Device, system and method for calibrating the optical center of a vehicle-mounted camera

Abstract

The present invention discloses a device, system and method for calibrating the optical center of a vehicle-mounted camera. The device includes an operation module for receiving an operation instruction; a main control module connected with the operation module and a camera to be calibrated, for obtaining a position adjustment instruction according to the operation instruction, and sending the position adjustment instruction to the camera to be calibrated to adjust the relative position of an optical center mark and a calibration reference mark; a storage module connected with the main control module, for storing the original position information of the optical center mark; the main control module is also used for obtaining the position offset information of the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information when the optical center mark is adjusted to the standard range of the calibration reference mark, and sending the position offset information to the camera to be calibrated; a power supply module connected with the storage module for power supply. The device for calibrating the optical center of a vehicle-mounted camera according to the embodiment of the present invention can improve the accuracy of the optical center and is convenient for users to use.

Description

Technical Field

[0001] The present invention relates to the field of camera technology, and in particular to a device, system and method for calibrating the optical center of a vehicle-mounted camera. Background Art

[0002] With the development and popularization of active safety technology, the application of vehicle-mounted cameras is becoming more and more extensive. Due to the particularity of vehicles, the requirements for cameras are very high. For example, systems such as 360-degree surround view and stereo camera ranging have extremely high requirements for camera optical consistency, requiring the offset of the camera optical center to be almost zero.

[0003] In the related art, the relative position between the photosensitivity center of the image sensor and the center of the lens is moved through PCBA (printed circuit board assembly). During the movement, the position of the photosensitivity center is acquired in real time. When the optical center of the image sensor coincides with the center of the lens, the calibration is completed and the camera body is installed.

[0004] The above method of calibrating the optical center of the camera by means of a structure is not convenient for users to use, and the error of the optical center of the camera after calibration is relatively large. Summary of the invention

[0005] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, the first object of the present invention is to provide a device for calibrating the optical center of a vehicle-mounted camera, which calibrates the optical center of the vehicle-mounted camera with high accuracy and is convenient for users to use.

[0006] The second object of the present invention is to provide a system for calibrating the optical center of a vehicle-mounted camera.

[0007] The third object of the present invention is to provide a method for calibrating the optical center of a vehicle-mounted camera based on the device for calibrating the optical center of a vehicle-mounted camera.

[0008] A fourth object of the present invention is to provide a method for calibrating the optical center of a vehicle-mounted camera based on the camera to be calibrated.

[0009] In order to achieve the above-mentioned purpose, the device for calibrating the optical center of a vehicle-mounted camera according to the first aspect of the embodiment of the present invention includes: an operation module, which is used to receive an operation instruction; a main control module, which is connected to the operation module and the camera to be calibrated, and is used to obtain a position adjustment instruction for adjusting the relative position of the optical center mark and the calibration reference mark of the output image of the camera to be calibrated according to the operation instruction, and send the position adjustment instruction to the camera to be calibrated to adjust the relative position of the optical center mark and the calibration reference mark; a storage module, which is connected to the main control module, and is used to store the original position information of the optical center mark; the main control module is also used to obtain the position offset information of the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information when the optical center mark is adjusted to the standard range of the calibration reference mark, and send the position offset information to the camera to be calibrated; a power supply module, which is connected to the main control module and is used for power supply.

[0010] According to the device for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, an operation instruction is received through an operation module, and a main control module obtains a position adjustment instruction for adjusting the relative position of an optical center mark of an output image of the camera to be calibrated and a calibration reference mark according to the operation instruction, and sends the position adjustment instruction to the camera to be calibrated, so that the camera to be calibrated can adjust the relative position of the optical center mark and the calibration reference mark according to the position adjustment instruction, and when the optical center mark is adjusted to within the standard range of the calibration reference mark, the adjusted position offset information is sent to the camera to be calibrated for storage through the main control module, that is, the calibration is completed. After the camera is loaded on the vehicle, the optical center can be adjusted according to the position offset information to reduce the optical center offset. When calibrating, the calibration personnel only need to operate the operation module, and the main control module can automatically calibrate the optical center of the camera through software. The device of the embodiment of the present invention is easy to use, and compared with manual adjustment, the optical center calibration accuracy of the device of the embodiment of the present invention is higher, and the deviation of the optical center of the camera after calibration is reduced.

[0011] In some embodiments of the present invention, the operation module includes: an up and down adjustment unit for receiving up and down operation instructions for adjusting the position of the optical center mark; and a left and right adjustment unit for receiving left and right operation instructions for adjusting the position of the optical center mark.

[0012] In some embodiments of the present invention, the storage module is further used to store the position offset information in correspondence with the camera to be calibrated.

