CMS visual field checking method and device, and camera

Abstract

The invention provides a CMS visual field checking method. The method comprises the following steps: determining the current pixel numbers of a camera in the horizontal direction and the vertical direction according to the orientation of the current camera and the preset pixel numbers of the camera in the horizontal direction and the vertical direction; calculating a horizontal half field angle and a vertical half field angle of the camera; calculating one or more horizontal reference angles and vertical reference angles according to the one or more preset reference points and the entrance pupil center of the camera; determining the angle offset of the camera according to the eccentric parameter of the camera; determining a horizontal reference angle and a vertical reference angle of the camera according to the angle offset, the horizontal reference angle and the vertical reference angle; comparing the horizontal half-field angle and the vertical half-field angle with one or more horizontal reference angles and one or more vertical reference angles to obtain a comparison result; and when the comparison result does not meet the requirement, adjusting the mounting angle or the field angle of the camera to meet the requirement according to the comparison result. The invention also provides a CMS visual field checking device and a camera.

Description

Technical Field

[0001] The present application relates to the field of vehicle-mounted technology, and in particular to a CMS field of view calibration method, device, and camera. Background Art

[0002] As vehicle-mounted CMS becomes more and more popular, both commercial vehicles and passenger vehicles will be equipped with CMS devices. Compared with traditional physical rearview mirrors, CMS devices can expand the field of view, reduce blind spots, and reduce wind resistance.

[0003] In the prior art, the CMS device cannot be loaded and verified during the design phase, and it is impossible to determine whether the CMS field of view meets the loading requirements. Therefore, when the CMS device is loaded and verified, there is a lot of uncertainty and workload. Summary of the invention

[0004] In view of this, the present application provides a CMS field of view calibration method, device and camera, which can deduce the optimal installation position of the CMS device that meets the vehicle installation requirements, so as to improve the accuracy of the installation of the CMS device.

[0005] In a first aspect, the present application provides a CMS field of view calibration method, which includes: determining the number of horizontal pixels and the number of vertical pixels in the current horizontal direction and the current vertical direction of the camera according to the current orientation of the camera and the first number of pixels and the second number of pixels in the horizontal direction and the vertical direction preset by the camera, the number of horizontal pixels being one of the first number of pixels and the second number of pixels, and the number of vertical pixels being the other of the number of vertical pixels, wherein the camera is installed to a corresponding calibration position with a corresponding orientation according to preset installation configuration parameters, and the optical axis direction of the camera is in a horizontal direction or a vertical direction; calculating the half field of view angles of the camera in the horizontal direction and the vertical direction to obtain the horizontal half field of view angle and the vertical half field of view angle of the camera; calculating one or more horizontal reference angles and one or more vertical reference angles according to one or more preset reference points and the entrance pupil center of the camera, One or more preset reference points satisfy the first specified one or more position points relative to the preset eye point of the camera, the horizontal reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the horizontal direction; the vertical reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the vertical direction; the angle offset of the camera is determined according to the eccentricity parameter of the camera; one or more horizontal reference angles or one or more vertical reference angles of the camera are determined according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles; the horizontal half field of view angle and the vertical half field of view angle are compared with one or more horizontal reference angles and vertical reference angles to obtain a comparison result; and when the comparison result does not meet the requirements, the installation angle or field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirements.

[0006] In the second aspect, the present application provides a CMS field of view calibration device, which determines the number of horizontal pixels and vertical pixels in the current horizontal direction and the current vertical direction of the camera according to the orientation of the current camera and the first number of pixels and the second number of pixels in the preset horizontal direction and the preset vertical direction of the camera; the CMS field of view calibration device includes: one or more preset reference points, an acquisition module, and a correction module. Among them, one or more preset reference points are used to calculate one or more horizontal reference angles and one or more vertical reference angles with the entrance pupil center of the camera, and the one or more preset reference points meet the first specified one or more position points relative to the preset eye point of the camera, and the horizontal reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the horizontal direction; the vertical reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the vertical direction; the acquisition module is used to acquire relevant parameters of the camera; the correction module includes a calculation unit, a comparison unit and a correction unit, and the calculation unit is used to calculate the horizontal angle of the camera The invention relates to a half field of view angle and a vertical half field of view angle, and determines the angle offset of the camera according to the eccentricity parameter of the camera, and determines one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles; the comparison unit is used to compare the horizontal half field of view angle and the vertical half field of view angle with one or more horizontal reference angles and vertical reference angles to obtain a comparison result; the correction unit is used to adjust the installation angle or the field of view angle of the camera according to the comparison result until the comparison result meets the requirement when the comparison result does not meet the requirement.

