Calibration device and calibration method
By designing a calibration device including a controller and multiple adjustment mechanisms, the problem of high dependence on the vehicle of the sensor calibration process is solved, and convenient and efficient sensor calibration is achieved, avoiding damage to the sensor bracket on the vehicle.
Patent Information
- Application Number
- CN202311290396.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2023-09-28
- Publication Date
- 2025-04-04
AI Technical Summary
The sensor calibration process is highly dependent on the vehicle, and adjusting the sensor installation position is destructive to the sensor bracket on the vehicle.
A calibration device is designed, including a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism, through which 6 degrees of freedom adjustment of the sensor are realized and free from dependence on the vehicle.
The convenience of the sensor calibration process is achieved, the damage to the sensor bracket on the vehicle is avoided, and the accuracy of the calibration results is improved.
Smart Images
Figure CN119758270A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of sensor calibration, and more specifically, to a calibration device and a calibration method. Background Art
[0002] The vehicle needs to obtain the installation offset and attitude angle of sensors such as lidar, camera, and millimeter wave radar on the vehicle to calculate the direction and distance of the object sensed by each sensor from the vehicle. The algorithm process of obtaining the installation offset and attitude angle is called the external parameter calibration of the sensor. Since the sensor installation positions of different models are different, the calibration test process is highly dependent on the vehicle. During the sensor calibration process, the installation position of the sensor also needs to be adjusted, which is destructive to the sensor bracket on the vehicle. Summary of the invention
[0003] The present application provides a calibration device and a calibration method, which can get rid of the dependence of the sensor calibration process on the vehicle and avoid damage to the sensor bracket on the vehicle.
[0004] The vehicle in the present application is a vehicle in a broad sense, which can be a means of transportation (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as mowers, harvesters, etc.), amusement equipment, toy vehicles, etc. The embodiments of the present application do not specifically limit the type of vehicle.
[0005] In a first aspect, a calibration device is provided, which includes a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism, wherein the height adjustment mechanism is connected to the top of the horizontal offset adjustment mechanism, the height adjustment mechanism is connected to the universal adjustment mechanism, and the universal adjustment mechanism is connected to a sensor, wherein the controller is used to obtain an instruction, the instruction including information of a first horizontal offset, a first height and a first attitude angle of the sensor; the controller is also used to control the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset, control the height adjustment mechanism to adjust the height of the sensor to the first height, and control the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle according to the instruction.
[0006] Based on the above technical solution, by calibrating the external parameters of the sensor through the calibration device, it is possible to get rid of the dependence on the vehicle during the sensor calibration process, avoid damage to the sensor bracket on the vehicle, and help improve the convenience of testers in calibrating the external parameters of the sensor.
[0007] In some possible implementations, the first attitude angle includes information of a first yaw angle, a first pitch angle, and a first roll angle.
[0008] In some possible implementations, the information of the first horizontal offset, the first height, and the first attitude angle can be read by a tester from the vehicle digital model data. The tester can input the information of the first horizontal offset, the first height, and the first attitude angle into the calibration device through an input device.
[0009] In some possible implementations, the controller is further used to control the sensor to collect data of the calibration target when the horizontal offset of the sensor is adjusted to the first horizontal offset, the height of the sensor is adjusted to the first height, and the attitude angle of the sensor is adjusted to the first attitude angle. The controller is also used to send the data of the calibration target to other devices, wherein the other devices can determine the actual horizontal offset, actual height, and actual attitude angle of the sensor through a preset calibration algorithm and the data of the calibration target, so as to evaluate the accuracy and precision of the calibration algorithm. Alternatively, the controller can determine the actual horizontal offset, actual height, and actual attitude angle of the sensor through the data of the calibration target, so as to evaluate the accuracy and precision of the calibration algorithm.
[0010] Based on the above technical solution, by constructing the true value of the calibration parameters of the sensor, the accuracy and precision of the calibration algorithm can be evaluated, and the rationality of the sensor calibration solution of a certain vehicle model can be quickly tested.
[0011] In combination with the first aspect, in certain implementations of the first aspect, the horizontal offset adjustment mechanism includes a first drive motor, a wheel, and a steering mechanism, the first drive motor is used to control the rotation of the wheel, the steering mechanism is used to control the steering of the wheel, and the controller is used to control the first drive motor and the steering mechanism according to the first horizontal offset.
[0012] Based on the above technical solution, the wheel steering can be controlled by the driving motor in the horizontal offset adjustment mechanism and the wheel steering can be controlled by the steering mechanism, so that the movement and steering of the calibration device can be realized, thereby moving the sensor connected to the calibration device to the corresponding position.
