Method and device for batch testing of imaging quality of vehicle-mounted multi-type cameras

Abstract

The invention relates to the technical field of vehicle-mounted equipment testing devices, and discloses a method and a device for batch testing of imaging quality of vehicle-mounted multi-type cameras, a plurality of to-be-tested camera modules are assembled on a six-degree-of-freedom adjustable clamping platform, and the platform is provided with a plurality of groups of clamping bases capable of three-dimensionally rotating and radially moving; a preset cross graph card is arranged in front of the platform, four vertical point light sources are uniformly distributed on the cross graph card, and an auxiliary camera module is arranged on the central axis; turning on the light source and the camera module, resetting the cross graph card, assisting the camera module to shoot and analyze whether the point light source coincides with the marked line or not, and adjusting the posture if the point light source does not coincide with the marked line; after superposition, moving the clamping base, testing whether the shooting center of the to-be-tested camera module coincides with the center of the graphic card, and if not, adjusting the clamping posture; the rest modules are tested in sequence, and finally the graphic card is removed for follow-up testing; the technical problem that the efficiency is low due to the fact that a split type independent testing method is adopted for multiple types of camera modules in the prior art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle-mounted equipment testing devices, in particular to a method and device for batch testing of imaging quality of vehicle-mounted multi-type cameras. BACKGROUND

[0002] With the deep integration of artificial intelligence and automotive electronics technology, intelligent driving technology has entered a stage of rapid development, and the performance of its environment perception system directly determines the safety and reliability of vehicles. As the core sensor of intelligent driving systems, vehicle-mounted cameras undertake key tasks such as visual perception, target identification, and scene reconstruction. Currently, a single L2+ level and above intelligent driving vehicle generally carries more than 10 cameras, covering front-view main cameras (100-150° field of view, used for long-distance target detection), surround-view fisheye cameras (190° super wide-angle, supporting panoramic images and parking assistance), side-view narrow-angle cameras (60° high resolution, realizing blind area monitoring), and other types of modules. These cameras need to maintain performance stability under complex working conditions such as extreme temperatures of -40℃ to +85℃, high humidity of 95% RH, salt spray corrosion, and high-frequency vibration, and their reliability verification needs to pass through harsh environmental tests such as high-low temperature cycles, mechanical shocks, and electromagnetic compatibility.

[0003] However, the traditional testing scheme adopts a split architecture, and for different types of cameras such as wide-angle fisheye and long-focus narrow-angle, optical calibration systems, environmental simulation cabins, and data acquisition terminals need to be configured independently. Due to the lack of a unified testing platform, when multiple modules are tested in parallel, fixtures need to be repeatedly disassembled and assembled, and calibration parameters need to be switched, resulting in a single full-function test cycle of more than 12 hours, which cannot meet the production line-level batch detection requirements, and the industry requires >200 pieces / hour.

[0004] In the existing testing process, high-low temperature, vibration, salt spray, and other environmental simulation need to be implemented in stages through independent test cabins, and each environmental switch needs to take more than 30 minutes to balance temperature and humidity and preset the equipment. Taking a certain head car company as an example, its single production line loses up to 15%-20% of annual production capacity due to redundant testing links, and the cost of a single multi-environment combined test exceeds 20,000 yuan, including equipment energy consumption, labor operation, and test cabin depreciation. SUMMARY

[0005] The present application aims to provide a method and device for batch testing of imaging quality of vehicle-mounted multi-type cameras to solve the technical problem of low efficiency caused by the split single testing method for multi-type camera modules in the prior art.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical scheme: a method for batch testing of imaging quality of vehicle-mounted multi-type cameras, comprising: S1, install multiple camera modules to be detected on a clamping platform, and set a preset cross card in front of the camera modules to be detected; the clamping platform is a six-degree-of-freedom adjustable platform, and multiple groups of camera module clamping bases are arranged on the clamping platform, the clamping bases can rotate in three-dimensional directions, and can move to the center of the clamping platform along the radial direction of the clamping platform; four vertical point light sources are uniformly distributed on the clamping platform, and an auxiliary camera module is arranged on the central axis of the clamping platform, and the optical axis of the auxiliary camera module is perpendicular to the plane of the clamping platform; S2, light up the point light sources, light up the auxiliary positioning camera module and light up the camera modules to be detected, and reset the cross card to a preset standard position; S3, the auxiliary positioning camera module is used to shoot the cross card, and the shooting image is transmitted to an image analysis module; S4, the image analysis module analyzes whether the mark line of the point light source and the cross card is coincident; if not, the relative attitude of the clamping platform and the cross card is adjusted, and step S3 is returned to re-shoot and detect; if yes, the next step is executed; S5, move a group of clamping bases to the center position of the clamping platform, and use the camera module to be detected to shoot the cross card, and transmit the shooting image to the image analysis module; S6, the image analysis module analyzes whether the shooting center in imaging and the cross card center in imaging are coincident; if not, the clamping attitude of the camera module to be detected is adjusted through the clamping base, and step S5 is returned to re-shoot and detect; if yes, the next step is executed; S7, the clamping bases of the remaining camera modules to be detected are sequentially moved to the center of the clamping platform; S8, and each camera module to be detected repeats steps S5-S6 until the shooting center in imaging and the cross card center in imaging of all camera modules to be detected at the center of the clamping platform are coincident; S9, remove the cross card, and sequentially perform subsequent shooting tests in order.

