate dusk).

[0091] Start the test, the camera continuously shoots the card, and the image analysis module calculates the MTF decline rate, dynamic distortion rate, etc.

[0092] Test results: the edge distortion rate of the 210° field of view increased from 1.4% to 2.6% With the device and method, full working condition simulation can be performed, multi-dimensional testing of vibration, illumination, and object distance is integrated, and complex real vehicle environments are covered. Automatic analysis is completed, program-controlled test points are traversed, manual intervention is reduced, efficiency is improved by more than 80%, high-precision evaluation is performed through multi-dimensional weight comprehensive quantitative indicators such as MTF and dynamic distortion rate, and data support is provided for camera reliability design.

[0093] The above is only an embodiment of the present application, and well-known specific technical solutions and / or common knowledge of characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A vibration testing and evaluation method for vehicle-mounted cameras suitable for telephoto and wide-angle lenses, characterized in that, include: S1. Install and clamp multiple cameras under test on a six-degree-of-freedom vibration table in a dark chamber. Install test charts in front of the cameras under test. The charts are equipped with a chart light source system and the relative position of the charts and the cameras is adjustable. S2. The driver module is used to light up each camera under test, so that the test shooting of each camera under test can be remotely controlled. S3. Configure the test environment, adjust the position of the test chart so that the initial position of the camera under test is aligned with the test chart, set the excitation input of the six-degree-of-freedom vibration table, set the lighting environment of the chart, and set the relative attitude between the chart and the camera. S4. Drive the camera to capture images of the card under multiple working conditions, and output the original image sequence under different lighting environments, shaking environments, attitude angles, and simulated object distances. Drive the module to complete the traversal test. The drive module drives various types of cameras under test to traverse and capture images, and returns the capturing results to the image analysis module. S5. Transmit the original image generated during the evaluation of the camera's imaging performance to the image analysis module; The image analysis module performs real-time analysis of image quality; it also analyzes the modulation transfer function, motion blur, distortion rate, signal-to-noise ratio, field of view, focus stability, and target tracking accuracy of images captured by the camera under different operating conditions. S6 generates a multi-dimensional optical performance report for the camera.

2. The vibration testing and evaluation method for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 1, characterized in that, S3 specifically includes: S301, Adjusting the initial position of the camera and aligning it with the test chart includes setting a high-precision calibration chart on the test chart. The high-precision calibration chart is photographed by the camera under test, and the relative position and angle between the calibration chart and the camera under test are automatically adjusted so that the center of the calibration chart coincides with the center of the camera image, thus completing adaptive alignment. S302. Set the vibration excitation spectrum and input it to the six-degree-of-freedom vibration table to simulate the excitation conditions of the actual vehicle. The six-degree-of-freedom vibration table provides independent or composite simulation excitation in the six-degree-of-freedom directions when the camera is shooting. S303. Set the lighting environment for the test chart. The chart light source system provides different illuminance environments for the test chart to simulate different weather conditions. The chart light source system supports continuous adjustment within the range of light intensity. S304. Set the relative attitude and simulated object distance between the test chart and the camera under test. Use a multi-degree-of-freedom robotic arm to adjust the spatial attitude of the test chart and its light source system, so as to achieve dynamic combination adjustment of the horizontal / vertical deflection angle, pitch angle and rotation angle of the test chart relative to the camera under test.

3. The vibration testing and evaluation method for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 2, characterized in that, It also includes the method for setting up a vibration isolation platform, which adopts a three-level vibration isolation structure: The primary vibration isolation layer adopts a structure of 9 groups of evenly distributed damping plates in a grid pattern. Each group of damping plates consists of a sandwich structure formed by alternating layers of four steel sheets and three rubber pads. The secondary vibration isolation layer adopts a four-spring + damping structure, which is evenly distributed around the platform at 90° intervals, with all four groups inclined at 30° towards the center; each structure includes ball joint connectors at both ends, a pre-compressed helical spring, and a vibration damping damper at the center of the spring. The three-level vibration isolation layer uses six sets of rubber air springs, evenly distributed at 60° intervals at the bottom of the platform.

4. The vibration testing and evaluation method for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 3, characterized in that: Four base sensors are arranged on the upper surface of the vibration isolation platform to monitor the vibration transmitted from the outside and feed it back to the excitation input controller. The external vibration of the vibration isolation platform itself is taken into account at the excitation input control end, and the actual excitation input is adjusted accordingly. The six-degree-of-freedom vibration table is equipped with a set of three exciter sensors to monitor the vibration excitation input from the six-degree-of-freedom vibration platform to the camera mounting platform and feed it back to the excitation input controller.