[0013] In some embodiments of the present invention, the device further comprises: a prompt module, which is connected to the main control module and is used to prompt the main control module of the progress of sending the position offset information.

[0014] In some embodiments of the present invention, the device further includes: a first trigger module, which is connected to the main control module and is used to receive a start instruction for starting a calibration function.

[0015] In some embodiments of the present invention, the device further includes: a second trigger module, the second trigger module is connected to the main control module, and is used to receive a sending instruction for sending the position offset information.

[0016] In order to achieve the above-mentioned purpose, the system for calibrating the optical center of a vehicle-mounted camera according to the second aspect of the embodiment of the present invention includes: a display device, connected to the camera to be calibrated, for providing a calibration reference mark and displaying the optical center mark of the image output by the camera to be calibrated; the device for calibrating the optical center of a vehicle-mounted camera as described in any of the above embodiments, the device being connected to the camera to be calibrated; and a power supply, the power supply being respectively connected to the device for calibrating the optical center of the vehicle-mounted camera and the camera to be calibrated.

[0017] According to the system for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, the optical center mark and the calibration reference mark of the output image of the camera to be calibrated can be simultaneously displayed through a display device, so that it can be more intuitively observed whether the optical center mark of the camera to be calibrated is within the standard range of the calibration reference mark, thereby more accurately judging whether the camera to be calibrated is qualified. Moreover, by adopting the device for calibrating the optical center of a vehicle-mounted camera according to the above embodiment, an operator only needs to operate the device to calibrate the optical center of the camera, which is easy to use. Moreover, the device for calibrating the optical center of a vehicle-mounted camera sends the offset position information of the optical center of the camera to the camera to be calibrated for storage. After the camera is installed on the vehicle, the image position can be adjusted by software based on the position offset information to achieve the purpose of calibrating the optical center. Compared with manual calibration, the device of the above embodiment can improve the accuracy of the optical center of the camera to be calibrated, thereby improving product performance.

[0018] In order to achieve the above-mentioned purpose, a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the third aspect of the present invention is used in the device described in any of the above embodiments, and the method includes: obtaining the original position information of the optical center mark of the output image of the camera to be calibrated; receiving an operation instruction; obtaining a position adjustment instruction for adjusting the position of the optical center mark according to the operation instruction; sending the position adjustment instruction to the camera to be calibrated to adjust the relative position of the optical center mark and the calibration reference mark; when the optical center mark is adjusted to within the standard range of the calibration reference mark, obtaining the position offset information of the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information; and sending the position offset information to the camera to be calibrated.

[0019] According to the method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, based on the device for calibrating the optical center of a vehicle-mounted camera according to the above embodiment, an operator can adjust the relative position of the optical center mark of the camera to be calibrated and the calibration reference mark by operating the device, which is easy to use. When the optical center mark is adjusted to within the standard range of the calibration reference mark, the position offset information of the optical center mark and the calibration reference mark is obtained, and the position offset information is sent to the camera to be calibrated for storage. After the camera is installed on the vehicle, the optical center can be adjusted according to the position offset information to reduce the optical center offset. Compared with manual adjustment, the method of the embodiment of the present invention can achieve higher accuracy in optical center calibration and reduce the deviation of the optical center of the camera after calibration.

[0020] In some embodiments of the present invention, the method further comprises: prompting a progress of sending the position offset information.

[0021] In order to achieve the above-mentioned purpose, a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the fourth aspect of the present invention is used for a camera to be calibrated, and the method includes: transmitting an output image including an optical center mark to a display device for display; receiving a position adjustment instruction, and adjusting the relative position of the optical center mark and a calibration reference mark provided by the display device according to the position adjustment instruction; receiving position offset information between the optical center mark and the calibration reference mark and saving the position offset information.

[0022] According to the method for calibrating the optical center of a vehicle-mounted camera in an embodiment of the present invention, the output image of the camera to be calibrated containing the optical center mark is displayed through a display device, and the optical center mark is adjusted to within the standard range of the calibration reference mark according to the position adjustment instruction, and the position offset information of the optical center mark and the calibration reference mark is saved. After the camera is installed on the vehicle, the optical center of the camera can be automatically adjusted based on the offset position information to reduce the optical center offset. Compared with manual calibration of the optical center, the calibration accuracy is higher.

[0023] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0025] Figure 1 is a block diagram of a device for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention;

[0026] Figure 2 is a block diagram of an operation module of an embodiment of the present invention;

[0027] Figure 3 is a block diagram of a device for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention;

[0028] Figure 4 is a block diagram of a device for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention;

[0029] Figure 5 is a block diagram of a system for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention;

[0030] Figure 6 is a block diagram of a system for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention;

[0031] Figure 7 is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention;

[0032] Figure 8 is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention;

[0033] Fig. 9 The figure is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention.

