A device for calibrating and adjusting the chassis of a connected vehicle by wire

Abstract

The present invention relates to a device for calibrating and adjusting the chassis of a connected vehicle by wire, comprising a column connected to a base, wherein the column is respectively and sequentially installed with a calibration beam, a double-axis winding curtain attached to a calibration bottom plate, and a pulley block located inside the top of the column from top to bottom, and both sides of the calibration beam are installed with aluminum profile folding pieces and are locked and fixed by a first slider bolt. Under the tightness adjustment of the first slider bolt, the calibration beam can slide up and down along the column and adjust the height to be locked in any position, and the calibration bottom plate is laterally fixed to the front side of the column in the center, and both sides of the calibration bottom plate are installed with aluminum profile folding pieces and are locked and fixed by a second slider bolt. Beneficial effects: The present invention solves the technical problems that the existing design of sensor accessories is easy to be lost and damaged during use and management, and calibration for different application scenarios cannot be performed at multiple angles and multiple dimensions of scene environments at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile, scientific research and teaching calibration and adjustment tools, and in particular to a calibration and adjustment positioning device for a wire-controlled chassis of a networked vehicle. Background Art

[0002] An intelligent connected vehicle will be equipped with multiple perception sensors. Accurate sensor calibration is a prerequisite for realizing the multi-sensor perception and positioning system of intelligent vehicles. The intrinsic calibration of the sensor is to obtain the mapping relationship inside the sensor, and the extrinsic calibration is to convert two or more sensors into a unified spatial coordinate system. Most sensors need to be calibrated after installation to ensure the accuracy of sensor measurements.

[0003] Sensor calibration is one of the fundamental building blocks of autonomous vehicles. Simply put, sensor calibration informs the connected autonomous vehicle how its sensors are positioned with a high degree of accuracy in the vehicle. This allows the autonomous vehicle to understand the vehicle's own positioning by combining data from multiple sensors such as LiDAR, radar, cameras, and inertial measurement units in the same coordinate system. Accurate calibration information is essential for mapping, positioning, perception, and control. Sensor calibration is an essential pre-processing step before using sensor fusion deep learning algorithms and enables machine learning models to understand the vehicle's environmental area from the perspective of different sensors.

[0004] For example, the camera calibration internal parameters are focal length and lens distortion; the inertial navigation internal parameters are calibrated using the zero bias, scale factor and installation error of the gyroscope and accelerometer; the lidar internal parameters are the conversion relationship between the internal laser emitter coordinates and the lidar coordinate device. The external parameters determine the conversion relationship between the sensor and the external coordinate system, including multiple degrees of freedom parameters for rotation and translation.

[0005] At present, the common sensor external parameter calibration equipment in the market is scattered and calibrates a single sensor. Different car companies use different brands of sensor calibration methods and different calibration equipment. This results in a sensor calibration system containing multiple accessories, which is inconvenient to use and manage and easy to lose or damage. The typical driverless car sensor kit consists of a camera, lidar, radar and inertial navigation unit. The common camera calibration uses a checkerboard calibration plate, and the millimeter wave radar uses a triangular reflector calibration. At the same time, the calibration for different application scenarios cannot simultaneously display multi-dimensional scene environments from multiple angles and calibrate at the same time. Summary of the invention

[0006] The purpose of the present invention is to provide a device for calibrating and adjusting the chassis of a connected vehicle by wire, which solves the technical problems that the sensor accessories of the existing design are easy to be lost and damaged during use and management, and the calibration for different application scenarios cannot simultaneously display multi-dimensional scene environments from multiple angles. This is achieved through the following scheme.