[0007] The principle and advantages of the scheme are: the integrated test platform is constructed, the six-degree-of-freedom adjustable clamping platform and the multi-station clamping base are used, and the batch clamping and center positioning of multiple types of camera modules are realized. The auxiliary camera module is used to shoot the cross card and the point light source imaging, the attitude deviation of the clamping platform is fed back in real time through the image analysis module, and the three-dimensional correction of pitching, yawing and rolling is completed by driving the three-axis adjusting clamp; at the same time, the accurate centering of the optical axis of a single camera module and the cross card center is realized through the layered adjusting mechanism of the five-degree-of-freedom clamping base. Finally, through the batch displacement and repeated detection process, the imaging quality test of all modules is completed.

[0008] The present application realizes multi-module synchronous calibration through integrated clamping platform and batch displacement mechanism, and test efficiency is improved by more than 5 times; the present application realizes rapid switching of multiple environmental conditions through integrated environmental simulation modules, such as electric leveling legs of a three-axis adjusting clamp, and cost is reduced by more than 70%; the present application realizes automatic calibration of sub-pixel level precision (error <0.1°) through closed-loop feedback of an auxiliary camera module and an image analysis module, and calibration time is shortened to within 30 seconds per camera; the present application adopts modular variable-diameter clamps and pneumatic self-adaptive clamping technology, supports rapid changeover of the same length, different width / shape camera modules, and changeover time is shortened to within 5 minutes.

[0009] The present application solves the problem of low parallel test efficiency of multiple modules, breaks through the cost bottleneck of environmental condition reproduction, eliminates manual calibration error, and improves the flexible manufacturing capacity of the production line.

[0010] Preferably, as an improvement, the spot size of the light emitted by the point light source is a regular circular spot, and the circular spot sizes formed by the four point light sources are the same; S4 further comprises a cross-shaped chart photographed by the auxiliary camera module, and the attitude of the camera module clamping platform is adjusted to make the clamping platform parallel to the cross-shaped plate plane according to the difference between the center position of the point light source imaging spot photographed by the auxiliary camera module and the cross axis of the cross-shaped chart.

[0011] The beneficial effects of this improvement are: the point light source emits regular circular spots with consistent sizes; the auxiliary camera module photographs the point light source imaging, calculates the difference between the spot center and the cross axis of the cross-shaped chart, and adjusts the attitude of the clamping platform to make it parallel to the cross-shaped plate plane. Regular circular spots eliminate the influence of imaging distortion on center coordinate calculation, and the least square method is used to fit the spot contour, so that the pitch / roll angle correction error of the clamping platform is reduced from 0.5° of the traditional scheme to 0.05°. Through direct difference feedback between the spot center and the cross axis, the traditional manual visual calibration is replaced, and the single parallel correction time is shortened from 5 minutes to within 30 seconds.

[0012] Preferably, as an improvement, S4 photographs the point light source imaging to fit a circular spot and determines the distance between the spot center and the cross-shaped chart reticle through an auxiliary positioning camera module, and the specific method is as follows: The pixel is converted into a black and white binary image through binarization with the smallest pixel size as a unit to determine the edge pixel position of the spot; the edge pixel points are processed through sub-pixel level interpolation based on the least square method; the As the edge curve function of the imaging spot, the spot fitting is performed; the values of coefficients A, B, C, D, E and F are calculated; The center coordinates of the ellipse, the long semi-axis length a and the short semi-axis length b are calculated from the coefficients The ellipse center horizontal coordinate ;​ ellipse center longitudinal coordinate ; ; ; , The distance between the center of the light spot and the center of the cross mark plate line is obtained by the long semi-axis length a and the short semi-axis length b, the tilt angle θ of the clamping platform is obtained, the offset distance and the tilt angle θ are used to generate the clamping platform posture compensation instruction, and the three-axis adjusting clamp is driven to execute the instruction to correct the clamping platform in pitch, yaw and roll.