[0007] In a third aspect, the present application provides a camera with CMS field of view calibration, wherein the camera with CMS field of view calibration comprises: the camera comprises: a memory and a processor; the memory is used to store a control program for the CMS field of view calibration; the processor is used to execute the control program instructions for the CMS field of view calibration to implement the CMS field of view calibration method.

[0008] To summarize, the present application sequentially compares the camera's half field of view angle, the sensor's half field of view angle, and the display's half field of view angle with one or more reference angles to obtain comparison results, and adjusts the camera's installation angle or field of view angle accordingly according to the comparison results until the optimal installation position, thereby improving the accuracy of the CMS device installation. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 A flow chart of the method for CMS field of view calibration provided in an embodiment of the present application.

[0010] Figure 2 A schematic diagram of the structure of the horizontal field of view provided in an embodiment of the present application.

[0011] Figure 3 A schematic diagram of the horizontal display screen viewing angle provided in an embodiment of the present application.

[0012] Figure 4 A structural block diagram of a device for CMS field of view calibration provided in an embodiment of the present application.

[0013] Figure 5 This is a structural block diagram of the correction module provided in an embodiment of the present application.

[0014] Figure 6 A schematic diagram of the structure of a camera provided in an embodiment of the present application. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0016] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0017] It should be noted that the descriptions involving "first", "second", etc. in this application are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0018] Please see Figure 1 , Figure 1A flow chart of a method for CMS visual field calibration provided in an embodiment of the present application. The method for CMS visual field calibration includes the following steps.

[0019] Step S100, according to the orientation of the current camera, and the preset first pixel number and second pixel number in the horizontal direction and the preset vertical direction of the camera, the horizontal pixel number and the vertical pixel number of the camera in the current horizontal direction and the current vertical direction are determined. Specifically, the horizontal pixel number is one of the first pixel number and the second pixel number, and the total number of pixels in the vertical direction is the other of the vertical pixel number, wherein the camera is installed to the corresponding calibration position with the corresponding orientation according to the preset installation configuration parameters, and the optical axis direction of the camera is in the horizontal direction or the vertical direction. According to the orientation of the current camera, it is determined whether the current camera orientation is rotated by 90° compared with the preset camera orientation. Among them, the preset camera orientation is determined according to the imaging direction of the camera when it captures the image when it is designed. If the current camera orientation is rotated by 90° compared with the preset camera orientation, the current horizontal pixel number is the first pixel number or the second pixel number corresponding to the preset vertical direction, and the current vertical pixel number is the other pixel number corresponding to the preset horizontal direction. For example, the preset horizontal pixel number and the preset vertical pixel number of the camera are H0=1920 and V0=1080 respectively. If the camera orientation is rotated 90° compared to the preset camera orientation, the current number of pixels in the horizontal direction of the camera H1=1080, and the current number of pixels in the vertical direction V1=1920.

[0020] In this embodiment, the preset eye point is taken as the origin, the X axis is parallel to the optical axis of the camera, the Z axis is vertical to the ground, the Z axis and the X axis form an XZ plane, and the Y axis is vertical to the XZ plane and intersects at the origin. The X axis, Z axis, and Y axis are all set to the direction facing the camera as the positive direction to establish a three-dimensional coordinate system. Among them, the XY plane formed by the X axis and the Y axis is the plane where the current horizontal direction of the camera is located, and the YZ plane formed by the Z axis and the Y axis is the plane where the current vertical direction of the camera is located. The preset eye point is the midpoint between the two eyes of the driver. The preset number of pixels in the horizontal direction corresponds to the first number of pixels, and the preset number of pixels in the vertical direction corresponds to the second number of pixels. The direction of the current camera is the same as the direction of the preset camera, and the current horizontal direction and vertical direction of the image acquired by the camera correspond to the preset horizontal direction and the preset vertical direction. That is, the first number of pixels and the second number of pixels of the camera are H0=1920 and V0=1080 respectively. The current number of pixels in the horizontal direction of the camera is H1=1920, and the current number of pixels in the vertical direction is V1=1080. The establishment of the above coordinate system is just an example and is not limited here.