[0007] In order to achieve the above purpose, the technical solution adopted by the present invention is: a device for calibrating and adjusting the chassis of a connected vehicle by wire, characterized in that it includes a column connected to a base, and the column is respectively installed with a calibration beam, a double-axis winding curtain attached to the calibration bottom plate, and a pulley block located inside the top of the column from top to bottom;

[0008] Aluminum profile folding pieces are installed on both sides of the calibration beam and are locked and fixed by the first slider bolt. Under the tightness adjustment of the first slider bolt, the calibration beam can slide up and down along the column and adjust the height to be locked at any position;

[0009] The calibration base plate is laterally fixed in the center on the front side of the column, and 90-degree aluminum profile folding pieces are installed on both sides of the calibration base plate and locked and fixed by the second slider bolt. Under the looseness adjustment of the second slider bolt, the calibration base plate can slide up and down along the column and adjust the height to be locked in any position, and the upper and lower ends of the calibration base plate are fixedly connected with a curtain reel, and a double-axis winding curtain adapted thereto is connected to the curtain reel. The upper and lower sides of the double-axis winding curtain are both wound on the curtain reel. As the curtain reel rotates, the double-axis winding curtain slides on the calibration base plate, and manual wheels are installed on both ends of the curtain reel, which can drive the curtain reel to rotate together with the manual wheels;

[0010] One end of the pulley block is connected to the calibration base plate by a steel wire rope, and the other end is connected to a balancing weight placed inside the column. The steel wire rope is fixed to the top of the calibration base plate by a first lock buckle. When the calibration base plate is pulled upward and moves up and down along the main column, the steel wire rope changes the pulling direction through the pulley block installed on the column and connects to the balancing weight located inside the column, thereby forming a dynamic balance in the process of the calibration base plate moving up and down along the column. The balancing weight block can move up and down along the inside of the column, and the top of the balancing weight block is connected and fixed to the steel wire rope by a second lock buckle.

[0011] Furthermore, the column is made of an aluminum profile with a rectangular cross-section, and T-slots are designed around the cross-section for connecting a T-slider. The T-slider can move up and down along the T-slot. The T-slider is connected to a first slider bolt and a second slider bolt, both of which are correspondingly connected to fixed angle pieces of the calibration beam and the calibration base plate.

[0012] Furthermore, four foldable and storable legs are installed on the base, and the diagonal direction of the base is provided with card slots for installing and fixing the four legs. Four bubble bar-type levels are installed on the planes of the four parallel sides of the base. Each leg is provided with a universal wheel with a self-locking function and a screw rod with a circular leg for adjusting the height, and fastening bolts connected to the base are provided around the bottom end of the column for locking and fixing the two.

[0013] Furthermore, the calibration beam is equipped with a triangular reflector fixed on a bracket. The triangular reflector can slide up and down along the bracket and be rotated and fixed at any angle. The bottom of the bracket is provided with a tilt adjustment base and its scale. The tilt adjustment base can be adjusted to a certain tilt angle to the left and right and display the scale. The tilt adjustment base is fixed on the calibration beam and can be installed at any position of the calibration beam and move up and down with the calibration beam.

[0014] Furthermore, a centering laser emitter is detachably mounted on the base through a snap-fit, and the laser emitter is provided with a vertically opened light-transmitting lens that can emit a vertical laser beam.

[0015] Furthermore, the pulley block is provided with a rolling groove connected to the steel wire rope.

[0016] The technical effects of the present invention are:

[0017] 1. The advantage of the present invention is that after the calibration devices of multiple sensors are integrated and optimized, a higher degree of integration is formed, and the structure of the multi-sensor calibration and adjustment positioning device for intelligent networked vehicles that integrates more scene recognition is formed. A dual-axis winding curtain structure is adopted to accommodate various vehicle model calibration scene patterns. Various different calibration scenes can be quickly replaced by rotation. At the same time, a convenient centering laser ray is configured to quickly align the center axis of the vehicle, which solves the pain points of multiple calibration devices of different vehicle models of different car companies and complex replacement. The present invention adopts a structure with simple structure, flexible positioning, and integration of multi-scene and multi-model calibration plates;

[0018] 2. The present invention integrates data from multiple sensors to identify intelligent entities on the road (such as traffic lights, road signs, speed limit signs, lane guide signs, chessboards, various special-shaped calibration plates and reflective plates, etc.) through the perception system of intelligent networked unmanned vehicles to obtain high-precision data input scene acquisition calibration and recognition required to support intelligent networked unmanned vehicles. For example, the perception system combines the detection of speed limit signs by cameras with the detection of the same intelligent entity by laser radar to reliably fuse the measurements from multiple sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The structure of the present invention is schematically shown Figure 1 ;

[0020] Figure 2The structure of the present invention is schematically shown Figure 2 ;

[0021] Figure 3 It is a front view of the present invention;

[0022] Figure 4 It is a left side view of the present invention;

[0023] Figure 5 It is a rear view of the present invention.

