An automatic calibration system for roadside cameras based on V2X equipment

Abstract

The present invention discloses an automatic calibration system for roadside cameras based on V2X equipment, and relates to the technical field of automatic calibration systems for cameras, which includes a fixed column welded to the top outer wall of a fixed base, a VX road test device fixedly installed on the lower outer wall of the fixed column, a lifting device, a multi-angle adjustable monitoring device, and a transformable signal processing device, wherein the lifting device includes a lifting frame, and the multi-angle adjustable monitoring device includes a processing and control integrated machine, a mounting frame, an upper and lower angle adjustment shaft, a camera body fixedly connected to the upper and lower angle adjustment shafts, a left and right adjustment shaft, a first drive mechanism, and a second drive mechanism. The present invention can calibrate the camera body to an ideal shooting angle to ensure the accuracy of the image information subsequently captured by the camera body, and then accurately obtain the pixel coordinates of the vehicle in the image and the world coordinates based on the geographic location information, so that the calibration result can be accurately calculated.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic camera calibration systems, and in particular to an automatic roadside camera calibration system based on a V2X device. Background Art

[0002] With the rapid development of 5G, artificial intelligence, edge computing, big data, and Internet of Things technologies, the Internet of Vehicles has become the main focus of a new round of global industrial competition. Vehicle-road collaboration is the key to the intelligent connected vehicle industry and the latest development direction of intelligent transportation. Vehicle-road collaboration uses advanced wireless communications and artificial intelligence technologies to achieve dynamic real-time information interaction between people, vehicles, and roads, and effective collaboration between people, vehicles, and roads, ensuring traffic safety and improving traffic efficiency, thus forming a safe, efficient, and green road traffic system. The holographic collection system for traffic information at road intersections is the core construction content of the roadside, among which the calibration of roadside cameras is an indispensable task of the holographic intersection collection system.

[0003] The traditional roadside camera automatic calibration system has the following problems in actual operation:

[0004] First, the camera cannot automatically calibrate to the ideal shooting angle, and thus cannot ensure the accuracy of the image information captured by the subsequent camera, thereby reducing the accuracy of the calibration results;

[0005] Secondly, during the wireless communication process, the signal receiver and signal transmitter cannot be adjusted to the optimal signal reception and signal transmission area, and thus the stability and accuracy of the signal transmission of the roadside camera automatic calibration system cannot be guaranteed. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a roadside camera automatic calibration system based on V2X equipment, which effectively solves the problem that the camera in the existing roadside camera automatic calibration system based on V2X equipment cannot be automatically calibrated to an ideal shooting angle, and thus cannot ensure the accuracy of image information captured by subsequent cameras, thereby reducing the accuracy of the calibration results, and the signal receiver and signal transmitter cannot be adjusted to the optimal signal reception and signal transmission area during wireless communication, thereby failing to ensure the stability and accuracy of signal transmission of the roadside camera automatic calibration system.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] An automatic calibration system for a roadside camera based on a VX device, comprising a fixed column welded to the top outer wall of a fixed base and a VX road test device fixedly mounted on the lower outer wall of the fixed column, and also comprising a lifting device, a multi-angle adjustable monitoring device and a transformable signal processing device;

[0009] The lifting device includes a lifting frame, and the multi-angle adjustable monitoring device includes a processing and control integrated machine fixedly installed on the front outer wall of the lifting frame, a mounting frame, an upper and lower angle adjustment shaft rotatably installed on the mounting frame, a camera body fixedly connected to the upper and lower angle adjustment shaft, a left and right adjustment shaft rotatably installed on the lifting frame, a first drive mechanism and a second drive mechanism.

[0010] As an optimal technical solution of the present invention, the No. 1 driving mechanism includes a No. 1 stepper motor fixedly mounted on the side wall of the mounting frame, a driving gear fixedly mounted on the output shaft of the No. 1 stepper motor, and a transmission gear fixedly mounted on the upper and lower angle adjustment shafts and meshing with the driving gear.