[0013] In some possible implementations, the controller stores a relative position relationship between a connection position of the sensor and a preset position on the calibration device (for example, the center position of the horizontal offset adjustment mechanism). The controller is used to determine a second horizontal offset of the preset position according to the first horizontal offset and the relative position relationship; the controller is also used to control the horizontal offset of the preset position to be adjusted to the second horizontal offset according to the second horizontal offset, thereby adjusting the horizontal offset of the sensor to the first horizontal offset.
[0014] In combination with the first aspect, in certain implementations of the first aspect, a code disc and a hollow pattern are provided on the wheel, and the code disc is used to determine the rotation information of the wheel according to the hollow pattern, and the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel; the code disc is also used to send the rotation information of the wheel to the controller; the controller is used to control the first drive motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
[0015] Based on the above technical solution, the rotation information of the wheel can be detected by the code disc set on the wheel, and the controller can control the rotation information of the wheel through the drive motor and the rotation information of the wheel fed back by the code disc to control the drive motor and the steering mechanism. In this way, closed-loop control can be achieved through the information fed back by the code disc, which helps to improve the control accuracy of the wheel, thereby helping to improve the accuracy of the sensor calibration results.
[0016] In combination with the first aspect, in certain implementations of the first aspect, the calibration device moves on a horizontal base, a position sensor is arranged on the horizontal base, the position sensor is used to collect position information of the calibration device, and the controller is used to obtain the position information from the position sensor; according to the first horizontal offset and the position information, the first drive motor and the steering mechanism are controlled.
[0017] Based on the above technical solution, by arranging the position sensor on the horizontal base, the controller can know the current position of the calibration device by acquiring the position information sent by the position sensor. Therefore, the horizontal offset adjustment mechanism can be controlled to adjust to the target position according to the current position and the target position. In this way, closed-loop control can be achieved through the position information fed back by the position sensor. When the position sensors arranged on the horizontal base are dense enough, the control accuracy of the horizontal offset of the calibration device is higher.
[0018] In some possible implementations, the horizontal base may provide a reference surface with a preset height (eg, 0) for the calibration device.
[0019] The above horizontal base can also be called a horizontal plane.
[0020] In some possible implementations, the horizontal base includes a plurality of position sensors, each of which may be connected to a non-contact sensor, and the non-contact sensor may be used to determine whether the calibration device has moved to the position sensor corresponding to the non-contact sensor. For example, the plurality of position sensors includes a first position sensor, which is connected to a first non-contact sensor, and when the data collected by the first non-contact sensor indicates that the calibration device has moved to the first non-contact sensor, the first position sensor may send the position information to the controller.
[0021] Exemplarily, the non-contact sensor may be a resistance sensor, a capacitance sensor, a Hall sensor, or the like.
[0022] In some possible implementations, there may be multiple calibration devices on the horizontal base. After the previous calibration device adjusts its connected sensor to the corresponding horizontal offset, height and attitude angle, the next calibration device may continue to be controlled.
[0023] In combination with the first aspect, in certain implementations of the first aspect, the height adjustment mechanism includes a second drive motor, a gear and a rack, the gear and the rack are meshed, the second drive motor is used to control the rotation of the gear, and the controller is used to control the second drive motor according to the first height.
[0024] Based on the above technical solution, the height adjustment of the sensor can be achieved by rotating the gear on the rack. In this way, the sensor calibration process can get rid of the dependence on the vehicle, avoid damage to the sensor bracket on the vehicle, and help improve the convenience of testers in calibrating the external parameters of the sensor.
[0025] In some possible implementations, the lower end of the rack is fixedly connected to the horizontal offset adjustment mechanism, and the universal adjustment mechanism is fixedly connected to the gear.
[0026] In combination with the first aspect, in certain implementations of the first aspect, the first attitude angle includes a first yaw angle, a first pitch angle, and a first roll angle, the universal adjustment mechanism includes a third drive motor, a fourth drive motor, and a fifth drive motor, the third drive motor is used to adjust the yaw angle of the sensor, the fourth drive motor is used to adjust the pitch angle of the sensor, the fifth drive motor is used to adjust the roll angle of the sensor, and the controller is used to control the third drive motor according to the first yaw angle, control the fourth drive motor according to the first pitch angle, and control the fifth drive motor according to the first roll angle.