[0021] Step S200, calculate the half field angle of the camera in the horizontal direction and the vertical direction to obtain the horizontal half field angle and the vertical half field angle of the camera. Specifically, the half field angle of the camera is calculated according to the size of the sensor in the horizontal direction and the vertical direction, and the effective focal length of the camera using formulas to calculate the horizontal half field angle of the camera and the vertical half field angle of the camera. Taking the calculation of the horizontal half field angle of the camera as an example, the specific calculation formula is: Among them, CHFOV represents the horizontal half field of view of the camera, SHsize is the horizontal size of the sensor, in millimeters (mm). efl is the effective focal length, which represents the distance from the rear principal plane of the lens to the focal plane or focus, in millimeters (mm). The calculation principle of the vertical half field of view of the camera is the same as the horizontal half field of view of the camera mentioned above, except that the horizontal size of the sensor is replaced by the vertical size of the sensor.

[0022] Step S300, one or more horizontal reference angles and one or more vertical reference angles are calculated based on one or more preset reference points and the entrance pupil center of the camera. Specifically, one or more preset reference points meet the first specified one or more position points relative to the preset eye point of the camera. The horizontal reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the horizontal direction. The vertical reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the vertical direction. Specifically, the one or more horizontal reference angles calculated based on one or more preset reference points and the entrance pupil center of the camera are specifically calculated using the first formula. The one or more vertical reference angles calculated based on one or more preset reference points and the entrance pupil center of the camera are specifically calculated using the second formula. Wherein: The first formula is: The second formula is: Where θ represents the horizontal reference angle, represents the vertical reference angle, x represents the horizontal distance between the preset reference point and the preset eye point, x0 represents the horizontal distance between the entrance pupil center of the camera and the preset eye point, y represents the vertical distance between the preset reference point and the preset eye point, y0 represents the vertical distance between the entrance pupil center of the camera and the preset eye point, and z represents the distance between the preset reference point and the preset eye point in the Z-axis direction.

[0023] In this embodiment, one or more preset reference points include a first preset reference point A and a second preset reference point B. The first preset reference point A is a position point that is 4m horizontally and 1m vertically away from the preset eye point, and the coordinates of the first preset reference point A in the XY plane are (4, 1). The second preset reference point B is a position point that is 20m horizontally and 4m vertically away from the preset eye point, and the coordinates of the second preset reference point B in the XY plane are (20, 4). The coordinates of the entrance pupil center of the camera in the XY plane are (510.23, 291.51). The horizontal reference angle of the first preset reference point A The second preset reference to the horizontal reference angle of point B The calculation principle of the vertical reference angle is the same as that of the horizontal reference angle, except that the x in the horizontal reference angle is converted to y, and the y is converted to z, so as to obtain the horizontal reference angle of the first preset reference point A. and the second preset reference to the horizontal reference angle of point B The above-mentioned setting of the preset reference point is only an example and is not limited here, and can be set according to actual needs.

[0024] Step S400, determining the camera angle offset according to the camera eccentricity parameter. Specifically, determining the camera angle offset Δ according to the preset camera and sensor eccentricity parameter and eccentricity direction. The current camera orientation and the camera eccentricity parameter are included in the preset parameters of the camera.

[0025] Step S500, one or more horizontal reference angles or one or more vertical reference angles of the camera are determined according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles. In this embodiment, a first horizontal reference angle θ1±Δ is obtained according to the angle offset and the horizontal reference angle θ1, and a second horizontal reference angle θ2±Δ is determined according to the angle offset and the horizontal reference angle θ2. Similarly, according to the angle offset and the vertical reference angle Determine the first vertical reference angle According to the angle offset and the horizontal reference angle Determine the second vertical reference angle

[0026] Step S600, compare the horizontal half field of view angle and the vertical half field of view angle with one or more horizontal reference angles and vertical reference angles to obtain a comparison result. In this embodiment, the horizontal half field of view angle of the camera is compared with the first horizontal reference angle and the second horizontal reference angle to obtain a comparison result, that is, CHFOV is compared with θ1±Δ, and CHFOV is compared with θ2±Δ. The vertical half field of view angle of the camera is compared with the first vertical reference angle and the second vertical reference angle to obtain a comparison result, that is, CRFOV is compared with For comparison, CHFOV and The comparison result is the angle difference between the two.