[0013] The improvement has the beneficial effects that: through the algorithms such as binarization, sub-pixel interpolation and ellipse fitting, the light spot center coordinates, the long and short semi-axis lengths are calculated, the tilt angle θ of the clamping platform is obtained, the posture compensation instruction is generated, and the three-axis adjusting clamp is driven to execute the pitch, yaw and roll correction. The traditional scheme relies on mechanical limiting, and the precision is only 0.5°; the improvement through sub-pixel interpolation (precision 0.01 pixels) and ellipse fitting improves the posture correction precision to 0.02°, which meets the assembly tolerance requirement of 0.1° of the vehicle-mounted camera. The image analysis result is directly converted into the motion instruction of the three-axis adjusting clamp, manual intervention is eliminated, and the clamping platform correction time is shortened from 10 minutes / time to 1 minute / time.

[0014] Preferably, as an improvement, the method for setting the clamping base further comprises: setting a first layer platform, clamping the camera modules of the same length, different width and different shape by the module clamping jaws on the first layer platform; setting a second layer platform below the first layer platform and connected by sliding along the guide rail, realizing the translation of the clamped camera modules along the first horizontal direction by the movement of the first layer platform and the second layer platform along the guide rail; setting a third layer platform below the second layer platform and connected by sliding along the guide rail, realizing the translation of the clamped camera modules along the second horizontal direction by the movement of the second layer platform and the third layer platform along the guide rail; setting a fourth layer platform below the third layer platform, and setting four inclination adjusting screws between the third layer platform and the fourth layer platform, realizing the rotation of the clamped camera modules around the first horizontal direction and around the second horizontal direction by the rotation adjustment of the four inclination adjusting screws, realizing the roll and pitch of the clamped camera modules; setting a fifth layer platform below the fourth layer platform, and setting a rotation angle adjusting screw at the center position between the fourth layer platform and the fifth layer platform, realizing the rotation of the clamped camera modules around the third vertical direction by the rotation adjustment of the rotation angle adjusting screw, realizing the yaw of the clamped camera modules; The bottom of the fifth layer platform is slidably connected with the clamping platform through a guide groove structure, and the sliding track of the guide groove structure is arranged along the radial direction of the clamping platform, so that the clamped camera module is moved to the center position of the clamping platform.

[0015] The improved beneficial effects are: through the five-layer platform, the layered adjustment design of translation, roll, pitch, yaw, the movement adjustment of the camera module in five degrees of freedom is realized, and the guide groove structure is slid to the center of the clamping platform. The traditional clamp only supports a single size module, and the improvement is adapted to camera modules of different lengths (50-150mm), widths (20-60mm) and shapes (cylindrical / square) through the sliding connection of the guide rail and the inclination adjustment screw, and the production line compatibility is improved. When changing type, only the guide rail position and screw parameters need to be adjusted, without replacing the clamp module, the change type time is shortened from 20 minutes to 3 minutes, and the production line is quickly switched between models.

[0016] Preferably, as an improvement, the S6 further comprises a method for centering adjustment of the imaging center and the center of the cross image card, which specifically comprises: determining whether the imaging center is on the cross image card mark line and the 45° radial direction, if not, adjusting the first platform and the second platform in the five-degree-of-freedom module clamping base, moving the camera module to be tested until the optical axis center falls on the cross image mark line or the 45° radial line, and then entering the next step of judgment; determining whether the optical axis of the camera module is perpendicular to the plane of the cross image card, if not, adjusting the inclination adjustment screw between the third layer platform and the fourth layer platform in the five-degree-of-freedom module clamping base, rotating the camera module to be tested around the first and second horizontal directions, until the optical axis center line is parallel to the center axis of the cross image card, and then entering the next step of judgment; determining the consistency of the horizontal and vertical directions of the camera module and the cross image card, if the horizontal and vertical directions are inconsistent: adjusting the rotation angle adjustment screw between the fourth layer platform and the fifth layer platform in the five-degree-of-freedom module clamping base, rotating the camera module to be tested around the third horizontal direction, until the cross cursor of the camera module to be tested is parallel to the horizontal and vertical directions, and then entering the next step of judgment; determining the coincidence of the optical axis center line and the center axis of the cross image card mark line, if the optical axis center line does not coincide, adjusting the first platform and the second platform in the five-degree-of-freedom module clamping base again, moving the camera module to be tested until the optical axis center line coincides with the center axis of the cross image card mark line, and then the adjustment is completed.