[0034] Reference numerals:

[0035] System 01 for calibrating the optical center of the vehicle camera, and camera 02 to be calibrated;

[0036] A device 10 for calibrating the optical center of a vehicle-mounted camera, a display device 20, and a power supply 30;

[0037] Operation module 100, main control module 200, storage module 300, power module 400, prompt module 500, first trigger module 600, second trigger module 700;

[0038] Up and down adjustment unit 201 and left and right adjustment unit 202. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0040] The method, device and system of the embodiments of the present invention are applied to the following scenarios: the camera to be calibrated is respectively connected to a display device and a device for calibrating the optical center of a vehicle-mounted camera, the display device can provide a calibration reference mark on the display screen, for example, displaying a standard cross mark in the center of the display screen, the output image of the camera to be calibrated is displayed through the display device, and the output image includes an optical center mark. On the display device, when the optical center mark is within the qualified standard range of the calibration reference mark, for example, when the two coincide or are close to coincide, it is considered that the optical center of the camera to be calibrated has no offset or the offset can be ignored. On the contrary, when the optical center mark is relatively offset from the calibration reference mark, it is considered that the optical center of the camera to be calibrated has a large offset.

[0041] Reference below Figure 1-Figure 4 A device for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention is described.

[0042] Figure 1 FIG. 1 is a block diagram of an apparatus for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention. Figure 1 As shown, the device 10 for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention includes an operation module 100 , a main control module 200 , a storage module 300 and a power module 400 .

[0043] The operation module 100 is used to receive operation instructions. In an embodiment, the operation module 100 can be implemented by buttons, knobs or touch pads. The power module 400 is connected to the main control module 200 for power supply.

[0044] The main control module 200 is connected to the operation module 100 and the camera to be calibrated 02, and is used to obtain a position adjustment instruction for adjusting the relative position of the optical center mark of the image output by the camera to be calibrated 02 and the calibration reference mark according to the operation instruction, and send the position adjustment instruction to the camera to be calibrated 02 to adjust the relative position of the optical center mark of the image output by the camera to be calibrated 02 and the calibration reference mark.

[0045] Specifically, the output image of the camera to be calibrated 02 is displayed by the display device 20, and the output image includes an optical center mark such as a cross mark. At the same time, the display device 20 provides a calibration reference mark. The calibrator can confirm the relative position of the optical center mark of the camera to be calibrated 02 and the calibration reference mark through the display screen. When the two offsets are large, the calibrator can issue an operation instruction by operating the operation module 100. The main control module 100 receives the operation instruction to generate a position adjustment instruction, and sends the position adjustment command to the camera to be calibrated 02. The camera to be calibrated 02 includes a camera chip. The camera chip adjusts the relative position of the optical center mark and the calibration reference mark according to the position adjustment instruction, for example, adjusting the optical center mark of the camera to be calibrated 02 upward, downward, left or right, so that the optical center mark displayed in the display device 20 is adjusted to the standard range of the calibration reference mark, that is, the optical center of the calibrated camera.

[0046] The storage module 300 is connected to the main control module 200 , and the storage module 300 stores the original position information of the optical center mark of the camera 02 to be calibrated.

[0047] The main control module 200 is also used to determine that the optical center of the camera 02 to be calibrated meets the vehicle camera standard when the optical center mark is adjusted to the standard range of the calibration reference mark, obtain the position offset information of the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information, and send the position offset information to the camera 02 to be calibrated. Specifically, the main control module 200 determines the position information of the adjusted optical center mark according to the position adjustment instruction, determines the position offset information of the optical center mark of the camera 02 to be calibrated relative to the calibration reference mark according to the adjusted position information and the original position information, and burns the position offset information to the camera 02 to be calibrated. Then, after the camera 02 to be calibrated is installed on the vehicle, the optical center can be automatically adjusted based on the position offset information to reduce the optical center offset.

[0048] In an embodiment of the present invention, the main control module 200 includes a main chip, which can be connected to the operating module 100 and the camera to be calibrated 02 through SCL and SDA signal lines, and is used to transmit data information, such as operating instructions, position adjustment instructions, and position offset information. The main chip stores a main program, and the main program can convert the operating instructions into position adjustment instructions when running, and can also obtain and store the position offset information of the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information. Specifically, the operator can adjust the position of the optical center mark of the camera to be calibrated 02 with reference to the position adaptability of the calibration reference mark, and finally adjust the optical center mark of the camera to be calibrated 02 to the standard range of the calibration reference mark, for example, adjust the optical center mark of the camera to be calibrated 02 to coincide with the calibration reference mark. In the process of calibrating the optical center mark, the main control module 200 can also record the operation information for adjusting the optical center mark of the camera to be calibrated 02, and after the calibration is completed, obtain the position offset information of the optical center mark and the calibration reference mark, and send the position offset information to the camera to be calibrated 02.