[0027] Step S700: When the comparison result does not meet the requirements, adjust the camera installation angle or field of view angle according to the comparison result until the comparison result meets the requirements. Specifically, when any one of the comparison results of the horizontal half field of view angle of the camera and one or more horizontal reference angles, or the comparison results of the vertical half field of view angle and one or more vertical reference angles does not meet the requirements, the camera installation angle or field of view angle needs to be adjusted according to the corresponding comparison result that does not meet the requirements until each of the above items meets the requirements.

[0028] In this embodiment, when the horizontal half field of view angle of the camera is less than any of the first horizontal reference angle and the second horizontal reference angle, or the vertical half field of view angle of the camera is less than any of the first vertical reference angle and the second vertical reference angle, it is stipulated that it does not meet the requirements. The horizontal half field of view angle CHFOV of the camera is less than the first horizontal reference angle θ1±Δ, and the angle difference between the horizontal half field of view angle CHFOV of the camera and the first horizontal reference angle θ1±Δ is The camera's installation angle in the horizontal direction is offset by an angle difference Δθ1 to meet the requirements.

[0029] In some feasible embodiments, the horizontal half field of view angle of the camera is smaller than the first horizontal reference angle, and the angle difference between the two is Δθ1. The horizontal half field of view angle of the camera is smaller than the second horizontal reference angle, and the angle difference between the two is Δθ2. By comparing the sizes of Δθ1 and Δθ2, the maximum value of the two is obtained as the optimal adjustment angle Δe. Adjust the installation angle or field of view angle of the camera in the horizontal direction by Δe, and then fine-tune it through inspection until it meets the requirements. The above-mentioned optimal adjustment angle is only an example and is not limited here. It can be selected according to actual conditions.

[0030] In some feasible embodiments, the horizontal half field of view angle of the camera is smaller than the first horizontal reference angle, and the angle difference between the two is Δθ1. The vertical half field of view angle of the camera is smaller than the second vertical reference angle, and the angle difference between the two is Adjust the camera's horizontal installation angle or field of view by Δθ1, and adjust the camera's vertical installation angle or field of view by During inspection, make fine adjustments until the requirements are met.

[0031] After the camera's horizontal half field of view and / or vertical half field of view is calibrated, the CMS field of view calibration also includes the horizontal half field of view calibration of the sensor physically connected to the camera and the vertical half field of view of the sensor. The following is a detailed description of the calculation and calibration of the actual sensor's horizontal half field of view and the actual sensor's vertical half field of view.

[0032] The horizontal half field of view angle and the vertical half field of view angle of the sensor are obtained by calculating the half field of view angle of the sensor in the horizontal direction and the vertical direction. The horizontal half field of view angle of the sensor is compared with the horizontal half field of view of the camera, and the vertical half field of view angle of the sensor is compared with the vertical half field of view angle of the camera to obtain the horizontal half field of view angle and the vertical half field of view angle of the actual sensor. The horizontal half field of view angle and the vertical half field of view angle of the actual sensor are compared with one or more horizontal reference angles and vertical reference angles to obtain a comparison result. When the comparison result does not meet the requirements, the installation angle or field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirements.

[0033] Specifically, the horizontal half field angle of the sensor is calculated using the third formula according to the number of pixels in the horizontal direction, the pixel size, and the focal length. The third formula is specifically: The vertical half field angle of the sensor is calculated using the fourth formula according to the number of pixels in the vertical direction, the pixel size, and the focal length. The fourth formula is specifically: Among them, S HFOV represents the horizontal half field of view of the sensor, S VFOV represents the vertical half field of view of the sensor, Hpixelnum represents the number of pixels in the horizontal direction, Vpixelnum represents the number of pixels in the vertical direction, and pixelsiz represents the pixel size. The following is a detailed explanation of the third formula using the horizontal half field of view of the sensor as an example. Hpixelnum*pixelsize represents the total length of pixels in the horizontal direction. Indicates the conversion of the total horizontal pixel length in micrometers (μm) into millimeters (㎜). Indicates the horizontal half field of view (SHFOV) of the sensor in radians. Indicates the conversion of the sensor's horizontal half field of view (SHFOV) in radians to degrees.

[0034] The horizontal half field of view of the sensor is compared with the horizontal half field of view of the camera to obtain the minimum value of the sensor and the camera in the horizontal direction, and the vertical half field of view of the sensor is compared with the half field of view of the camera to obtain the minimum value of the sensor and the camera in the vertical direction, so as to obtain the actual horizontal half field of view (C SHFOV) of the sensor and the actual vertical half field of view (C VHFOV) of the sensor. That is, C SHFOV = min{horizontal half field of view (C HFOV) of the camera, horizontal half field of view (S HFOV) of the sensor}, C SHFOV = min{vertical half field of view (C VFOV) of the camera, vertical half field of view (S VFOV) of the sensor}.