[0024] Figure numerals: 1-base; 2-column; 3-calibration beam; 4-calibration bottom plate; 5-double-axis winding curtain; 6-pulley block; 7-first slider bolt; 8-second slider bolt; 9-curtain reel; 10-manual wheel; 11-wire rope; 12-support foot; 13-screw rod; 14-triangular reflector. DETAILED DESCRIPTION

[0025] See attached Figure 1-5 A device for calibrating and adjusting the chassis of a connected vehicle by wire, characterized in that it comprises a column 2 connected to a base 1, wherein the column 2 is respectively installed with a calibration beam 3, a double-axis winding curtain 5 attached to a calibration bottom plate 4, and a pulley block 6 located inside the top of the column 2 from top to bottom;

[0026] The calibration beam 3 is provided with 90-degree aluminum profile folding pieces on both sides and is locked and fixed by the first slider bolt 7. Under the tightness adjustment of the first slider bolt 7, the calibration beam 3 can slide up and down along the column 2 and adjust the height to be locked at any position;

[0027] The calibration base plate 4 is laterally fixed in the center on the front side of the column 2, and 90-degree aluminum profile folding sheets are installed on both sides of the calibration base plate 4 and locked and fixed by the second slider bolt 8. Under the looseness adjustment of the second slider bolt 8, the calibration base plate 4 can slide up and down along the column 2 and adjust the height to be locked in any position, and the upper and lower ends of the calibration base plate 4 are fixedly connected with a curtain reel 9, and the curtain reel 9 is connected with a double-axis winding curtain 5 adapted thereto, and the upper and lower sides of the double-axis winding curtain 5 are both wound on the curtain reel 9. As the curtain reel 9 rotates, the double-axis winding curtain 5 slides on the calibration base plate 4, and manual wheels 10 are installed on both ends of the curtain reel 9, and the curtain reel 9 can be driven to rotate together with the manual wheel 10;

[0028] One end of the pulley block 6 is connected to the calibration base plate 4 by a steel wire rope 11, and the other end is connected to a balancing weight placed inside the column 2. The steel wire rope 11 is fixed to the top of the calibration base plate 4 by a first lock. When the calibration base plate 4 is pulled upward to move up and down along the main column 2, the steel wire rope 11 changes the pulling direction through the pulley block 6 installed on the column 2 and is connected to the balancing weight located inside the column, thereby forming a dynamic balance in the process of the calibration base plate 4 moving up and down along the column 2. The balancing weight can move up and down along the inside of the column 2, and the top of the balancing weight is connected and fixed to the steel wire rope 11 by a second lock.

[0029] A specific embodiment of the present scheme is that the column 2 is made of an aluminum profile with a rectangular cross section, and T-slots are designed around the cross section for connecting a T-slider. The T-slider can move up and down along the T-slot, and the T-slider is connected with a first slider bolt 7 and a second slider bolt 8, both of which are correspondingly connected to fixed angle pieces of the calibration beam 3 and the calibration base plate 4.

[0030] A specific implementation of the present scheme is that four foldable legs 12 are installed on the base 1, and the diagonal direction of the base 1 is provided with card slots for installing and fixing the four legs 12. Four bubble strip level gauges are installed on the planes of the four parallel sides of the base 1. Each leg is provided with a universal wheel with a self-locking function and a screw rod 13 with a circular leg for adjusting the height, and fastening bolts connected to the base 1 are provided around the bottom end of the column 2 for locking and fixing the two.

[0031] A specific embodiment of the present scheme is that a triangular reflector 14 fixed on a bracket is installed on the calibration beam 3, and the triangular reflector 14 can slide up and down along the bracket and be rotated and fixed at any angle. The bottom of the bracket is provided with a tilt adjustment base and its scale. The tilt adjustment base can adjust a certain tilt angle to the left and right and display the scale. The tilt adjustment base is fixed on the calibration beam 3 and can be installed at any position of the calibration beam 3 and move up and down with the calibration beam.