[0017] The benefits of this improvement are as follows: Traditional methods rely solely on translation adjustments, resulting in an optical axis perpendicularity error of 0.3°. This improvement, through the combined control of tilt and rotation adjustment screws, reduces the perpendicularity error to 0.05°, ensuring that the alignment between the imaging center and the crosshair chart center is >99%. The closed-loop adjustment process reduces the number of calibrations per module from over 5 in the traditional method to 2, improving testing efficiency by 60%.

[0018] Preferably, as an improvement, the camera module on the single clamping base is symmetrically fixed by six pairs of module jaws on the left and right sides. The module jaws include external soft contact clamping blocks and internal clamping support springs. The external soft contact clamping blocks are used to fit and clamp the camera module. The internal clamping support springs are fixedly connected to the external soft contact clamping blocks, and the compression stroke of the internal clamping support springs is adjustable.

[0019] The benefits of this improvement are: the external soft contact clamps, such as those made of silicone, contact the surface of the camera module, preventing hard clamps from scratching the lens or housing, reducing the product defect rate from 3% to 0.1%. The internal support spring has an adjustable compression stroke (0-10mm), supporting the clamping of camera modules of different thicknesses (5-15mm), eliminating the need to replace the clamping module and improving production line compatibility by 50%.

[0020] An apparatus for batch testing of image quality of various types of vehicle-mounted cameras, comprising: The test target unit includes a positive cross reflective target and a target fixing bracket. The surface of the positive cross reflective target is coated with a diffuse reflective coating with 95% reflectivity to provide accurate cross markings. The target fixing bracket is used to firmly support the positive cross reflective target and ensure that its position remains fixed. The clamping and positioning unit includes a camera module mounting platform, an infrared point light source array, an auxiliary positioning camera module, and a multi-station clamping fixture; The camera module mounting platform is used to mount multiple camera modules, with a total of 8 camera modules, which are arranged at equal intervals radially along the camera module mounting platform; Infrared point light source arrays are vertically and evenly distributed at the four corners of the camera module mounting platform; the light spots emitted by the point light sources are regular circular spots to ensure image consistency. The auxiliary positioning camera module is integrated into the central axis of the camera module mounting platform. Its optical axis is perpendicular to the platform plane. It is used to capture images of the crosshair and point light source, providing a basis for attitude adjustment. The multi-station clamping fixture is set on the camera module mounting platform. It adopts a modular design and is equipped with a variable diameter clamp to adapt to camera modules of different sizes and shapes. The clamping fixture is equipped with a pneumatic adaptive clamp and a pressure sensor to achieve controllable adjustment of clamping force. The contact surface of the clamp is covered with a silicone anti-slip layer.

[0021] The improved beneficial effect is that the positive cross-shaped reflective target plate can provide accurate cross-shaped marks, and provide accurate reference standards for imaging test of the camera module. The surface is covered with a diffuse reflection coating with a reflectivity of 95%, so that the target plate can provide uniform reflected light under different angles and light conditions, improve the clarity and accuracy of imaging, and facilitate more accurate testing of the imaging quality of the camera module.

[0022] The installation of 8 groups of camera modules can realize batch testing and improve test efficiency. The regular circular spot emitted by the infrared point light source array ensures imaging consistency, assists in positioning the camera module integrated on the central axis, facilitates imaging of the cross-shaped target plate and the point light source, and provides accurate basis for posture adjustment. The multi-station clamping fixture is designed in a modular manner, is equipped with a variable-diameter clamp, and can adapt to camera modules of different sizes and shapes, thereby improving the versatility and flexibility of the device; the pneumatic self-adaptive clamp and the pressure sensor realize controllable adjustment of the clamping force, thereby avoiding damage to the camera module; the contact surface of the clamp is covered with a silicone anti-slip layer, thereby further enhancing the stability of clamping.