[0049] In an embodiment of the present invention, the power module 400 can adopt a low voltage difference linear regulator power conversion chip, which has the function of adjusting the supply voltage. The power module 400 can adjust the external input voltage to power internal modules such as the storage module 300 and the main control module 200.

[0050] According to the device 10 for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, an operation instruction is received through the operation module 100, and the main control module 200 obtains a position adjustment instruction for adjusting the relative position of the optical center mark of the image output by the camera 02 to be calibrated and the calibration reference mark according to the operation instruction, and sends the position adjustment instruction to the camera 02 to be calibrated, so that the camera 02 to be calibrated can adjust the relative position of the optical center mark and the calibration reference mark according to the position adjustment instruction, and when the optical center mark is adjusted to within the standard range of the calibration reference mark, the adjusted position offset information is sent to the camera 02 to be calibrated for storage through the main control module 200, that is, the calibration is completed. After the camera is installed on the vehicle, the optical center can be adjusted according to the position offset information to reduce the optical center offset. When calibrating the device 10 according to the embodiment of the present invention, the calibrator only needs to operate the operation module 100, and the main control module 200 can automatically calibrate the optical center of the camera through software, which is easy to use. Compared with manual adjustment, the optical center calibration accuracy of the device 02 according to the embodiment of the present invention is higher, and the deviation of the optical center of the camera after calibration is reduced.

[0051] Figure 2 is a block diagram of an operation module according to an embodiment of the present invention. In the embodiment of the present invention, as Figure 2As shown, the operation module 100 includes an up-down adjustment unit 201 and a left-right adjustment unit 202. The up-down adjustment unit 201 is used to receive an operation instruction to adjust the position of the optical center mark upward or downward, and the left-right adjustment unit 202 is used to receive an operation instruction to adjust the position of the optical center mark leftward or rightward. Specifically, the up-down adjustment unit 201 and the left-right adjustment unit 202 can be set as buttons or operating handles or touch modules that can control the moving direction of the optical center mark of the camera to be calibrated 02. For example, at least four buttons are set, and the four buttons have the functions of adjusting to "up", "down", "left", and "right", respectively, corresponding to the up, down, left, and right adjustment of the optical center mark of the camera to be calibrated 02 displayed on the display device 200 relative to the calibration reference mark. In the process of calibrating the optical center mark of the camera to be calibrated 02, the operator can adjust the optical center mark by clicking the four buttons. The method is simple and easy to operate.

[0052] In an embodiment of the present invention, the storage module 300 includes a storage card with a storage function, such as an SD card, a TF card, etc. The storage module 300 is also used to store the position offset information corresponding to the camera 02 to be calibrated. Specifically, after determining that the optical center mark of the camera 02 to be calibrated has been adjusted to the optimal position, the main control module 200 sends the position offset information to the storage module 300. All camera data are stored in the storage module 300. After receiving the position offset information, the storage module 300 can package all camera data together and burn them into the camera chip to be calibrated. The burned camera data includes camera output image data, position offset information and other stored camera data. The position offset information is permanently saved in the camera chip, and then after the camera is installed, the output image center can be automatically adjusted based on the position offset information to reduce the impact of the optical center offset on the output image.

[0053] like Figure 3 , which is a block diagram of an apparatus for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention. The apparatus 10 for calibrating the optical center of a vehicle-mounted camera further includes a prompt module 500, which is connected to the main control module 200 and is used to prompt the main control module 200 of the progress of sending the position offset information.

[0054] In an embodiment of the present invention, the main control module 200 sends the position offset information to the camera 02 to be calibrated, that is, after the main control module 200 sends the position offset information to the storage module 300, the storage module 300 packages all the camera data together and burns them to the camera chip of the camera 02 to be calibrated. Since it takes a certain amount of time for the camera data to be burned from the storage module 300 to the camera 02 to be calibrated, the prompt module 500 can prompt the burning progress to determine whether the burning is successful. For example, the prompt module 500 can include a liquid crystal display screen, and the liquid crystal display screen indicates the burning progress of the position offset position in the form of a progress bar, which can be more intuitively reminded. In the process of burning the camera data to the camera chip, a progress bar is displayed on the liquid crystal display screen, and the progress bar is updated in real time from 0%-100%, wherein 0% indicates the start of burning, and 100% indicates the completion of burning, so that the burning progress can be intuitively understood.