[0032] A specific embodiment of the present scheme is that a centering laser emitter is detachably mounted on the base 1 by means of a snap-on, the laser emitter is provided with a vertically open light-transmitting lens capable of emitting a vertical laser beam, and the pulley block 6 is provided with a rolling groove connected to a steel wire rope 11.

[0033] The specific implementation example of the present scheme is that the present invention integrates the structure of the multi-sensor calibration and adjustment positioning device for intelligent connected vehicles that recognizes more scenes, adopts a dual-axis winding curtain-like structure to accommodate various vehicle model calibration scene patterns, can use rotation to quickly change various different calibration scenes, and is equipped with a convenient centering laser beam to quickly align the center axis of the vehicle.

[0034] A specific implementation of the present scheme is an integrated base 1 with folding and horizontal adjustment functions, which is connected to the base 1 through four foldable legs 12. A card slot is reserved in the diagonal direction of the base 1 for installing the four legs. Four bubble strip-type levels are installed on the planes of the four parallel sides of the base. Each leg has a universal wheel with a self-locking function and a screw rod 13 with a circular leg and adjustable height.

[0035] The centering laser transmitter is installed on an integrated base with folding and horizontal adjustment functions using a convenient detachable buckle. The laser transmitter is designed with a vertical opening light-transmitting lens to emit a vertical laser beam.

[0036] The calibration beam 3 is transversely fixed to the rear side of the main column, and the two sides are fixed with 90-degree aluminum profile folding pieces and special slider bolts. The calibration beam 3 can be slid up and down along the main column to adjust the height and lock at any position.

[0037] The double-axis winding curtain-type calibration base plate has curtain reels and their protective shells fixed on the upper and lower parts of the base plate. The curtain reels and the calibration base plate form a whole, which is horizontally fixed in the center on the front side of the main column. The two sides are fixed with 90-degree aluminum profile folding pieces and special slider bolts. The base plate can be slid up and down along the main column to adjust the height and lock it in any position. A wire rope lock and wire rope are installed in the center above the base plate.

[0038] The double-axis winding curtain-type calibration pattern curtain is installed on the front side of the double-axis winding curtain-type calibration base plate. It can slide on the base plate and is wound on the winding shaft on the upper and lower sides. Special patterns for different calibration requirements are printed on the curtain. Different patterns can be changed by rotating the scroll up and down according to the needs of different vehicle models.

[0039] The winding shaft and the rotating hand wheel are installed on the upper and lower sides of the double-axis winding curtain-type calibration base plate. The curtain is wound on the reel, and a reel protection shell is installed outside the reel. It forms a whole with the double-axis winding curtain-type calibration base plate and can move up and down along the main column.

[0040] The calibration plate height adjustment counterweight wire rope is fixed on the top of the double-axis winding curtain-type calibration base plate through a lock. The double-axis winding curtain-type calibration base plate is pulled upward to move up and down along the main column. The wire rope changes the pulling direction through the pulley installed above the main column and is connected to the calibration plate height adjustment balance counterweight block located in the main column to balance the double-axis winding curtain-type calibration base plate during the up and down movement of the main column, which is convenient for the operator to simply and easily adjust the up and down adjustment height of the double-axis winding curtain-type calibration base plate.

[0041] The calibration plate height adjustment balancing weight block is installed inside the main column and can be moved up and down along the inside of the main column. The upper part of the weight block is connected to the calibration plate height adjustment weight wire rope with a special lock.

[0042] Column 2 is made of an aluminum profile with a rectangular cross section. T-slots are designed around the cross section for connecting a T-slider. The T-slider can move up and down along the T-slot. The T-slider is connected with bolts for connecting the calibration beam and the double-axis winding curtain-type calibration base plate to fix the angle pieces, so as to facilitate the calibration beam and the double-axis winding curtain-type calibration base plate to move up and down and tighten along the main column.