[0023] Preferably, as an improvement, it further comprises: The motion compensation unit comprises a base adjustment system and a three-axis adjustment clamp. The base adjustment system is arranged between the multi-station clamping fixture and the camera module installation platform, and realizes motion adjustment of the camera module in five degrees of freedom. The base adjustment system comprises a plurality of high-precision sliding rails and a plurality of screws. The high-precision sliding rails support the accurate movement of the camera module in the plane, and the screws support the rotational motion of the camera module around three coordinate directions. The three-axis adjustment clamp is arranged at the bottom of the camera module installation platform, and comprises an electric leveling leg and a linkage rotary table. The electric leveling leg provides height compensation, and the linkage rotary table adjusts the horizontal deflection angle.

[0024] The improved beneficial effect is that the base adjustment system realizes motion adjustment of the camera module in five degrees of freedom through high-precision sliding rails and screws, can accurately control the position and posture of the camera module, and meets different testing requirements. The three-axis adjustment clamp realizes three-dimensional correction of the camera module installation platform in pitch, yaw, and roll through the electric leveling leg and the linkage rotary table. The electric leveling leg provides height compensation, and the linkage rotary table adjusts the horizontal deflection angle, thereby ensuring that the camera module is in the best state during testing, and improving the accuracy and stability of testing.

[0025] Preferably, as an improvement, it further comprises: An image analysis unit comprises an image processing chip and a motion control card; the image processing chip is integrated in the intelligent analysis unit, and can process images captured by the auxiliary positioning camera module and the to-be-tested camera module in real time; the least square method is used to fit a light spot profile curve, and the center coordinates and the major and minor axis lengths of the light spot are calculated; the motion control card generates a posture compensation instruction according to the image analysis result, and controls the movement of the three-axis adjusting clamp and the base adjusting system.

[0026] The improved beneficial effects are as follows: the image processing chip is integrated in the intelligent analysis unit, and can process images captured by the auxiliary positioning camera module and the to-be-tested camera module in real time; the least square method is used to fit a light spot profile curve, and the center coordinates and the major and minor axis lengths of the light spot are calculated, so as to provide accurate data support for posture adjustment; the motion control card generates a posture compensation instruction according to the image analysis result, and controls the movement of the three-axis adjusting clamp and the base adjusting system, so that automatic adjustment is realized, and the efficiency and accuracy of the test are improved. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 The flowchart of the embodiment of the application.

[0028] Figure 2 The ideal target light spot state diagram in which the clamping platform is parallel to and centered with the cross diagram card.

[0029] Figure 3 The light spot state diagram in which the clamping platform is offset from the cross diagram card, and the red dot light source is offset to irradiate on the cross diagram card.

[0030] Figure 4 The light spot state diagram in which the cross diagram card and the center axis of the clamping platform coincide but have a rotational deviation around the axis.

[0031] Figure 5 The light spot state diagram in which the cross diagram card and the clamping platform have a deviation around the horizontal and vertical center lines.

[0032] Figure 6 The structural schematic diagram of the clamping base.

[0033] Figure 7 The structural schematic diagram of the module clamping jaw.

[0034] Figure 8 The imaging schematic diagram in which the imaging center is neither on the cross diagram card mark line nor in the 45° radial direction of the mark line.

[0035] Figure 9 The imaging schematic diagram in which the imaging center is on the cross diagram card mark line or in the 45° radial direction of the mark line.

[0036] Figure 10This is a schematic diagram of an imaging system where the imaging center is located on the crosshair or a 45° radial line, but the optical axis of the camera module is not perpendicular to the plane of the crosshair.

[0037] Figure 11 This is an imaging diagram where the imaging center is located on the crosshair or the 45° radial line, and the optical axis of the camera module is perpendicular to the plane of the crosshair, but the horizontal and vertical directions of the camera module do not match the horizontal and vertical directions of the crosshair.

[0038] Figure 12 This is an imaging diagram where the imaging center is located on the crosshair or the 45° radial line, the optical axis of the camera module is perpendicular to the plane of the crosshair, and the horizontal and vertical directions of the camera module are consistent with the horizontal and vertical directions of the crosshair, but the center line of the optical axis of the camera module does not coincide with the center axis of the crosshair.

[0039] Figure 13 This is a schematic diagram showing the relative positions of the test target unit and the clamping and positioning unit.