[0011] As an optimal technical solution of the present invention, the No. 2 driving mechanism includes a No. 2 stepper motor fixedly mounted on the bottom outer wall of the lifting frame, a driving pulley fixedly mounted on the output shaft of the No. 2 stepper motor, and a driven pulley fixedly mounted on the top end of the left and right adjustment shafts, and the bottom ends of the left and right adjustment shafts are fixedly connected to the top center outer wall of the mounting frame.

[0012] As a preferred technical solution of the present invention, the output shaft of the second stepper motor passes through the lifting frame, and the driving pulley and the driven pulley are connected by the same transmission belt.

[0013] As a preferred technical solution of the present invention, the lifting device also includes a hand-cranked control component, a lifting channel opened on one side of the fixed column, and a vertical lead screw rotatably installed in the lifting channel and screwed to the lifting frame.

[0014] As an optimal technical solution of the present invention, the hand-cranked control assembly includes a worm gear fixedly mounted on the lower part of the vertical screw, a control shaft rotatably installed on the lower part of the fixed column, a worm fixedly mounted on the control shaft and meshing with the worm gear, and a handwheel fixedly connected to the outer wall of one end of the control shaft.

[0015] As a preferred technical solution of the present invention, the transformation signal processing device includes a turntable, an azimuth adjustment mechanism, a mounting slot opened on the top of the turntable, a bidirectional screw rotatably installed in the mounting slot, a servo motor fixedly installed on the outer wall of the turntable, two sliding blocks symmetrically threaded on two opposite threaded ends of the bidirectional screw, and two articulated diagonal rods symmetrically hinged on the top of the two sliding blocks.

[0016] As a preferred technical solution of the present invention, the conversion signal processing device also includes a mounting base fixedly connected to the outer wall of the center of the top of the turntable and a signal receiver and a signal transmitter hinged to both sides of the mounting base in sequence.

[0017] As a preferred technical solution of the present invention, the outer walls of the two sliding blocks are slidably connected to the inner wall of the mounting groove, and the top ends of the two hinged oblique rods are respectively hinged to the bottom of the signal receiver and the signal transmitter.

[0018] As a preferred technical solution of the present invention, the azimuth adjustment mechanism includes a rotating shaft coaxially welded to the outer wall of the bottom of the turntable, a motor mounting plate welded to the outer wall of the upper circumference of the fixed column, a No. 3 stepper motor fixedly mounted on the side wall of the motor mounting plate, a driving bevel gear fixedly mounted on the output shaft of the No. 3 stepper motor, and a driven bevel gear fixedly mounted on the rotating shaft and meshing with the driving bevel gear, and the bottom end of the rotating shaft is connected to the top inner wall of the fixed column through a bearing.

[0019] The beneficial effects of the present invention are:

[0020] 1. The present invention controls the rotation of the driving gear through the No. 1 stepper motor, and then the transmission gear meshing with the driving gear controls the rotation of the upper and lower angle adjustment shafts, thereby completing the upper and lower angle adjustment of the camera body, and drives the active pulley to rotate through the No. 2 stepper motor, and then under the transmission effect of the transmission belt, the driven pulley controls the rotation of the left and right adjustment shafts, thereby completing the left and right angle adjustment of the camera body, so that the camera body can be calibrated to the ideal shooting angle to ensure the accuracy of the image information subsequently taken by the camera body, and then the pixel coordinates of the vehicle in the image and the world coordinates based on the geographic location information can be accurately obtained, so that the calibration result can be accurately calculated;

[0021] 2. In the process of on-site adjustment, the setting of the transformable signal processing device of the present invention can flexibly adjust the inclination angle and working position of the signal receiver and the signal transmitter, thereby adjusting the signal receiver and the signal transmitter to the best signal receiving and signal transmitting area, thereby achieving the best communication effect during the wireless communication process, thereby ensuring the stability and accuracy of the signal transmission of the roadside camera automatic calibration system;