[0043] The triangular reflector 14 and the adjustment bracket are used for the ultrasonic reflection calibration of the millimeter wave radar. The reflector is installed on the adjustment bracket and can slide up and down along the adjustment bracket and rotate and fix at any angle. The bottom of the adjustment bracket is provided with an inclination adjustment base and its scale. The inclination adjustment base can be adjusted to a certain inclination angle to the left and right and display the scale. The inclination adjustment base is fixed on the calibration beam and can be installed at any position of the calibration beam and move up and down with the calibration beam.

[0044] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A device for calibrating and adjusting the chassis of a connected vehicle by wire, characterized in that: It comprises a column (2) connected to a base (1), wherein the column (2) is respectively installed with a calibration beam (3), a double-axis winding curtain (5) attached to a calibration bottom plate (4), and a pulley block (6) located inside the top end of the column (2) from top to bottom; Both sides of the calibration beam (3) are equipped with 90-degree aluminum profile folding pieces and are locked and fixed by means of a first slider bolt (7). Under the tightness adjustment of the first slider bolt (7), the calibration beam (3) can slide up and down along the column (2) at will and adjust the height to be locked at any position; The calibration base plate (4) is laterally fixed in the center on the front side of the column (2), and 90-degree aluminum profile folding plates are installed on both sides of the calibration base plate (4) and are locked and fixed by second slider bolts (8). Under the looseness adjustment of the second slider bolts (8), the calibration base plate (4) can slide up and down along the column (2) at will and adjust the height to be locked at any position, and the upper and lower ends of the calibration base plate (4) are fixedly connected with a curtain reel (9), and a double-axis winding curtain (5) matched with it is connected to the curtain reel (9), and the upper and lower sides of the double-axis winding curtain (5) are wound on the curtain reel (9). As the curtain reel (9) rotates, the double-axis winding curtain (5) slides on the calibration base plate (4), and manual wheels (10) are installed on both ends of the curtain reel (9), and as the manual wheels (10) rotate, the curtain reel (9) can be driven to rotate together; One end of the pulley block (6) is connected to the calibration base plate (4) via a steel wire rope (11), and the other end is connected to a balancing weight block placed inside the column (2). The steel wire rope (11) is fixed to the top of the calibration base plate (4) via a first lock buckle. When the calibration base plate (4) is pulled upward to move up and down along the main column (2), the steel wire rope (11) changes the pulling direction through the pulley block (6) installed on the column (2) and connects to the balancing weight block located inside the column, thereby forming a dynamic balance in the process of the calibration base plate (4) moving up and down along the column (2). The balancing weight block moves up and down along the inside of the column (2), and the top of the balancing weight block is connected and fixed to the steel wire rope (11) via a second lock buckle. The column (2) is made of an aluminum profile with a rectangular cross section, and a T-shaped slot is designed around the cross section for connecting a T-shaped slider. The T-shaped slider moves up and down along the T-shaped slot. The T-shaped slider is connected to a first slider bolt (7) and a second slider bolt (8), and both are correspondingly connected to a fixed angle piece of the calibration beam (3) and the calibration base plate (4); The base (1) is provided with four foldable legs (12), the base (1) is provided with slots in the diagonal direction for mounting and fixing the four legs (12), four bubble strip-type levels are installed on the planes of the four parallel sides of the base (1), each leg is provided with a universal wheel with a self-locking function and a screw rod (13) with a circular leg and adjustable height, and fastening bolts connected to the base (1) are provided around the bottom of the column (2) for locking and fixing the two; The calibration beam (3) is provided with a triangular reflector (14) fixed on a bracket. The triangular reflector (14) can be slid up and down along the bracket and rotated and fixed at any angle. The bottom of the bracket is provided with an inclination adjustment base and a scale. The inclination adjustment base can be adjusted to a certain inclination angle to the left and right and display the scale. The inclination adjustment base is fixed on the calibration beam (3) and is installed at any position of the calibration beam (3) to move up and down with the calibration beam.

2. The device for calibrating and adjusting the chassis of a connected vehicle by wire according to claim 1, characterized in that: A centering laser emitter is detachably mounted on the base (1) via a buckle, and the laser emitter is provided with a vertically opened light-transmitting lens for emitting a vertical laser beam.

3. The device for calibrating and adjusting the chassis of a connected vehicle according to claim 1, characterized in that: The pulley block (6) is provided with a rolling groove connected to the steel wire rope (11).

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