[0027] Based on the above technical solution, the controller can adjust the yaw angle, pitch angle and roll angle of the sensor by controlling the drive motor in the universal adjustment mechanism, so that the sensor can be adjusted to the first attitude angle. In this way, the sensor calibration process can get rid of the dependence on the vehicle, avoid damage to the sensor bracket on the vehicle, and help improve the convenience of testers in calibrating the external parameters of the sensor.
[0028] In combination with the first aspect, in certain implementations of the first aspect, the sensor is disposed on the fifth drive motor.
[0029] In a second aspect, a calibration method is provided, which is applied to a calibration device, wherein the calibration device includes a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism, wherein the height adjustment mechanism is connected to the top of the horizontal offset adjustment mechanism, the height adjustment mechanism is connected to the universal adjustment mechanism, and the universal adjustment mechanism is connected to a sensor, wherein the method includes: the controller obtains an instruction, wherein the instruction includes information of a first horizontal offset, a first height and a first attitude angle of the sensor; and the controller controls the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset, controls the height adjustment mechanism to adjust the height of the sensor to the first height, and controls the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle according to the instruction.
[0030] In combination with the second aspect, in certain implementations of the second aspect, the horizontal offset adjustment mechanism includes a first drive motor, a wheel, and a steering mechanism, the first drive motor is used to control the rotation of the wheel, and the steering mechanism is used to control the steering of the wheel, wherein the control of the horizontal offset adjustment mechanism adjusts the horizontal offset of the sensor to the first horizontal offset, including: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset.
[0031] In combination with the second aspect, in certain implementations of the second aspect, a code disc and a hollow pattern are provided on the wheel, and the method further includes: the controller obtains the rotation information of the wheel sent by the code disc, the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel, and the rotation information of the wheel is determined by the code disc according to the hollow pattern; wherein, the controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
[0032] In combination with the second aspect, in certain implementations of the second aspect, the calibration device moves on a horizontal base, a position sensor is arranged on the horizontal base, and the position sensor is used to collect position information of the calibration device. The method also includes: the controller obtains the position information from the position sensor; wherein the controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset and the position information.
[0033] In combination with the second aspect, in certain implementations of the second aspect, the height adjustment mechanism includes a second drive motor, a gear and a rack, the gear and the rack are meshed, and the second drive motor is used to control the rotation of the gear, wherein the control of the height adjustment mechanism adjusts the height of the sensor to a first height, including: the controller controls the second drive motor according to the first height.
[0034] In combination with the second aspect, in certain implementations of the second aspect, the first attitude angle includes a first yaw angle, a first pitch angle and a first roll angle, the universal adjustment mechanism includes a third drive motor, a fourth drive motor and a fifth drive motor, the third drive motor is used to adjust the yaw angle of the sensor, the fourth drive motor is used to adjust the pitch angle of the sensor, and the fifth drive motor is used to adjust the roll angle of the sensor, wherein the control of the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle includes: the controller, used to control the third drive motor according to the first yaw angle, control the fourth drive motor according to the first pitch angle and control the fifth drive motor according to the first roll angle.
[0035] In combination with the second aspect, in certain implementations of the second aspect, the sensor is disposed on the fifth drive motor.
[0036] In a third aspect, a calibration device is provided, which includes a horizontal offset adjustment mechanism, a height adjustment mechanism, a universal adjustment mechanism, a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit so that the device executes any possible method in the second aspect.
[0037] In a fourth aspect, the present application provides a computer program product, comprising: a computer program code, which, when executed on a computer, enables the computer to execute any possible method in the second aspect.
[0038] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or separately packaged with the processor, and the embodiments of the present application do not specifically limit this.
[0039] In a fifth aspect, the present application provides a computer-readable medium storing a program code, and when the computer program code is executed on a computer, the computer executes any possible method in the second aspect.
[0040] In a sixth aspect, the present application provides a chip, comprising a circuit, wherein the circuit is used to execute any possible method in the second aspect above. BRIEF DESCRIPTION OF THE DRAWINGS
[0041] Figure 1 It is a schematic diagram of the system architecture provided in the embodiment of the present application.
[0042] Figure 2 It is a schematic block diagram of the calibration device provided in an embodiment of the present application.
[0043] Figure 3 It is a schematic block diagram of the horizontal offset adjustment mechanism provided in an embodiment of the present application.
[0044] Figure 4 It is a schematic diagram of the code disk provided in the embodiment of the present application.
[0045] Figure 5 It is a schematic diagram of arranging a position sensor on a horizontal base provided in an embodiment of the present application.
[0046] Figure 6 It is a schematic diagram of the height adjustment mechanism provided in an embodiment of the present application.
[0047] Figure 7 It is a schematic diagram of the universal adjustment mechanism provided in the embodiment of the present application.