[0055] In some embodiments of the present invention, the prompt module 500 may also include a buzzer circuit. A buzzer circuit is connected to the device 10 for calibrating the optical center of a vehicle-mounted camera. After all camera data are burned into the camera chip to be calibrated, the main control module 200 controls the buzzer circuit to emit a prompt sound to remind the operator that the burning is complete and that the optical center mark of the next camera 02 to be calibrated can be detected.

[0056] like Figure 4 FIG. 1 is a block diagram of a device for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention. The device 10 for calibrating the optical center of a vehicle-mounted camera further includes a first trigger module 600, which is connected to the main control module 200 and is used to receive a start instruction for starting a calibration function.

[0057] For example, after the camera to be calibrated, the calibration device 10, and the display device 20 are connected, the calibrator can trigger the first trigger module 600, the first trigger module 600 receives the start instruction to start the calibration function, and transmits the instruction to the main control module 200, the main control module 200 responds to the instruction to read the camera output image data to obtain the original position information of the optical center mark of the camera output image. For example, the first trigger module 600 can be a "start" button that can receive the start instruction. After the camera to be calibrated 02 is connected to the device 10 for calibrating the optical center of the vehicle-mounted camera, the operator triggers the "start" button, that is, sends the start instruction to start the calibration function to the first trigger module 600, and the device 10 for calibrating the optical center of the camera starts to run to realize the start calibration function.

[0058] In an embodiment of the present invention, Figure 4As shown, the device 10 for calibrating the optical center of a vehicle-mounted camera further includes a second trigger module 700. The second trigger module 700 is connected to the main control module 200 and is used to receive a sending instruction for sending position offset information.

[0059] For example, when the calibration personnel observe that the optical center mark of the camera on the display device 20 is adjusted to the standard range of the calibration reference mark, the second trigger module 700 can be operated. The second trigger module 700 receives the instruction to send the position offset information and transmits the instruction to the main control module 200. The main control module 200 responds to the instruction to send the position offset information to the camera to be calibrated 02. For example, the second trigger module 700 can be set as a "save" button that can receive the sending instruction. After determining that the optical center mark of the camera to be calibrated 02 has been adjusted to the optimal position, the operator triggers the "save" button, that is, sends the instruction to send the position offset information to the second trigger module 700, and the program in the main control module 200 runs to send the position offset information to the storage module 300. The storage module 300 then packages all the camera data together and burns them into the chip of the camera to be calibrated to realize the function of sending the position offset information.

[0060] In the embodiment, the operation module 100, the first trigger module 600 and the second trigger module 700 can all be implemented in the form of buttons, and other applicable implementation methods can also be used. In some embodiments of the present invention, the circuits in the operation module 100, the first trigger module 600 and the second trigger module 700 can be integrated and connected to the main control module 200, and the operator can trigger the button in the circuit to realize the function of sending instructions.

[0061] For example, the KEY2 button is set as a button with an "up" adjustment function; the KEY3 button is set as a button with a "down" adjustment function; the KEY4 button is set as a button with a "left" adjustment function; and the KEY5 button is set as a button with a "right" adjustment function. For another example, the KEY0 button is set as a button with a start instruction for receiving a start calibration function, and the KEY1 button is set as a button with a send instruction for receiving position offset information. The operator sends different instructions by triggering different buttons. When a button is triggered, the branch where the button is located is turned on, and a level signal is sent to the main control module 200. The main control module 200 recognizes the level signal and responds, thereby realizing the functions of starting calibration, adjusting the optical center mark, and sending position offset information.

[0062] Please refer to the attached Figure 5 and Figure 6 A system for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the second aspect of the present invention is described.

[0063] Figure 5FIG. 1 is a block diagram of a system for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention. Figure 5 As shown, the system 01 for calibrating the optical center of a vehicle-mounted camera according to the embodiment of the present invention includes a device 10 for calibrating the optical center of a vehicle-mounted camera, a display device 20 and a power supply 30 .

[0064] The display device 20 is connected to the camera to be calibrated 02, and is used to provide a calibration reference mark and display the optical center mark of the image output by the camera to be calibrated 02, wherein the display device 20 has a preset calibration reference mark. In an embodiment, the display device 20 may be composed of an ordinary analog display screen, and an operator can directly observe the optical center mark and the calibration reference mark through the display device 20, so as to determine whether there is a problem with the optical center of the camera to be calibrated.

[0065] The device 10 for calibrating the optical center of a vehicle-mounted camera is connected to the camera to be calibrated 02 , and can obtain the optical center identifier of the output image of the camera to be calibrated 02 according to the output image of the camera to be calibrated 02 .

[0066] The power supply 30 is respectively connected to the device 10 for calibrating the optical center of the vehicle camera and the camera to be calibrated 02. The power supply 30 can be composed of a constant current stabilized switching power supply, which is used to convert the 220V AC voltage into 12V DC to power the camera to be calibrated 02 and the device 10 for calibrating the optical center of the vehicle camera.