5. The vibration testing and evaluation method for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 4, characterized in that, It also includes vibration excitation input methods as follows: Step 1: Monitor external vibration interference of the six-degree-of-freedom vibration table in its static state using the base sensor; Step 2: Obtain the target vibration excitation data input from the six-degree-of-freedom vibration table; Step 3: Monitor the actual vibration excitation data during the vibration process of the six-degree-of-freedom vibration table using the exciter sensor; Step 4: Compare the actual vibration excitation data of the six-degree-of-freedom vibration table with the target vibration excitation data. If they are inconsistent, adjust the actual vibration excitation data of the six-degree-of-freedom vibration table according to the deviation value and external vibration interference data. After the adjustment is completed, return to step 1. If they are consistent, proceed to the next step. Step 5: Install the camera to be tested on a six-degree-of-freedom vibration table and perform test recording.

6. A vibration testing and evaluation device for vehicle-mounted cameras suitable for telephoto and wide-angle lenses, employing the evaluation method described in any one of claims 1-5, characterized in that, include: Darkroom environment system, which sets up a darkroom enclosure so that the illuminance inside the enclosure is ≤0.1Lux when no light-emitting equipment is activated; Camera clamps are used to simultaneously hold and fix multiple different types of cameras, which are mounted on a six-degree-of-freedom vibration table. The six-degree-of-freedom vibration table includes an upper platform, a lower platform, and a vibrator. The vibrator is located between the upper and lower platforms. The camera to be tested is mounted on the upper platform via a mounting clamp. The vibrator includes six excitation rods, with both ends of the excitation rods connected to the upper and lower platforms respectively. The excitation rods are axially extendable to provide vibration excitation to the upper platform. The six excitation rods are arranged sequentially, one after the other, to support X / Y / Z and RX / RY / RZ rotational vibrations. The test chart and light source attitude adjustment system suspends the test chart and light source above the camera under test via a multi-axis robotic arm. The multi-axis robotic arm controls the adjustment, supporting pitch angle ±90° and yaw angle ±180° rotation of the test chart to simulate different shooting angles. A light tube is set at the end of the test chart and light source attitude adjustment system, and the virtual object distance can be adjusted from 400mm to infinity by moving the lens group inside the light tube. The illuminance of the light source can be continuously adjusted within the range of 0.1~50kLux.

7. The vibration testing and evaluation device for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 6, characterized in that, Also includes: The automatic alignment device uses a calibration chart set at the light source, a camera to capture the center of the chart, and a multi-axis robotic arm to move the calibration chart and adjust the relative position of the calibration chart and the camera, thereby achieving alignment between the calibration chart and the camera. The camera driver and image acquisition module integrates a lighting driver circuit, an image sensor interface, and a high-speed data transmission channel. The image analysis and processing module calculates the modulation transfer function, dynamic distortion rate, signal-to-noise ratio, motion blur, field of view, defocus curve, and lateral chromatic aberration in real time, generating a multi-dimensional performance report.

8. The vibration testing and evaluation device for vehicle-mounted cameras suitable for telephoto and wide-angle lenses according to claim 7, characterized in that, Also includes: The three-level vibration isolation system includes a primary vibration isolation layer, a secondary vibration isolation layer, and a tertiary vibration isolation layer, which are arranged sequentially from top to bottom; adjacent vibration isolation layers are separated by steel plates. The primary vibration isolation layer consists of nine sets of grid-shaped matrix damping plates. Each set of damping plates includes four layers of steel sheets and three layers of rubber pads. Rubber pads are sandwiched between adjacent steel sheets, forming a sandwich structure. The secondary vibration isolation layer includes four sets of spring damping structures. Each set of structures includes ball joint connectors at both ends, a pre-compressed helical spring, and a vibration damping damper at the center of the spring. Each set is connected to the upper and lower steel plates by ball joints at both ends, and the ball joint in the middle is connected to the vibration damping damper at the center of the spring by a pre-compressed helical spring. The four sets of structures are evenly distributed around the platform at 90° intervals, and all four sets are inclined at 30° towards the center. The three-level vibration isolation layer includes six sets of rubber air springs, evenly distributed at 60° intervals at the bottom of the platform.

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