[0022] 3. The present invention is provided with a lifting device, which drives the worm on the control shaft to rotate forward and backward through a hand wheel, and then the worm wheel meshing with the worm will drive the vertical lead screw to rotate forward and backward, and then the lifting frame threadedly connected to the vertical lead screw will perform a lifting movement. In this way, the multi-angle adjustable monitoring device is driven upward by the lifting frame, and can be adjusted to different monitoring heights according to different usage requirements. The multi-angle adjustable monitoring device is driven downward to a low place by the lifting frame, which can facilitate the maintenance and inspection work of the maintenance workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention from the front;

[0025] Figure 2 It is a schematic diagram of a three-dimensional enlarged structure of a part of the present invention;

[0026] Figure 3 It is a three-dimensional enlarged structural schematic diagram of the lifting frame area in the present invention;

[0027] Figure 4 It is a three-dimensional enlarged structural schematic diagram of the conversion type signal processing device in the present invention;

[0028] Figure 5 It is a schematic diagram of a three-dimensional enlarged structure of a part of the transformable signal processing device in the present invention;

[0029] Figure 6 It is a three-dimensional enlarged structural schematic diagram of the hand-cranked control assembly in the present invention;

[0030] Figure 7 It is a side structural schematic diagram of the present invention.

[0031] In the figure: 1. Fixed base; 2. Fixed column; 3. V2X road test equipment; 4. Lifting frame; 5. Processing and control integrated machine; 6. Mounting frame; 7. Up and down angle adjustment shaft; 8. Camera body; 9. No. 1 stepper motor; 10. Driving gear; 11. Transmission gear; 12. Transmission belt; 13. Left and right adjustment shaft; 14. No. 2 stepper motor; 15. Active pulley; 16. Driven pulley; 17. Lifting channel; 18. Vertical screw; 19. Worm gear; 20. Control shaft; 21. Worm; 22. Handwheel; 23. Turntable; 24. Bidirectional screw; 25. Servo motor; 26. Sliding block; 27. Articulated diagonal rod; 28. Mounting seat; 29. ​​Signal receiver; 30. Rotating shaft; 31. Motor mounting plate; 32. No. 3 stepper motor; 33. Active bevel gear; 34. Driven bevel gear; 35. Signal transmitter. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] Example 1, reference Figure 1-3, an automatic calibration system for a roadside camera based on a V2X device, comprising a fixing column 2 welded to the top outer wall of a fixing base 1, a V2X road test device 3 fixedly mounted on the lower outer wall of the fixing column 2, a multi-angle adjustable monitoring device and a lifting device;

[0034] In this embodiment, the lifting device includes a lifting frame 4, and the multi-angle adjustable monitoring device includes a processing and control integrated machine 5 fixedly mounted on the front outer wall of the lifting frame 4, a mounting frame 6, an up and down angle adjustment shaft 7 rotatably mounted on the mounting frame 6, a camera body 8 fixedly connected to the up and down angle adjustment shaft 7, a left and right adjustment shaft 13 rotatably mounted on the lifting frame 4, a first drive mechanism and a second drive mechanism;

[0035] Furthermore, the first driving mechanism includes a first stepping motor 9 fixedly mounted on the side wall of the mounting frame 6, a driving gear 10 fixedly sleeved on the output shaft of the first stepping motor 9, and a transmission gear 11 fixedly sleeved on the upper and lower angle adjustment shafts 7 and meshing with the driving gear 10;

[0036] Further, the second driving mechanism includes a second stepper motor 14 fixedly mounted on the outer wall of the bottom of the lifting frame 4, a driving pulley 15 fixedly mounted on the output shaft of the second stepper motor 14, and a driven pulley 16 fixedly mounted on the top of the left and right adjustment shafts 13, the bottom ends of the left and right adjustment shafts 13 are fixedly connected to the top center outer wall of the mounting frame 6, the output shaft of the second stepper motor 14 passes through the lifting frame 4, and the driving pulley 15 and the driven pulley 16 are connected through the same transmission belt 12;

[0037] In this embodiment, when adjusting the camera body 8: first, the driving gear 10 is controlled to rotate by the first stepping motor 9, and then the transmission gear 11 meshing with the driving gear 10 controls the upper and lower angle adjustment shaft 7 to rotate, thereby completing the upper and lower angle adjustment of the camera body 8;

