Ultrasonic radar adaptive calibration method and device

Abstract

The present invention discloses an ultrasonic radar adaptive calibration device, comprising a rotating bracket for fixing the ultrasonic radar. The rotating bracket is provided with a fixed bracket on its periphery and is fixed to the center of the fixed bracket via a concave-convex structure. A mounting bracket is connected to the outer side of the fixed bracket, and a stepper motor is disposed within the mounting bracket. The stepper motor's rotating shaft is connected to a gear. The mounting bracket is provided with a clamping device, and a rack is provided between the clamping device and the gear. One end of the rack is rotatably connected to the rotating bracket. The device also includes a processor, which is electrically connected to the ultrasonic radar and the stepper motor. This device improves the calibration efficiency of ultrasonic radars during vehicle assembly.

Description

Technical Field

[0001] The present invention relates to the field of ultrasonic radar calibration, and in particular to an ultrasonic radar adaptive calibration method and device. Background Art

[0002] After ultrasonic radar is installed on a vehicle, it undergoes full vehicle calibration. If problems arise during calibration, the common solution is to modify software parameters, adjust radar altitude, and adjust radar elevation. Adjusting radar altitude and elevation also requires modifying environmental components (such as the front and rear bumpers), which can lead to significant additional work and costs. Summary of the Invention

[0003] The object of the present invention is to provide an ultrasonic radar adaptive calibration method and device to improve the efficiency of ultrasonic radar calibration during vehicle assembly.

[0004] To achieve the above-mentioned objectives, the present invention provides the following technical solution: comprising a rotating bracket for fixing an ultrasonic radar, a fixed bracket being provided on the periphery of the rotating bracket, and the rotating bracket being arranged at the center of the fixed bracket by means of a concave-convex structure; a mounting bracket being connected to the outer side of the fixed bracket, a stepper motor being provided inside the mounting bracket, a rotating shaft of the stepper motor being connected to a gear, a clamping device being provided on the mounting bracket, a rack being provided between the clamping device and the gear, and one end of the rack being rotatably connected to the rotating bracket; the device also includes a processor, which is electrically connected to the ultrasonic radar and the stepper motor respectively; the processor controls the rotation of the stepper motor and records the rotation angle, thereby obtaining the distance of the ultrasonic radar from the ground along the detection direction at different rotation angles; the processor obtains the installation height of the ultrasonic radar based on the rotation angle and the distance, and obtains the optimal elevation angle value corresponding to the current height based on the height; the processor then drives the stepper motor to rotate the ultrasonic radar to the optimal elevation angle value, and obtains the ultrasonic radar calibration parameters based on the optimal elevation angle value and the installation height, and downloads the calibration parameters to the ultrasonic radar.

[0005] According to the above solution, the concave-convex structure includes a plurality of pins arranged on the outside of the rotating bracket and a plurality of grooves evenly distributed on the inside of the fixed bracket.

[0006] According to the above solution, the number of pins arranged on the outer side of the rotating bracket is 3 to 8.

[0007] According to the above solution, the pins arranged on the outer side of the rotating bracket are evenly distributed along the circumference of the outer side of the rotating bracket.

[0008] According to the above solution, one end of the rack is connected to the rotating bracket through a hinge.

[0009] An ultrasonic radar adaptive calibration method comprises the following steps:

[0010] S1. Use the ultrasonic radar installed on the vehicle to measure the distance to obtain the distance value a from the ultrasonic radar to the ground along its detection direction;

[0011] S2. The processor controls the stepper motor to rotate, causing the ultrasonic radar to rotate by an angle α, and obtains the distance b from the ultrasonic radar to the ground along its detection direction at this time;

[0012] S3. Obtain the installation height h of the ultrasonic radar through the values ​​of a, b, and α;

[0013] S4. Look up the table according to the installation height h to obtain the optimal elevation angle value β corresponding to the current height;

[0014] S5. The processor controls the stepper motor to rotate and rotate the elevation angle of the ultrasonic radar to β.

[0015] S6. Obtain ultrasonic radar calibration parameters by looking up the table according to the values ​​of β and h, and download the calibration parameters to the ultrasonic radar.

[0016] According to the above scheme, the calculation process of the installation height h in S3 is as follows:

[0017]

[0018] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the ultrasonic radar adaptive calibration method described above are implemented.

[0019] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the ultrasonic radar adaptive calibration method described above.

[0020] The beneficial effects of the present invention are: through the rotation of the set stepper motor and gear, the rack is driven to translate, and then the rotation of the rotating bracket is driven to achieve the adjustment of the ultrasonic radar angle. Compared with manual adjustment, the device avoids the tedious steps in manual calibration and the adjustment of environmental parts; and through the set processor, the automatic reading of parameters in the calibration process, the automatic adjustment of the ultrasonic radar angle and the automatic injection of correction parameters are realized, which greatly improves the efficiency of ultrasonic radar calibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the three-dimensional structure of an ultrasonic radar adaptive calibration device according to an embodiment of the present invention;

[0022] Figure 2 This is a front view of an ultrasonic radar adaptive calibration device according to an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the structure of a rotating bracket according to an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of the fixing bracket and the mounting bracket structure according to an embodiment of the present invention.