[0048] Figure 8 It is a schematic flow chart of the calibration method provided in the embodiment of the present application. DETAILED DESCRIPTION
[0049] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application. Among them, in the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is only a description of the association relationship of associated objects, indicating that three relationships can exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. "At least one" means one or more. For example, "at least one of A and B" is similar to "A and / or B", describing the association relationship of associated objects, indicating that three relationships can exist, for example, at least one of A and B can mean: A exists alone, A and B exist at the same time, and B exists alone.
[0050] In the embodiments of the present application, prefixes such as "first" and "second" are used only to distinguish different description objects, and have no limiting effect on the position, order, priority, quantity or content of the described objects. The use of prefixes such as ordinal numbers to distinguish description objects in the embodiments of the present application does not constitute a limitation on the described objects. For the statement of the described objects, please refer to the description in the context of the claims or embodiments, and no unnecessary limitation should be constituted due to the use of such prefixes. In addition, in the description of the present embodiment, unless otherwise specified, the meaning of "multiple" is two or more.
[0051] As mentioned above, the vehicle needs to obtain the installation offset and attitude angle of sensors such as lidar, camera, and millimeter wave radar on the vehicle to calculate the direction and distance of the object sensed by each sensor from the vehicle. The algorithm process of obtaining the installation offset and attitude angle is called sensor extrinsic calibration. Since the sensor installation positions of different models are different, the calibration test process is highly dependent on the vehicle. During the sensor calibration process, the installation position of the sensor also needs to be adjusted, which is destructive to the sensor bracket on the vehicle.
[0052] In the embodiment of the present application, during the calibration of the external parameters of the sensor, the sensor can be connected via a calibration device, and the six degrees of freedom (x, y, z, yaw, pitch, roll) of the sensor can be adjusted via the calibration device, thereby achieving the calibration of the external parameters of the sensor. In this way, the sensor calibration process can get rid of the dependence on the vehicle, avoid damage to the sensor bracket on the vehicle, and help improve the convenience of testers in calibrating the external parameters of the sensor.
[0053] Figure 1 FIG. 1 is a schematic diagram showing the system architecture provided by an embodiment of the present application. Figure 1 As shown in the figure, multiple calibration devices can move on a horizontal base, and laser radars and cameras are connected to the multiple calibration devices respectively. The calibration devices can realize the movement of laser radars and cameras in 6 degrees of freedom, so as to simulate the installation state of the sensor in the vehicle. At the same time, by calibrating the external parameters of the sensor, the rationality of the sensor calibration scheme on a certain vehicle model can also be quickly tested.
[0054] Figure 2 A schematic block diagram of a calibration device 200 provided in an embodiment of the present application is shown. The calibration device 200 includes a controller 210, a horizontal offset adjustment mechanism 220, a height adjustment mechanism 230 and a universal adjustment mechanism 240, wherein the universal adjustment mechanism 240 is connected to a sensor, wherein the controller 210 is used to obtain an instruction, the instruction including information of a first horizontal offset, a first height and a first attitude angle of the sensor; according to the instruction, the horizontal offset adjustment mechanism 220 is controlled to adjust the horizontal offset of the sensor to the first horizontal offset, the height adjustment mechanism 230 is controlled to adjust the height of the sensor to the first height, and the universal adjustment mechanism 140 is controlled to adjust the attitude angle of the sensor to the first attitude angle.
[0055] Optionally, the sensor includes a lidar, a millimeter-wave radar, a camera, etc.
[0056] For example, Figure 3A schematic block diagram of a horizontal offset adjustment mechanism 220 provided in an embodiment of the present application is shown. The horizontal offset adjustment mechanism 220 includes a first drive motor 221, a wheel 222, and a steering mechanism 223 (the first drive motor 221 and the steering mechanism 223 are not shown in the figure), the first drive motor 221 is used to control the rotation of the wheel 222, the steering mechanism 223 is used to control the steering of the wheel 222, and the controller 210 is used to control the first drive motor 221 and the steering mechanism 223 according to the first horizontal offset.
[0057] For example, the horizontal offset adjustment mechanism 220 includes four wheels (e.g., wheels 2221-2224). The first drive motor 221 can control the rotation of the wheels 2221-2224 respectively, thereby controlling the movement of the sensor connected to the calibration device 200 in the x-axis or y-axis direction. The steering mechanism 223 can control the steering of the wheels 2221-2224 respectively.