[0038] Secondly, the second stepper motor 14 drives the active pulley 15 to rotate, and then under the transmission effect of the transmission belt 12, the driven pulley 16 controls the left and right adjustment shafts 13 to rotate, thereby completing the left and right angle adjustment of the camera body 8;

[0039] In the specific implementation of this embodiment: when a vehicle equipped with an OBU passes through the roadside camera monitoring area, the V2X road test device 3 will send an inquiry signal to the OBU of the vehicle. After receiving the signal, the OBU will return the GPS coordinates and other relevant information of the vehicle to the V2X road test device 3. The processing and control integrated machine 5 calculates the ideal shooting angle of the camera body 8 based on these data, and then adjusts the angle of the camera body 8 in real time to ensure the monitoring effect. In the image taken by the camera, the pixel coordinates of the vehicle in the image and the world coordinates based on the geographic location information can be obtained at the same time, so that the calibration result can be accurately calculated.

[0040] Example 2, reference Figure 1 and Figure 6-7 This embodiment is optimized on the basis of the embodiment 1, specifically: the lifting device also includes a hand-cranked control assembly, a lifting channel 17 opened on one side of the fixed column 2, and a vertical lead screw 18 rotatably installed in the lifting channel 17 and screwed to the lifting frame 4;

[0041] Furthermore, the hand-operated control assembly includes a worm gear 19 fixedly mounted on the lower part of the vertical lead screw 18, a control shaft 20 rotatably mounted on the lower part of the fixed column 2, a worm 21 fixedly mounted on the control shaft 20 and meshing with the worm gear 19, and a hand wheel 22 fixedly connected to the outer wall of one end of the control shaft 20;

[0042] During the specific implementation of this embodiment: the worm 21 on the control shaft 20 is driven to rotate forward and reversely by the hand wheel 22, and then the worm wheel 19 meshing with the worm 21 will drive the vertical lead screw 18 to rotate forward and reverse, and then the lifting frame 4 threadedly connected to the vertical lead screw 18 will perform a lifting movement, so that the multi-angle adjustable monitoring device is driven upward by the lifting frame 4, and it can be adjusted to different monitoring heights according to different usage requirements. The multi-angle adjustable monitoring device is driven downward to a low position by the lifting frame 4, which can facilitate the maintenance and repair work of the maintenance workers.

[0043] Example 3, reference Figure 1-2 and Figure 4-5 , This embodiment is optimized on the basis of Embodiment 1, specifically: a roadside camera automatic calibration system based on V2X equipment, further comprising a transform signal processing device;

[0044] In this embodiment, the transformable signal processing device includes a turntable 23, an azimuth adjustment mechanism, a mounting slot provided at the top of the turntable 23, a bidirectional screw 24 rotatably mounted in the mounting slot, a servo motor 25 fixedly mounted on the outer wall of the turntable 23, two sliding blocks 26 symmetrically screwed on two opposite threaded ends of the bidirectional screw 24, and two hinged oblique rods 27 symmetrically hinged on the tops of the two sliding blocks 26;

[0045] Furthermore, the conversion signal processing device further comprises a mounting seat 28 fixedly connected to the top center outer wall of the turntable 23 and a signal receiver 29 and a signal transmitter 35 hinged to both sides of the mounting seat 28 in sequence;

[0046] Furthermore, the outer walls of the two sliding blocks 26 are slidably connected to the inner walls of the mounting grooves, and the top ends of the two hinged inclined rods 27 are respectively hinged to the bottoms of the signal receiver 29 and the signal transmitter 35;

[0047] Furthermore, the azimuth adjustment mechanism includes a rotating shaft 30 coaxially welded to the outer wall of the bottom of the rotating disk 23, a motor mounting plate 31 welded to the outer wall of the upper circumference of the fixed column 2, a No. 3 stepper motor 32 fixedly mounted on the side wall of the motor mounting plate 31, a driving bevel gear 33 fixedly mounted on the output shaft of the No. 3 stepper motor 32, and a driven bevel gear 34 fixedly mounted on the rotating shaft 30 and meshing with the driving bevel gear 33. The bottom end of the rotating shaft 30 is connected to the top inner wall of the fixed column 2 through a bearing.