[0067] According to the system 01 for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, the display device 20 can simultaneously display the optical center mark and the calibration reference mark of the image output by the camera to be calibrated 02, and can more intuitively observe whether the optical center mark of the camera to be calibrated 02 is within the standard range of the calibration reference mark, thereby more accurately judging whether the camera to be calibrated 02 is qualified. Moreover, by adopting the device 10 for calibrating the optical center of a vehicle-mounted camera according to the above embodiment, the operator only needs to operate the device 10 to calibrate the optical center of the camera, which is convenient to use. Moreover, the device 10 for calibrating the optical center of a vehicle-mounted camera sends the offset position information of the optical center of the camera to the camera to be calibrated 02 for storage. After the camera is installed on the vehicle, the image position can be adjusted by software based on the position offset information to achieve the purpose of calibrating the optical center. Compared with manual calibration, the device 100 according to the above embodiment can improve the accuracy of the optical center of the camera to be calibrated 02, thereby improving product performance.

[0068] Figure 6 The present invention is a block diagram of a system for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention.

[0069] In an embodiment of the present invention, Figure 6As shown, the power supply 30 is respectively connected to the power module 400 and the camera 02 to be calibrated in the device 10 for calibrating the optical center of the vehicle-mounted camera, and is used to provide 12V DC power to the camera 02 to be calibrated and the power module 400. The display device 20 is used to provide a calibration reference mark and display the optical center mark of the image output by the camera 02 to be calibrated. In the embodiment, the operator can directly observe the optical center mark and the calibration reference mark through the display device 20, so as to determine whether there is a problem with the optical center of the camera 02 to be calibrated. When it is determined that the optical center of the camera 02 to be calibrated is unqualified, the operator only needs to operate the device 10 to calibrate the optical center of the camera, which is convenient to use. The device 10 for calibrating the optical center of the vehicle-mounted camera sends the offset position information of the optical center of the camera to be calibrated 02 for storage. After the camera is loaded on the vehicle, the image position can be adjusted by software based on the position offset information to achieve the purpose of calibrating the optical center. Compared with manual calibration, the device 100 of the above embodiment can improve the accuracy of the optical center of the camera 02 to be calibrated, thereby improving product performance.

[0070] Refer to the following Figure 7 and Fig. 9 A method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the third aspect of the present invention is described.

[0071] Figure 7 The figure is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention.

[0072] The method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention is applied to the device 10 for calibrating the optical center of a vehicle-mounted camera according to any of the above embodiments. The method at least includes steps S1-S6, which are specifically as follows.

[0073] S1, obtaining the original position information of the optical center mark of the output image of the camera to be calibrated.

[0074] In an embodiment of the present invention, after the storage module is connected to the camera to be calibrated, the camera data stored in the camera chip can be obtained, including the camera output image data. The main control module can read the camera output image data in the storage module. The operator sends an instruction to the first trigger module, and the main program in the main control module runs, which can obtain the original position information of the optical center mark of the camera output image according to the camera output image and save it in the storage module.

[0075] S2, receiving an operation instruction.

[0076] In an embodiment of the present invention, by directly observing the display device, it is determined that the optical center mark position of the camera output image is outside the standard range of the calibration reference mark, then the camera to be calibrated is a defective product, and the operator issues an operation instruction to the operation module to adjust the position of the optical center mark. For example, when a calibration button is provided in the operation module, the operator can issue an operation instruction to the operation module by clicking the button.

[0077] S3, converting the operation instruction into a position adjustment instruction for adjusting the position of the optical center mark.

[0078] In an embodiment of the present invention, the operating module transmits the operating instruction to the main control module, and the main program in the main control module runs to convert the operating instruction into a corresponding position adjustment instruction.

[0079] S4, sending a position adjustment instruction to the camera to be calibrated to adjust the relative position of the optical center mark and the calibration reference mark.

[0080] In an embodiment of the present invention, after the main control module obtains the position adjustment instruction, it transmits the position adjustment instruction to the camera to be calibrated, and the camera to be calibrated responds to the position adjustment instruction, and the program in the camera chip can control the movement of the optical center mark of the image of the camera to be calibrated. The display device can simultaneously display the position of the optical center mark and the calibration reference mark, and the operator can adaptively adjust the relative position of the optical center mark and the calibration reference mark by observing the position and movement trajectory of the optical center mark in the display device.

[0081] S5, when the optical center mark is adjusted to within the standard range of the calibration reference mark, obtaining position offset information between the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information.