[0058] like Figure 3 As shown in (a), the controller 210 can obtain an instruction, which includes the sensor installation coordinates (x, y, z) and attitude angles (yaw, pitch, roll) of a certain vehicle model. The sensor installation coordinates and attitude angles of the vehicle model can be read from the vehicle digital model.
[0059] The controller 210 can calculate the number of rotations of the vehicle in the x-axis direction and the number of rotations in the y-axis direction according to the x, y in the installation coordinates and the radius of the wheel. The controller 210 can control the first drive motor 221 to output a driving force according to the number of rotations in the x-axis direction, thereby realizing the rotation of the wheels 2221-2224 in the x-axis direction.
[0060] like Figure 3 As shown in (b), after the first drive motor 221 drives the wheels 2221-2224 to complete the rotation in the x-axis direction, the controller 210 can send a steering instruction to the steering mechanism 223, and the steering instruction is used to instruct the steering mechanism 223 to control the wheels 2221-2224 to rotate 90°. The controller 210 can control the first drive motor 221 to output a driving force according to the number of turns in the y-axis direction, thereby realizing the rotation of the wheels 2221-2224 in the y-axis direction.
[0061] Optionally, the wheel 222 also includes an encoding disk and a hollow pattern, the encoding disk is used to determine the rotation information of the wheel according to the hollow pattern, and the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel; the encoding disk is also used to send the rotation information of the wheel to the controller; the controller is used to control the first drive motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
[0062] The above description is based on the example that the horizontal offset adjustment mechanism includes a drive motor and a wheel, and the embodiments of the present application are not limited thereto. Exemplarily, the horizontal offset adjustment mechanism may also include a slide rail, and the controller 210 may control the slide rail to slide in a slide groove on the horizontal base, thereby adjusting the horizontal offset of the sensor to the first horizontal offset.
[0063] For example, Figure 4 The schematic diagram of the code disc provided in the embodiment of the present application is shown. The code disc can be fixed on the wheel edge of the wheel 222, and different hollow patterns can be arranged on the code disc. The code disc can determine the number of rotations and the rotation angle of the wheel according to the hollow pattern on the wheel 222.
[0064] The code disk can be a digital encoder for measuring angular displacement, which has the advantages of strong resolution, high measurement accuracy and reliable operation. The code disk can also be understood as a displacement sensor for measuring shaft angle. Exemplarily, the controller 210 can determine the number of turns (for example, 5 turns) of the horizontal offset adjustment mechanism 220 along the x-axis direction based on the first horizontal offset obtained. The code disk can determine the number of turns of the vehicle through the hollow structure on the wheel and feed back to the controller in real time. For example, when the controller determines that the wheel has been controlled to rotate 5 turns along the x-axis direction and the information fed back by the code disk indicates that the wheel has rotated 5 turns, the controller can control the horizontal offset adjustment mechanism to stop moving on the x-axis. The controller can control the steering mechanism 223 to achieve a 90° rotation of the wheel. The controller 210 can continue to control the horizontal offset adjustment mechanism 220 to move along the y-axis direction.
[0065] Optionally, the calibration device 200 moves on a horizontal base 250, and a position sensor 251 is arranged on the horizontal base 250. The position sensor 251 is used to obtain the position information of the calibration device. The controller 210 is used to obtain the position information of the calibration device 200 sent by the position sensor 251; according to the first horizontal offset and the position information, the first drive motor 221 and the steering mechanism 223 are controlled.
[0066] For example, Figure 5 A schematic diagram showing the arrangement of a position sensor on a horizontal base provided in an embodiment of the present application is shown.
[0067] Optionally, the horizontal base 250 includes a plurality of position sensors, each of which may be connected to a non-contact sensor, and the non-contact sensor may be used to determine whether the calibration device has moved to the position sensor corresponding to the non-contact sensor. For example, the plurality of position sensors include a first position sensor, which is connected to the first non-contact sensor, and when the data collected by the first non-contact sensor indicates that the calibration device has moved to the first non-contact sensor, the first position sensor may send the position information to the controller.
[0068] Exemplarily, the non-contact sensor may be a resistance sensor, a capacitance sensor, a Hall sensor, or the like.
[0069] Optionally, there may be a plurality of calibration devices on the horizontal base. After the previous calibration device adjusts its connected sensor to a corresponding posture, the next calibration device may continue to be controlled.
[0070] For example, after the previous calibration device moves to the target position, the tester can place the next calibration device at the coordinate origin on the horizontal base and input the horizontal offset, height and attitude angle information of the sensor connected to the next calibration device through the input device.