[0035] The principle of comparing the horizontal half field of view (C SHFOV) of the actual sensor and the vertical half field of view (CVHFOV) of the actual sensor with one or more horizontal reference angles and vertical reference angles to obtain a comparison result, and adjusting to meet the requirements according to the comparison result is the same as that of the above-mentioned camera. Therefore, the principle of the above-mentioned camera can be referred to and will not be repeated here.

[0036] After the camera's horizontal half field of view angle and / or vertical half field of view angle verification, the sensor's horizontal half field of view angle and / or the sensor's vertical half field of view angle verification, the CMS field of view verification also includes the verification of the horizontal half field of view angle and the vertical half field of view angle of the display screen that is connected to the camera for communication. The following is a detailed description of the calculation and verification of the horizontal half field of view angle and the vertical half field of view angle of the display screen.

[0037] The horizontal half field angle and the vertical half field angle of the display screen are obtained by calculating the half field angle of the display screen in the horizontal direction and the vertical direction. The horizontal half field angle and the vertical half field angle of the display screen are compared with one or more horizontal reference angles and vertical reference angles to obtain a comparison result. When the comparison result does not meet the requirements, the installation angle or the field angle of the camera is adjusted according to the comparison result until the comparison result meets the requirements. Among them, the half field angle of the display screen includes the left half field angle of the display screen and the right half field angle of the display screen. Specifically, the left half field angle of the display screen is the angle between the line connecting the left edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The right half field angle of the display screen is the angle between the line connecting the right edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction.

[0038] In this embodiment, the half field of view angle of the display screen is the angle between the display screen 3 and the plane where the horizontal direction is located. That is, the half field of view angle of the display screen is determined according to the horizontal direction, and the angle between the display screen 3 and the central axis 200 of the camera 2 is analyzed in the XY plane. Specifically, the number of offset pixels of the camera is obtained according to the offset angle and direction of the optical axis of the camera, the focal length of the camera, and the size of the sensor. The image of the camera may be transmitted to the display screen after being processed by scaling, cropping, rotation, etc., and the number of pixel offsets of the display screen is obtained according to the processing method of the above image, the width of the display screen resolution, and the original width of the image. Among them, the offset direction of the optical axis of the camera corresponds to the pixel offset direction on the display screen. The left half field of view angle (DLFOV) of the display screen is the angle between the pixel point at the leftmost edge 31 of the display screen and the central axis of the camera 2. The right half field of view angle (DRFOV) of the display screen is the angle between the pixel point at the rightmost edge 32 of the display screen and the central axis 200 of the camera 2. Similarly, the comparison result and adjustment method of the display screen can be obtained by referring to the principle of the above-mentioned camera, which will not be repeated here.

[0039] In some feasible embodiments, in general, the camera is set on the left side of the vehicle body. If the left half of the field of view of the display screen meets the comparison result requirements, the right half of the field of view of the display screen will naturally meet the comparison result requirements. Therefore, it is possible to determine whether the left half of the field of view of the display screen or the right half of the field of view of the display screen is compared with the reference angle according to the position of the display screen installed on the vehicle body. For example, when the camera is installed on the left side of the vehicle, the left half of the field of view of the display screen is compared with the reference angle.

[0040] The camera half field of view angle, sensor half field of view angle, display half field of view angle and one or more reference angles are compared in sequence to obtain comparison results, and the camera installation angle or field of view angle is adjusted accordingly according to the comparison results until it is adjusted to the optimal installation position, which can improve the accuracy of CMS device installation.

[0041] Please see Figure 4 , Figure 4 A structural block diagram of the device 1 for CMS field of view calibration provided in an embodiment of the present application. According to the current orientation of the camera, and the first number of pixels and the second number of pixels in the horizontal direction and the vertical direction preset by the camera, the number of horizontal pixels and the number of vertical pixels in the current horizontal direction and the current vertical direction of the camera are determined to calculate the horizontal half field of view angle and the vertical half field of view angle of the camera. The number of pixels in the horizontal direction is one of the first number of pixels and the second number of pixels, and the number of pixels in the vertical direction is the other of the number of pixels in the vertical direction. Among them, the camera is installed in the corresponding calibration position with the corresponding orientation according to the preset installation configuration parameters, and the optical axis direction of the camera is in the horizontal direction or the vertical direction.