[0082] Specifically, the operator determines that the optical center mark is adjusted to the optimal position by observing the display device. For example, when the optical center mark coincides with the calibration reference mark, it is determined that the camera to be calibrated is qualified. During the whole process, the main control module can automatically record each position adjustment instruction. In other words, in the process of adjusting the optical center mark, the optical center mark moves in response to the position adjustment instruction, and the main control module can obtain the movement trajectory of the optical center mark according to the position adjustment instruction. The main control module obtains the position offset information of the optical center mark and the calibration reference mark based on the original position information and the position adjustment instruction recorded before the adjustment starts, and the offset information is saved in the main control module.

[0083] S6, sending the position offset information to the camera to be calibrated.

[0084] In an embodiment of the present invention, it is determined that the optical center mark of the camera to be calibrated has been adjusted to the optimal position, and the operator can send a position offset information sending instruction to the second trigger module, and the second trigger module receives the instruction and transmits it to the main control module. The main control module responds to the instruction and sends the position offset information to the storage module. After receiving the position offset information, the storage module can package all camera data together and burn it into the camera chip to be calibrated. When the calibrated camera to be calibrated is shooting pictures and videos, the camera chip can obtain the calibrated camera output picture according to the optical center mark and position offset information of the picture.

[0085] According to the method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention, based on the device for calibrating the optical center of a vehicle-mounted camera according to the above embodiment, an operator can adjust the relative position of the optical center mark of the camera to be calibrated and the calibration reference mark by operating the device, which is easy to use. When the optical center mark is adjusted to within the standard range of the calibration reference mark, the position offset information of the optical center mark and the calibration reference mark is obtained, and the position offset information is sent to the camera to be calibrated for storage. After the camera is installed on the vehicle, the optical center can be adjusted according to the position offset information to reduce the optical center offset. Compared with manual adjustment, the method of the embodiment of the present invention can achieve higher accuracy in optical center calibration and reduce the deviation of the optical center of the camera after calibration.

[0086] like Figure 8 FIG. 2 is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to another embodiment of the present invention. In the embodiment of the present invention, the method for calibrating the optical center of a vehicle-mounted camera further includes step S7.

[0087] S7, prompting the progress of sending the position offset information.

[0088] In an embodiment of the present invention, the prompt module, such as a liquid crystal display, can display the burning progress to determine whether the burning is successful. Specifically, a progress bar is provided on the prompt module. When the progress bar shows 100%, it means that the burning is completed. At this time, the buzzer emits a "beep" prompt sound to remind the operator that the burning is completed and the optical center mark of the next camera to be calibrated can be detected.

[0089] Fig. 9 The figure is a flow chart of a method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention.

[0090] like Fig. 9 As shown, the method for calibrating the optical center of a vehicle-mounted camera according to an embodiment of the present invention is used for a camera to be calibrated 02. The method includes steps S01-S03, which are specifically as follows.

[0091] S01, transmitting an output image including an optical center mark to a display device for display.

[0092] In an embodiment of the present invention, the camera to be calibrated is connected to a storage module. After the storage module obtains the camera data of the camera to be calibrated, the main control module can read the camera data in the storage module, thereby obtaining the camera output image data, and obtain the optical center mark position information of the camera output image according to the camera output image. The camera to be calibrated is connected to a display device, and the optical center mark position information of the camera output image can be directly displayed on the display device.

[0093] S02, receiving a position adjustment instruction, and adjusting the relative position of the optical center mark and the calibration reference mark provided by the display device according to the position adjustment instruction.

[0094] In an embodiment of the present invention, the main control module converts the operation instruction into a position adjustment instruction for adjusting the position of the optical center mark, and transmits the position adjustment instruction to the camera to be calibrated. The camera to be calibrated responds to the instruction and controls the movement of the optical center mark to adaptively adjust the relative position of the optical center mark and the calibration reference mark. The display device can display the trajectory of the optical center mark in real time. Specifically, each time the camera to be calibrated receives a position adjustment instruction, the optical center mark displayed in the display device moves one pixel "up" or "down" or "left" or "right" accordingly.

[0095] S03, receiving position offset information of the optical center mark and the calibration reference mark and saving the position offset information.

[0096] In an embodiment of the present invention, the camera data in the storage module is burned into the camera to be calibrated, and the camera data in the camera chip to be calibrated is updated, wherein the camera data includes the position offset information of the optical center mark and the calibration reference mark. When the camera to be calibrated takes a picture or video again, the camera chip can automatically calibrate the optical center mark of the picture or video according to the position offset information, thereby outputting the calibrated camera output picture or video.