[0048] In the specific implementation of this embodiment: during the on-site adjustment process, the bidirectional screw 24 is controlled to rotate forward and backward by the servo motor 25, and then under the limit of the installation groove, the two sliding blocks 26 threadedly connected to the bidirectional screw 24 will move closer to or away from each other, and then under the hinge effect of the two hinged oblique rods 27, the signal receiver 29 and the signal transmitter 35 hinged at one end of the two hinged oblique rods 27 will both perform a yaw motion, so that the inclination angles of the two can be flexibly adjusted, and the active bevel gear 33 is driven to rotate by the No. 3 stepper motor 32, and then the driven bevel gear 34 meshing with the active bevel gear 33 will control the rotation of the turntable 23 at the top of the rotating shaft 30, and then the working position of the signal receiver 29 and the signal transmitter 35 can be flexibly adjusted, so that the signal receiver 29 and the signal transmitter 35 can be adjusted to the best signal receiving and signal transmitting area, so that the best communication effect can be achieved during the wireless communication process, thereby ensuring the stability and accuracy of the signal transmission of the roadside camera automatic calibration system.

[0049] The use process of the present invention is as follows: first, during the on-site adjustment process, the bidirectional screw 24 is controlled to rotate forward and backward by the servo motor 25, and then under the limit of the installation groove, the two sliding blocks 26 threadedly connected to the bidirectional screw 24 will move closer to or away from each other, and then under the hinge effect of the two hinged inclined rods 27, the signal receiver 29 and the signal transmitter 35 hinged at one end of the two hinged inclined rods 27 will both perform a yaw motion, so that the inclination angles of the two can be flexibly adjusted, and the active bevel gear 33 is driven to rotate by the No. 3 stepper motor 32, and then the driven bevel gear 34 meshing with the active bevel gear 33 will control the rotation of the turntable 23 at the top of the rotating shaft 30, and then the working positions of the signal receiver 29 and the signal transmitter 35 can be flexibly adjusted, so that the signal receiver 29 and the signal transmitter 35 can be adjusted to the best signal receiving and signal transmitting areas, so that the best communication effect can be achieved during the wireless communication process, thereby ensuring the stability and accuracy of the signal transmission of the roadside camera automatic calibration system;

[0050] Secondly, after the system is started, when a vehicle equipped with an OBU passes through the roadside camera monitoring area, the V2X road test device 3 sends an inquiry signal to the vehicle's OBU through the signal transmitter 35 on the top. After receiving the signal, the OBU returns the vehicle's GPS coordinates and other relevant information to the signal receiver 29 on the top of the V2X road test device 3. At this time, the processing and control integrated machine 5 calculates the ideal shooting angle of the camera body 8 based on these data, and then adjusts the angle of the camera body 8 in real time to ensure the monitoring effect. In the image taken by the camera, the pixel coordinates of the vehicle in the image and the world coordinates based on the geographic location information can be obtained at the same time, so that the calibration result can be accurately calculated;