[0025] In the figure: 1-rotating bracket, 2-fixed bracket, 3-ultrasonic radar, 4-pin, 5-groove, 6-mounting bracket, 7-gear, 8-rack, 9-pressing device. DETAILED DESCRIPTION

[0026] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present disclosure. Obviously, the described embodiments are part of the embodiments of the present disclosure, not all of the embodiments. Based on the described embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0027] See also Figures 1 to 4 An ultrasonic radar adaptive calibration device includes a rotating bracket 1 for fixing an ultrasonic radar 3, a fixed bracket 2 is arranged on the periphery of the rotating bracket 1, a plurality of pins 4 are arranged on the outside of the rotating bracket 1, a plurality of grooves 5 are evenly distributed on the inside of the fixed bracket 2, and the rotating bracket 1 is arranged at the center of the fixed bracket 2 through the cooperation of the pins 4 and the grooves 5; a mounting bracket 6 is connected to the outside of the fixed bracket 2, a stepping motor is arranged inside the mounting bracket 6, a gear 7 is connected to the rotating shaft of the stepping motor, a clamping device 9 is provided on the mounting bracket 6, a rack 8 is arranged between the clamping device 9 and the gear 7, and one end of the rack 8 is rotatably connected to the rotating bracket 1; the device also includes a processor, which is electrically connected to the ultrasonic radar 3 and the stepping motor respectively.

[0028] According to the above solution, the number of the pins 4 arranged on the outer side of the rotating bracket 1 is four.

[0029] According to the above solution, the pins 4 arranged on the outer side of the rotating bracket 1 are evenly distributed along the circumference of the outer side of the rotating bracket 1 .

[0030] According to the above solution, one end of the rack 8 is connected to the rotating bracket 1 through a hinge.

[0031] An ultrasonic radar adaptive calibration method comprises the following steps:

[0032] S1. Use the ultrasonic radar 3 installed on the vehicle to measure the distance and obtain the current distance value a;

[0033] S2. The processor controls the stepper motor to rotate, causing the ultrasonic radar 3 to rotate by an angle α, and obtains the distance value b at this time;

[0034] S3. Obtain the installation height h of the ultrasonic radar 3 by using the values ​​of a, b, and α;

[0035] S4. Look up the table according to the installation height h to obtain the optimal elevation angle value β corresponding to the current height;

[0036] S5. The processor controls the stepper motor to rotate to rotate the elevation angle of the ultrasonic radar 3 to β;

[0037] S6. Obtain ultrasonic radar calibration parameters by looking up the table according to the values ​​of β and h, and download the calibration parameters to the ultrasonic radar 3.

[0038] According to the above scheme, the calculation process of the installation height h in S3 is as follows:

[0039]

[0040] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the ultrasonic radar adaptive calibration method described above are implemented.

[0041] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the ultrasonic radar adaptive calibration method described above.

[0042] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An ultrasonic radar adaptive calibration device, characterized by: The invention also comprises a rotating bracket for fixing the ultrasonic radar, wherein a fixed bracket is provided on the periphery of the rotating bracket, and the rotating bracket is arranged at the center of the fixed bracket through the cooperation of a concave-convex structure; a mounting bracket is connected to the outer side of the fixed bracket, a stepper motor is provided in the mounting bracket, a rotating shaft of the stepper motor is connected to a gear, a clamping device is provided on the mounting bracket, a rack is provided between the clamping device and the gear, and one end of the rack is rotatably connected to the rotating bracket; the device also comprises a processor, which is electrically connected to the ultrasonic radar and the stepper motor respectively; the processor controls the rotation of the stepper motor and records the rotation angle, thereby obtaining the distance of the ultrasonic radar from the ground along the detection direction at different rotation angles; the processor obtains the installation height of the ultrasonic radar according to the rotation angle and distance, and obtains the optimal elevation angle value corresponding to the current height according to the height; then the processor drives the stepper motor to rotate the ultrasonic radar to the optimal elevation angle value, and obtains the ultrasonic radar calibration parameters according to the optimal elevation angle value and the installation height, and downloads the calibration parameters to the ultrasonic radar; The ultrasonic radar adaptive calibration method includes: Use the ultrasonic radar installed on the vehicle to measure the distance and obtain the distance value from the current ultrasonic radar to the ground along its detection direction ; The processor controls the rotation of the stepper motor to make the ultrasonic radar rotate at an angle , and obtain the distance value b from the ultrasonic radar to the ground along its detection direction at this time; pass , b, The installation height h of the ultrasonic radar is obtained by the numerical value; According to the installation height h, the optimal elevation angle value corresponding to the current height is obtained by looking up the table ; The processor controls the stepper motor to rotate and adjust the elevation angle of the ultrasonic radar to ; according to The ultrasonic radar calibration parameters are obtained by looking up the values ​​of h in the table, and the calibration parameters are downloaded to the ultrasonic radar; The calculation process of h is as follows: 。 2. The ultrasonic radar adaptive calibration device according to claim 1, characterized in that: The concave-convex structure comprises a plurality of pins arranged on the outer side of the rotating bracket and a plurality of grooves evenly distributed on the inner side of the fixed bracket.

3. The ultrasonic radar adaptive calibration device according to claim 2, characterized in that: The number of pins arranged on the outer side of the rotating bracket is 3 to 8.

4. The ultrasonic radar adaptive calibration device according to claim 2 or 3, characterized in that: The pins arranged on the outer side of the rotating bracket are evenly distributed along the circumference of the outer side of the rotating bracket.

5. The ultrasonic radar adaptive calibration device according to claim 1, characterized in that: One end of the rack is connected to the rotating bracket through a hinge.

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