[0071] Optionally, the height adjustment mechanism 230 includes a second drive motor 231, a gear 232 and a rack 233, the gear 232 and the rack 233 are meshed, the second drive motor 231 is used to control the rotation of the gear 232, and the controller 210 is used to control the second drive motor 231 according to the first height.
[0072] For example, Figure 6 A schematic diagram of a height adjustment mechanism provided in an embodiment of the present application is shown.
[0073] The above is only an example of adjusting the height of the sensor by means of a gear and a rack, and the embodiments of the present application are not limited to this. For example, the height of the sensor can also be adjusted by means of a thread and a screw. The universal adjustment mechanism 240 can be connected to one end of the screw, and the other end of the screw can cooperate with the thread. By moving the screw along the thread, the height adjustment mechanism 230 can be adjusted, thereby achieving the adjustment of the height of the sensor connected to the calibration device 200.
[0074] Optionally, the first attitude angle includes a first yaw angle, a first pitch angle and a first roll angle, the universal adjustment mechanism 240 includes a third drive motor 241, a fourth drive motor 242 and a fifth drive motor 243, the third drive motor 241 is used to adjust the yaw angle of the sensor, the fourth drive motor 242 is used to adjust the pitch angle of the sensor, the fifth drive motor 243 is used to adjust the roll angle of the sensor, and the controller 210 is used to control the third drive motor 241 according to the first yaw angle, control the fourth drive motor 242 according to the first pitch angle and control the fifth drive motor 243 according to the first roll angle.
[0075] For example, Figure 7 The schematic diagram of the universal adjustment mechanism provided in the embodiment of the present application is shown. The universal adjustment mechanism 240 is arranged at the top of the height adjustment mechanism 230. The universal adjustment mechanism 240 can be composed of three independently controlled drive motors, and the sensor is installed on the fifth drive motor 243. The third drive motor 241 controls the yaw angle (yaw) of the sensor installation, the fourth drive motor 242 controls the pitch angle (pitch) of the sensor installation, and the fifth drive motor 243 controls the roll angle (roll) of the sensor installation.
[0076] Figure 8 A schematic flow chart of a calibration method 800 provided in an embodiment of the present application is shown. The calibration method can be executed by the above-mentioned calibration device, or can also be executed by a controller, a processor, a circuit or a chip in the above-mentioned calibration device. The calibration device includes a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism. The height adjustment mechanism is connected to the top of the horizontal offset adjustment mechanism, and the universal adjustment mechanism is connected to the top of the height adjustment mechanism. The universal adjustment mechanism is connected to the sensor. The method 800 is described below by taking the execution of the controller as an example. The method 800 includes:
[0077] S810, the controller obtains an instruction, where the instruction includes information about a first horizontal offset, a first height, and a first attitude angle of the sensor.
[0078] Optionally, the first attitude angle includes information of a first yaw angle, a first pitch angle and a first roll angle.
[0079] Optionally, the information of the first horizontal offset, the first height and the first attitude angle can be read by the tester from the vehicle digital model data. The tester can input the information of the first horizontal offset, the first height and the first attitude angle into the calibration device through an input device.
[0080] S820, the controller controls the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset, controls the height adjustment mechanism to adjust the height of the sensor to the first height, and controls the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle according to the instruction.
[0081] Optionally, the horizontal offset adjustment mechanism includes a first drive motor, a wheel and a steering mechanism, the first drive motor is used to control the rotation of the wheel, and the steering mechanism is used to control the steering of the wheel, wherein controlling the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset includes: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset.
[0082] Optionally, the controller stores a relative position relationship between a connection position of the sensor and a preset position on the calibration device (for example, the center position of the horizontal offset adjustment mechanism). The controller is used to determine a second horizontal offset of the preset position according to the first horizontal offset and the relative position relationship; the controller is also used to control the horizontal offset of the horizontal offset adjustment mechanism to be adjusted to the second horizontal offset according to the second horizontal offset, thereby adjusting the horizontal offset of the sensor to the first horizontal offset.
[0083] Optionally, a code disc and a hollow pattern are provided on the wheel, and the method 800 further includes: the controller obtains the rotation information of the wheel sent by the code disc, the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel, and the rotation information of the wheel is determined by the code disc according to the hollow pattern; wherein, the controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
[0084] Optionally, the calibration device moves on a horizontal base, and a position sensor is arranged on the horizontal base, and the position sensor is used to collect position information of the calibration device. The method 800 also includes: the controller obtains the position information from the position sensor; wherein the controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: the controller controls the first drive motor and the steering mechanism according to the first horizontal offset and the position information.
[0085] Exemplarily, the horizontal base can provide a reference surface with a preset height (eg, 0) for the calibration device.