[0051] Finally, the driving gear 10 is controlled to rotate by the No. 1 stepper motor 9, and then the transmission gear 11 meshing with the driving gear 10 controls the rotation of the upper and lower angle adjustment shafts 7, thereby completing the upper and lower angle adjustment of the camera body 8, and the active pulley 15 is driven to rotate by the No. 2 stepper motor 14, and then under the transmission effect of the transmission belt 12, the driven pulley 16 controls the rotation of the left and right adjustment shafts 13, thereby completing the left and right angle adjustment of the camera body 8.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A roadside camera automatic calibration system based on V2X equipment, comprising a fixing column (2) welded to the top outer wall of a fixing base (1) and a V2X road test device (3) fixedly mounted on the lower outer wall of the fixing column (2), characterized in that: It also includes a lifting device, a multi-angle adjustable monitoring device and a transformable signal processing device; The lifting device comprises a lifting frame (4), and the multi-angle adjustable monitoring device comprises a processing control integrated machine (5) fixedly mounted on the front outer wall of the lifting frame (4), a mounting frame (6), an up and down angle adjustment shaft (7) rotatably mounted on the mounting frame (6), a camera body (8) fixedly connected to the up and down angle adjustment shaft (7), a left and right adjustment shaft (13) rotatably mounted on the lifting frame (4), a first drive mechanism and a second drive mechanism; The first driving mechanism comprises a first stepping motor (9) fixedly mounted on the side wall of the mounting frame (6), a driving gear (10) fixedly sleeved on the output shaft of the first stepping motor (9), and a transmission gear (11) fixedly sleeved on the upper and lower angle adjustment shafts (7) and meshing with the driving gear (10); The second driving mechanism comprises a second stepping motor (14) fixedly mounted on the bottom outer wall of the lifting frame (4), a driving pulley (15) fixedly mounted on the output shaft of the second stepping motor (14), and a driven pulley (16) fixedly mounted on the top end of the left and right adjustment shafts (13), and the bottom ends of the left and right adjustment shafts (13) are fixedly connected to the top center outer wall of the mounting frame (6); The output shaft of the second stepping motor (14) passes through the lifting frame (4), and the driving pulley (15) and the driven pulley (16) are connected by the same transmission belt (12).

2. The automatic calibration system for roadside cameras based on V2X equipment according to claim 1, characterized in that: The lifting device also includes a hand-operated control assembly, a lifting channel (17) opened on one side of the fixed column (2), and a vertical lead screw (18) rotatably installed in the lifting channel (17) and screwed to the lifting frame (4).

3. The roadside camera automatic calibration system based on V2X equipment according to claim 2 is characterized in that: The hand-operated control assembly comprises a worm wheel (19) fixedly mounted on the lower part of a vertical lead screw (18), a control shaft (20) rotatably mounted on the lower part of a fixed column (2), a worm (21) fixedly mounted on the control shaft (20) and meshing with the worm wheel (19), and a hand wheel (22) fixedly connected to the outer wall of one end of the control shaft (20).

4. The roadside camera automatic calibration system based on V2X equipment according to claim 1 is characterized in that: The transforming signal processing device comprises a turntable (23), an azimuth adjustment mechanism, a mounting slot provided at the top of the turntable (23), a bidirectional screw (24) rotatably mounted in the mounting slot, a servo motor (25) fixedly mounted on the outer wall of the turntable (23), two sliding blocks (26) symmetrically screwed on two opposite threaded ends of the bidirectional screw (24), and two hinged oblique rods (27) symmetrically hinged on the tops of the two sliding blocks (26).

5. The roadside camera automatic calibration system based on V2X equipment according to claim 1 is characterized in that: The conversion signal processing device also includes a mounting seat (28) fixedly connected to the top center outer wall of the turntable (23), and a signal receiver (29) and a signal transmitter (35) hinged to two sides of the mounting seat (28) in sequence.

6. The roadside camera automatic calibration system based on V2X equipment according to claim 4 is characterized in that: The outer walls of the two sliding blocks (26) are slidably connected to the inner wall of the mounting groove, and the top ends of the two hinged inclined rods (27) are respectively hinged to the bottoms of the signal receiver (29) and the signal transmitter (35).

7. The roadside camera automatic calibration system based on V2X equipment according to claim 4 is characterized in that: The azimuth adjustment mechanism comprises a rotating shaft (30) coaxially welded to the outer wall of the bottom of the rotating disk (23), a motor mounting plate (31) welded to the outer wall of the circumferential upper part of the fixing column (2), a No. 3 stepping motor (32) fixedly mounted on the side wall of the motor mounting plate (31), a driving bevel gear (33) fixedly mounted on the output shaft of the No. 3 stepping motor (32), and a driven bevel gear (34) fixedly mounted on the rotating shaft (30) and meshing with the driving bevel gear (33), and the bottom end of the rotating shaft (30) is connected to the top inner wall of the fixing column (2) through a bearing.

Images