[0097] According to the method for calibrating the optical center of a vehicle-mounted camera in an embodiment of the present invention, the output image of the camera to be calibrated containing the optical center mark is displayed through a display device, and the optical center mark is adjusted to within the standard range of the calibration reference mark according to the position adjustment instruction, and the position offset information of the optical center mark and the calibration reference mark is saved. After the camera is installed on the vehicle, the optical center of the camera can be automatically adjusted based on the offset position information to reduce the optical center offset. Compared with manual calibration of the optical center, the calibration accuracy is higher.

[0098] In general, the device, system and method for calibrating the optical center of a vehicle-mounted camera according to the embodiment of the present invention, during calibration, the calibrator only needs to operate the operating module 100, and the main control module 200 can automatically calibrate the optical center of the camera through software, which is easy to use, and compared with manual adjustment, the optical center calibration accuracy is higher by using the device 02 according to the embodiment of the present invention, and the deviation of the optical center of the camera after calibration is reduced. The relative position of the optical center mark and the calibration reference mark is adjusted, and when the optical center mark is adjusted to within the standard range of the calibration reference mark, the adjusted position offset information is sent to the camera to be calibrated 02 for storage through the main control module 200, and the calibration is completed. After the camera is installed on the vehicle, the optical center can be adjusted according to the position offset information to reduce the optical center offset.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0100] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A device for calibrating the optical center of a vehicle-mounted camera, characterized in that: include: An operation module, used for receiving operation instructions; A main control module, the main control module is connected to the operation module and the camera to be calibrated, and is used to obtain a position adjustment instruction according to the operation instruction, and send the position adjustment instruction to the camera to be calibrated to adjust the relative position of the optical center mark of the image output by the camera to be calibrated and the calibration reference mark; The operation module includes: An up-down adjustment unit, used for receiving an up-down operation instruction for adjusting the position of the optical center mark up-down; A left-right adjustment unit, used for receiving a left-right operation instruction for adjusting the position of the optical center mark left-right; A storage module, the storage module is connected to the main control module and is used to store the original position information of the optical center mark; The main control module is further used to obtain the position offset information between the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information when the optical center mark is adjusted to within the standard range of the calibration reference mark, and send the position offset information to the camera to be calibrated, wherein the output image is displayed by a display device, and the display device provides the calibration reference mark; A power supply module is connected to the main control module and is used for supplying power.

2. The device for calibrating the optical center of a vehicle-mounted camera according to claim 1, characterized in that: The storage module is further used to store the position offset information in correspondence with the camera to be calibrated.

3. The device for calibrating the optical center of a vehicle-mounted camera according to claim 1, characterized in that: The device also includes: A prompt module is connected to the main control module and is used to prompt the main control module of the progress of sending the position offset information.

4. The device for calibrating the optical center of a vehicle-mounted camera according to claim 1, characterized in that: The device also includes: A first trigger module, wherein the first trigger module is connected to the main control module and is used to receive a start instruction for starting a calibration function.

5. The device for calibrating the optical center of a vehicle-mounted camera according to claim 1, characterized in that: The device also includes: A second trigger module, the second trigger module is connected to the main control module and is used to receive a sending instruction for sending the position offset information.

6. A system for calibrating the optical center of a vehicle-mounted camera, characterized in that: include: A display device, connected to the camera to be calibrated, for providing a calibration reference mark and displaying an optical center mark of an output image of the camera to be calibrated; The device for calibrating the optical center of a vehicle-mounted camera according to any one of claims 1 to 5, wherein the device is connected to the camera to be calibrated; A power supply is connected to the device for calibrating the optical center of the vehicle-mounted camera and the camera to be calibrated respectively.

7. A method for calibrating the optical center of a vehicle-mounted camera, characterized in that: For use in the device according to any one of claims 1 to 4, the method comprises: Obtaining the original position information of the optical center mark of the output image of the camera to be calibrated; Receive an operation instruction; Obtaining a position adjustment instruction for adjusting the position of the optical center mark according to the operation instruction; Sending the position adjustment instruction to the camera to be calibrated to adjust the relative position of the optical center mark and the calibration reference mark; When the optical center mark is adjusted to within the standard range of the calibration reference mark, obtaining position offset information between the optical center mark and the calibration reference mark according to the position adjustment instruction and the original position information; The position offset information is sent to the camera to be calibrated.

8. The method for calibrating the optical center of a vehicle-mounted camera according to claim 7, characterized in that: The method further includes: prompting a progress of sending the position offset information.

9. A method for calibrating the optical center of a vehicle-mounted camera, characterized in that: For a camera to be calibrated, the method comprises: Transmitting the output image including the optical center mark output by the device for calibrating the optical center of the vehicle-mounted camera according to any one of claims 1 to 5 to a display device for display; receiving a position adjustment instruction, and adjusting the relative position of the optical center mark and the calibration reference mark provided by the display device according to the position adjustment instruction; The position offset information between the optical center mark and the calibration reference mark is received and saved.

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