[0086] Optionally, the horizontal base includes a plurality of position sensors, each of which can be connected to a non-contact sensor, and the non-contact sensor can be used to determine whether the calibration device has moved to the position sensor corresponding to the non-contact sensor. For example, the plurality of position sensors includes a first position sensor, which is connected to a first non-contact sensor, and when the data collected by the first non-contact sensor indicates that the calibration device has moved to the first non-contact sensor, the first position sensor can send the position information to the controller.
[0087] Exemplarily, the non-contact sensor may be a resistance sensor, a capacitance sensor, a Hall sensor, or the like.
[0088] Optionally, the horizontal base may be provided with a plurality of calibration devices. After a current calibration device adjusts its connected sensor to a corresponding posture, the next calibration device may continue to be controlled.
[0089] Optionally, the height adjustment mechanism includes a second drive motor, a gear and a rack, the gear and the rack are meshed, and the second drive motor is used to control the rotation of the gear, wherein the control of the height adjustment mechanism adjusts the height of the sensor to a first height, including: the controller controls the second drive motor according to the first height.
[0090] Optionally, the lower end of the rack is fixedly connected to the horizontal offset adjustment mechanism, and the gear is fixedly connected to the universal adjustment mechanism.
[0091] Optionally, the first attitude angle includes a first yaw angle, a first pitch angle and a first roll angle, the universal adjustment mechanism includes a third drive motor, a fourth drive motor and a fifth drive motor, the third drive motor is used to adjust the yaw angle of the sensor, the fourth drive motor is used to adjust the pitch angle of the sensor, and the fifth drive motor is used to adjust the roll angle of the sensor, wherein the control of the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle includes: the controller, used to control the third drive motor according to the first yaw angle, control the fourth drive motor according to the first pitch angle and control the fifth drive motor according to the first roll angle.
[0092] Optionally, the sensor is arranged on the fifth driving motor.
[0093] Optionally, the controller is further used to control the sensor to collect data of the calibration target when the horizontal offset of the sensor is adjusted to the first horizontal offset, the height of the sensor is adjusted to the first height, and the attitude angle of the sensor is adjusted to the first attitude angle. The controller is also used to send the data of the calibration target to other devices, wherein the other devices can determine the actual horizontal offset, actual height, and actual attitude angle of the sensor through a preset calibration algorithm and the data of the calibration target, so as to evaluate the accuracy and precision of the calibration algorithm. Alternatively, the controller can determine the actual horizontal offset, actual height, and actual attitude angle of the sensor through the data of the calibration target, so as to evaluate the accuracy and precision of the calibration algorithm.
[0094] Based on the above technical solution, by constructing the true value of the calibration parameters of the sensor, the accuracy and precision of the calibration algorithm can be evaluated, and the rationality of the sensor calibration solution of a certain vehicle model can be quickly tested.
[0095] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.
[0096] 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.
[0097] 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 units is only a logical function division. There may be other division methods in actual 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
[0098] The units described as separate components may or may not be physically separated, and the components 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 actual needs to achieve the purpose of the solution of this embodiment.
[0099] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
[0100] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for 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 methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0101] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.
Claims
1. A calibration device, characterized in that: The calibration device includes a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism, wherein the upper portion of the horizontal offset adjustment mechanism is connected to the height adjustment mechanism, the upper portion of the height adjustment mechanism is connected to the universal adjustment mechanism, and the universal adjustment mechanism is connected to a sensor, wherein: The controller is used to obtain an instruction, wherein the instruction includes information of a first horizontal offset, a first height, and a first attitude angle of the sensor; The controller is further used to control the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset, control the height adjustment mechanism to adjust the height of the sensor to the first height, and control the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle according to the instruction.
2. The device according to claim 1, characterized in that The horizontal offset adjustment mechanism includes a first drive motor, a wheel and a steering mechanism, wherein the first drive motor is used to control the rotation of the wheel, and the steering mechanism is used to control the steering of the wheel. The controller is used to control the first driving motor and the steering mechanism according to the first horizontal offset.
3. The device according to claim 2, characterized in that The wheel is provided with a code disc and a hollow pattern. The code disc is used to determine the rotation information of the wheel according to the hollow pattern, and the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel; The code disc is also used to send the rotation information of the wheel to the controller; The controller is used to control the first driving motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
4. The device according to claim 2, characterized in that The calibration device moves on a horizontal base, a position sensor is arranged on the horizontal base, and the position sensor is used to collect position information of the calibration device. The controller is used to obtain the position information from the position sensor; The first drive motor and the steering mechanism are controlled according to the first horizontal offset and the position information.