[0042] The device 1 for CMS visual field calibration includes: one or more preset reference points 7, a collection module 8, and a correction module 9.

[0043] One or more preset reference points 7 are used to calculate one or more horizontal reference angles and one or more vertical reference angles with the entrance pupil center of the camera. One or more preset reference points 7 meet the first specified one or more position points relative to the preset eye point of the camera, and the horizontal reference angle is the angle between the line connecting each preset reference point 7 and the entrance pupil center of the camera and the horizontal direction. The vertical reference angle is the angle between the line connecting each preset reference point 7 and the entrance pupil center of the camera and the vertical direction.

[0044] The acquisition module 8 is used to acquire relevant parameters of the camera. Specifically, the acquisition module 8 acquires known quantities such as the size of the sensor pixels in the horizontal direction and the vertical direction, the first number of pixels in the preset horizontal direction and the preset vertical direction, the second number of pixels, display screen parameters, and the effective focal length and eccentricity parameters of the camera.

[0045] The correction module 9 includes a calculation unit 10, a comparison unit 20 and a correction unit 30. The calculation unit 10 is used to calculate the horizontal half field of view angle and the vertical half field of view angle of the camera according to the relevant parameters collected by the collection module 8, and determine the angle offset of the camera according to the eccentricity parameters of the camera, and determine one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles. The comparison unit 20 is used to compare the horizontal half field of view angle and the vertical half field of view angle with one or more horizontal reference angles and vertical reference angles to obtain a comparison result. The correction unit 30 is used to adjust the installation angle or field of view angle of the camera according to the comparison result until the comparison result meets the requirement when the comparison result does not meet the requirement.

[0046] The CMS vision calibration device 1 also includes: a sensor physically connected to the camera, and a display screen communicatively connected to the camera. The following is a detailed description of the calibration of the sensor and the calibration of the display screen.

[0047] After the horizontal half field of view angle and / or the vertical half field of view angle of the camera are checked, the calculation unit 10 is further used to calculate the horizontal half field of view angle of the sensor and the vertical half field of view angle of the sensor. Specifically, the calculation unit 10 obtains the horizontal half field of view angle of the sensor through the third formula, The calculation unit 10 obtains the vertical half field angle of the sensor through the fourth formula, and the specific formula is: Among them, SHFOV represents the horizontal half field of view of the sensor, Hpixelnum represents the number of pixels in the horizontal direction, Vpixelnum represents the number of pixels in the vertical direction, pixelsize represents the pixel size, efl represents the focal length, and SVFOV represents the vertical half field of view of the sensor. The comparison unit 20 compares the horizontal half field of view of the sensor with the horizontal half field of view of the camera, and the vertical half field of view of the sensor with the vertical half field of view of the camera to obtain the horizontal half field of view of the actual sensor and the vertical half field of view of the actual sensor. The horizontal half field of view and the vertical half field of view of the actual sensor are compared with one or more horizontal reference angles and vertical reference angles to obtain the comparison result, and the camera is adjusted according to the comparison result. Please refer to the principle of the camera, which will not be repeated here.

[0048] After the horizontal half field angle and / or vertical half field angle of the camera are calibrated, and the horizontal half field angle and / or vertical half field angle of the sensor are calibrated, the calculation unit 10 obtains the left half field angle of the display screen according to the angle between the line connecting the left edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The right half field angle of the display screen is obtained according to the angle between the line connecting the right edge of the display screen and the center of the entrance pupil of the camera and the horizontal direction. The comparison of the half field angles of the display screen and the adjustment of the installation angle or field angle of the camera according to the comparison result are the same as the principle of the camera, and will not be repeated here.

[0049] Please see Figure 6 , Figure 6 The camera 100 provided in the embodiment of the present application is a structural diagram. The camera comprises: a memory 802 and a processor 801. The memory 802 is used to store CMS field of view calibration program instructions, and the processor 801 is used to execute the control program instructions of the CMS field of view calibration to implement the CMS field of view calibration method.

[0050] In some embodiments, the processor 801 may be a central processing unit (CPU), a microcontroller, a microprocessor or other data processing chip, which is used to run the control program instructions of the intelligent sweeping robot 98 stored in the memory 802 .

[0051] The memory 802 includes at least one type of readable storage medium, which includes a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. The memory 802 may be an internal storage unit of a computer device in some embodiments, such as a hard disk of a computer device. The memory 802 may also be a storage device of an external computer device in other embodiments, such as a plug-in hard disk equipped on a computer device, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), etc. Further, the memory 802 may also include both an internal storage unit of a computer device and an external storage device. The memory 802 may not only be used to store application software and various types of data installed in a computer device, such as codes for realizing intelligent lifting processing, but may also be used to temporarily store data that has been output or is to be output.

[0052] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments may be implemented in the form of a computer program product.

[0053] The computer program product includes one or more computer instructions. When the computer program instruction is loaded and executed on a computer, a process or function according to an embodiment of the present application is generated in whole or in part. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instruction may be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, the computer instruction may be transmitted from a website site, a computer, a server, or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server, or data center. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server, a data center, etc. that includes one or more available media integrations. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive Solid State Disk (SSD)), etc.

[0054] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0055] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the unit is only a logical function division. There may be other division methods in the current implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0056] The units described as separate devices may or may not be physically separated, and the devices shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to current needs to achieve the purpose of the solution of this embodiment.

[0057] In addition, each functional unit in each embodiment of the present application can be integrated into one processing unit, or each unit can exist separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0058] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only storage medium (ROM, Read-Only Memory), random access storage medium (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0059] It should be noted that the serial numbers of the embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments. And the terms "including", "comprising" or any other variants thereof herein are intended to cover non-exclusive inclusion, so that the process, device, article or method including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, device, article or method. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the presence of other identical elements in the process, device, article or method including the element.

[0060] Obviously, a person skilled in the art may make various changes and modifications to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include these modifications and variations.

[0061] The above are only preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present application.

Claims

1. A CMS field of view calibration method, characterized in that: The CMS field of view calibration method comprises: Determine the number of horizontal pixels and the number of vertical pixels in the current horizontal direction and the current vertical direction of the camera according to the current orientation of the camera and the first number of pixels and the second number of pixels in the preset horizontal direction and the preset vertical direction of the camera, the number of horizontal pixels being one of the first number of pixels and the second number of pixels, and the number of vertical pixels being the other of the number of vertical pixels, wherein the camera is installed at the corresponding calibration position with the corresponding orientation according to the preset installation configuration parameters, and the optical axis direction of the camera is in the horizontal direction or the vertical direction; Calculating the half field of view angles of the camera in the horizontal direction and the vertical direction to obtain the horizontal half field of view angle and the vertical half field of view angle of the camera; One or more horizontal reference angles and one or more vertical reference angles are calculated based on one or more preset reference points and the entrance pupil center of the camera, wherein the one or more preset reference points satisfy the first specified one or more position points relative to the preset eye point of the camera, and the horizontal reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the horizontal direction; the vertical reference angle is the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the vertical direction; Determining the angular offset of the camera according to the eccentricity parameter of the camera; Determine one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles; Comparing the horizontal half field of view angle and the vertical half field of view angle with one or more horizontal reference angles and vertical reference angles to obtain a comparison result; and When the comparison result does not meet the requirement, the installation angle or the field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirement.

2. The CMS field of view calibration method according to claim 1, characterized in that: The current orientation of the camera and the eccentricity parameter of the camera are included in the preset parameters of the camera.

3. The CMS field of view calibration method according to claim 1, characterized in that: The one or more horizontal reference angles calculated based on one or more preset reference points and the entrance pupil center of the camera are specifically calculated using a first formula; the one or more vertical reference angles calculated based on one or more preset reference points and the entrance pupil center of the camera are specifically calculated using a second formula; wherein: The first formula is: The second formula is: Where θ represents the horizontal reference angle, represents the vertical reference angle, x represents the distance between the preset reference point and the preset eye point in the horizontal direction, x0 represents the distance between the entrance pupil center of the camera and the preset eye point in the horizontal direction, y represents the distance between the preset reference point and the preset eye point in the vertical direction, y0 represents the distance between the entrance pupil center of the camera and the preset eye point in the vertical direction, and z represents the distance between the preset reference point and the preset eye point in the direction perpendicular to the horizontal and vertical directions.

4. The CMS field of view calibration method according to claim 3, characterized in that: The one or more preset reference points include a first preset reference point and a second preset reference point, the first preset reference point being a position point 4m horizontally and 1m vertically away from the preset eye point; the second preset reference point being a position point 20m horizontally and 4m vertically away from the preset eye point.