5. The device according to any one of claims 1 to 4, characterized in that The height adjustment mechanism includes a second drive motor, a gear and a rack, the gear and the rack are meshed, and the second drive motor is used to control the rotation of the gear. The controller is used to control the second driving motor according to the first height.
6. The device according to any one of claims 1 to 5, characterized in that The first attitude angle includes a first yaw angle, a first pitch angle and a first roll angle, the universal adjustment mechanism includes a third drive motor, a fourth drive motor and a fifth drive motor, the third drive motor is used to adjust the yaw angle of the sensor, the fourth drive motor is used to adjust the pitch angle of the sensor, and the fifth drive motor is used to adjust the roll angle of the sensor, The controller is used to control the third drive motor according to the first yaw angle, control the fourth drive motor according to the first pitch angle, and control the fifth drive motor according to the first roll angle.
7. The device according to claim 6, characterized in that The sensor is arranged on the fifth driving motor.
8. A calibration method, characterized in that: The calibration method is applied to a calibration device, which includes a controller, a horizontal offset adjustment mechanism, a height adjustment mechanism and a universal adjustment mechanism. The height adjustment mechanism is connected to the top of the horizontal offset adjustment mechanism, the height adjustment mechanism is connected to the universal adjustment mechanism, and the universal adjustment mechanism is connected to a sensor. The method includes: The controller acquires an instruction, wherein the instruction includes information of a first horizontal offset, a first height, and a first attitude angle of the sensor; According to the instruction, the controller controls the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset, controls the height adjustment mechanism to adjust the height of the sensor to the first height, and controls the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle.
9. The method according to claim 8, characterized in that The horizontal offset adjustment mechanism includes a first drive motor, a wheel and a steering mechanism, wherein the first drive motor is used to control the rotation of the wheel, and the steering mechanism is used to control the steering of the wheel. Wherein, controlling the horizontal offset adjustment mechanism to adjust the horizontal offset of the sensor to the first horizontal offset includes: The controller controls the first driving motor and the steering mechanism according to the first horizontal offset.
10. The method according to claim 9, characterized in that The wheel is provided with a code disc and a hollow pattern, and the method further comprises: The controller acquires the rotation information of the wheel sent by the code disk, wherein the rotation information of the wheel includes the number of rotations and the rotation angle of the wheel, and the rotation information of the wheel is determined by the code disk according to the hollow pattern; The controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: The controller controls the first driving motor and the steering mechanism according to the first horizontal offset and the rotation information of the wheel.
11. The method according to claim 9, characterized in that The calibration device moves on a horizontal base, a position sensor is arranged on the horizontal base, and the position sensor is used to collect position information of the calibration device. The method further includes: The controller acquires the position information from the position sensor; The controller controls the first drive motor and the steering mechanism according to the first horizontal offset, including: The controller controls the first drive motor and the steering mechanism according to the first horizontal offset and the position information.
12. The method according to any one of claims 8 to 11, characterized in that The height adjustment mechanism includes a second drive motor, a gear and a rack, the gear and the rack are meshed, and the second drive motor is used to control the rotation of the gear. Wherein, controlling the height adjustment mechanism to adjust the height of the sensor to a first height includes: The controller controls the second driving motor according to the first height.
13. The method according to any one of claims 8 to 12, characterized in that The first attitude angle includes a first yaw angle, a first pitch angle and a first roll angle, the universal adjustment mechanism includes a third drive motor, a fourth drive motor and a fifth drive motor, the third drive motor is used to adjust the yaw angle of the sensor, the fourth drive motor is used to adjust the pitch angle of the sensor, and the fifth drive motor is used to adjust the roll angle of the sensor, Wherein, controlling the universal adjustment mechanism to adjust the attitude angle of the sensor to the first attitude angle includes: The controller controls the third drive motor according to the first yaw angle, controls the fourth drive motor according to the first pitch angle, and controls the fifth drive motor according to the first roll angle.
14. The method according to claim 13, characterized in that The sensor is arranged on the fifth driving motor.
15. A calibration device, characterized in that: include: Horizontal offset adjustment mechanism; Height adjustment mechanism; Universal adjustment mechanism; Memory for storing computer programs; A processor, configured to execute the computer program stored in the memory, so that the apparatus performs the method according to any one of claims 8 to 14.
16. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed by a computer, the method according to any one of claims 8 to 14 is implemented.
17. A chip, characterized in that: include: A circuit for executing the method according to any one of claims 8 to 14.