5. The CMS field of view calibration method according to claim 1, characterized in that: The CMS field of view calibration method also includes: Calculating the half field of view angles of a sensor physically connected to the camera in the horizontal direction and the vertical direction to obtain the horizontal half field of view angle and the vertical half field of view angle of the sensor; Comparing the horizontal half field of view angle of the sensor and the vertical half field of view angle of the sensor with the horizontal half field of view angle of the camera and the vertical half field of view angle of the camera respectively to obtain the horizontal half field of view angle of the actual sensor and the vertical half field of view angle of the actual sensor; Comparing the horizontal half field of view angle and the vertical half field of view angle of the actual sensor with one or more horizontal reference angles and vertical reference angles to obtain a comparison result; and When the comparison result does not meet the requirement, the installation angle or the field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirement.

6. The CMS field of view calibration method according to claim 5, characterized in that: The horizontal half field angle of the sensor is calculated by using the third formula according to the number of pixels, pixel size, and focal length in the horizontal direction; the vertical half field angle of the sensor is calculated by using the fourth formula according to the number of pixels, pixel size, and focal length in the vertical direction; wherein, The third formula is: The first formula is: Among them, S HFOV represents the horizontal half field of view of the sensor, Hpixelnum represents the number of pixels in the horizontal direction, Vpixelnum represents the number of pixels in the vertical direction, pixelsize represents the pixel size, efl represents the focal length, and S VFOV represents the vertical half field of view of the sensor.

7. The CMS field of view calibration method according to claim 1, characterized in that: The CMS field of view calibration method also includes: Calculating the half viewing angles of the display screen in the horizontal direction and the vertical direction to obtain the horizontal half viewing angle and the vertical half viewing angle of the display screen; Comparing the horizontal half viewing angle and the vertical half viewing angle of the display screen with one or more horizontal reference angles and vertical reference angles to obtain a comparison result; and When the comparison result does not meet the requirement, the installation angle or the field of view angle of the camera is adjusted according to the comparison result until the comparison result meets the requirement.

8. The CMS field of view calibration method according to claim 7, characterized in that: The half field of view angle of the display screen includes the left half field of view angle of the display screen and the right half field of view angle of the display screen; the left half field of view angle of the display screen is the angle between the line connecting the left edge of the display screen and the entrance pupil center of the camera and the horizontal direction; the right half field of view angle of the display screen is the angle between the line connecting the right edge of the display screen and the entrance pupil center of the camera and the horizontal direction.

9. A CMS field of view calibration device, characterized in that: Determine the number of horizontal pixels and the number of vertical pixels in the current horizontal direction and the current vertical direction of the camera according to the current orientation of the camera and the first number of pixels and the second number of pixels in the preset horizontal direction and the preset vertical direction of the camera; The CMS field of view calibration device comprises: One or more preset reference points, used to calculate one or more horizontal reference angles and one or more vertical reference angles with the entrance pupil center of the camera, the one or more preset reference points satisfying the first specified one or more position points relative to the preset eye point of the camera, the horizontal reference angle being the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the horizontal direction; the vertical reference angle being the angle between the line connecting each preset reference point and the entrance pupil center of the camera and the vertical direction; An acquisition module, used for acquiring relevant parameters of the camera; A correction module comprises a calculation unit, a comparison unit and a correction unit, wherein the calculation unit is used to calculate the horizontal half field of view angle and the vertical half field of view angle of the camera, and determine the angle offset of the camera according to the eccentricity parameter of the camera, and determine one or more horizontal reference angles or one or more vertical reference angles of the camera according to the angle offset and one or more horizontal reference angles, or the angle offset and one or more vertical reference angles; the comparison unit is used to compare the horizontal half field of view angle and the vertical half field of view angle with one or more horizontal reference angles and vertical reference angles respectively to obtain a comparison result; and the correction unit is used to adjust the installation angle or the field of view angle of the camera according to the comparison result until the comparison result meets the requirement when the comparison result does not meet the requirement.

10. A camera with CMS field of view calibration, characterized in that: The camera includes: a memory and a processor; the memory is used to store the control program of the CMS field of view calibration; the processor is used to execute the control program instructions of the CMS field of view calibration to implement the CMS field of view calibration method as described in any one of claims 1-8.

Images