[0040] The reference numerals in the accompanying drawings include: test plate unit 1, camera module mounting platform 2, infrared point light source array 3, camera module 4, first platform 5, module gripper 6, second platform 7, third platform 8, fourth platform 9, tilt adjustment screw 10, fifth platform 11, rotation adjustment screw 12, guide groove structure 13, external soft contact clamp 13, internal clamping support spring 14, and auxiliary positioning camera module 15. Detailed Implementation

[0041] The following detailed description illustrates the specific implementation method: Example As attached Figure 1 As shown, a method for batch testing of imaging quality of various types of vehicle-mounted cameras is based on a three-dimensional spatial benchmark construction and dynamic compensation mechanism. A crosshair is preset at the end of the test benchmark, and an infrared point light source array is arranged at the four corners of the camera module mounting platform. An auxiliary positioning camera module is integrated on the central axis of the camera module mounting platform. By adjusting the position of the light spot of the light source array and the relative position of the center of the image captured by the camera module and the center of the crosshair, the posture of the camera module mounting platform and the clamping posture of the camera module are adjusted to achieve high-precision, fully automatic, and wide-environment adaptability batch alignment.

[0042] The method specifically includes: S1. Install multiple camera modules to be tested on the clamping platform, and set a preset crosshair card in front of the camera modules to be tested; The clamping platform is a six-degree-of-freedom adjustable platform, and a plurality of groups of camera module clamping bases are arranged on the clamping platform, the clamping bases can rotate in three-dimensional directions and can move radially to the center of the clamping platform.

[0043] Four vertical point light sources are uniformly arranged on the clamping platform, and an auxiliary camera module is arranged on the central axis of the clamping platform, and the optical axis of the auxiliary camera module is perpendicular to the plane of the clamping platform.

[0044] S2, the point light sources, the auxiliary positioning camera module and the to-be-detected camera module are turned on, and the cross-shaped graph card is reset to a preset standard position.

[0045] S3, the auxiliary positioning camera module is used to shoot the cross-shaped graph card, and the shooting image is transmitted to the image analysis module; S4, the image analysis module analyzes whether the mark line of the cross-shaped graph card coincides with the point light source; if not, the relative attitude of the clamping platform and the cross-shaped graph card is adjusted, and step S3 is returned to re-shoot and detect; if yes, the next step is executed.

[0046] S5, a group of clamping bases is moved to the center position of the clamping platform, the to-be-detected camera module is used to shoot the cross-shaped graph card, and the shooting image is transmitted to the image analysis module; S6, the image analysis module analyzes whether the imaging center coincides with the center of the cross-shaped graph card in imaging; if not, the clamping attitude of the to-be-detected camera module is adjusted through the clamping base, and step S5 is returned to re-shoot and detect; if yes, the next step is executed.

[0047] S7, the clamping bases of the remaining to-be-detected camera modules are sequentially moved to the center of the clamping platform. S8, and the to-be-detected camera modules repeat steps S5-S6 until the imaging center of the to-be-detected camera module at the center of the clamping platform coincides with the center of the graph card in imaging.

[0048] S9, the cross-shaped graph card is removed, and subsequent shooting tests are sequentially performed.

[0049] The size of the light spot emitted by the point light source is a regular circular spot, and the sizes of the circular spots formed by the four point light sources are the same.

[0050] S4, further comprising: adjusting the attitude of the camera module clamping platform according to the difference between the center position of the point light source imaging light spot shot by the auxiliary camera module and the cross axis of the cross-shaped graph card, so that the clamping platform is parallel to the cross-shaped graph card plane, and the optical axis of the auxiliary camera module is perpendicular to the cross-shaped graph card plane.

[0051] As shown in the accompanying drawings Figure 2As shown, this is the ideal target state where the clamping platform is parallel and aligned with the crosshair card, and the red dot light source illuminates the crosshair card perpendicularly. The enlarged view on the right shows the imaging effect of the light spot on the crosshair card captured by the auxiliary positioning camera module in this state.

[0052] As attached Figure 3 As shown, the clamping platform is offset from the crosshair card, and the red dot light source is offset to illuminate the crosshair card. The enlarged view on the right shows the imaging effect of the light spot on the crosshair card captured by the auxiliary positioning camera module in this state.

[0053] Appendix Figure 2 and attached Figure 3 In the magnified view, the grid represents pixel blocks, and the size of each grid is the pixel space dimension. The distance between monitoring points is determined based on the number of pixel blocks. (Attached) Figure 2 The center of the light spot is on the center of the crosshair, attached to... Figure 3 The distance between the center of the light spot and the crosshair of the chart is d1, where d1 = number of pixels * pixel size.

[0054] S4 then uses an auxiliary positioning camera module to capture a point light source image, fits a circular light spot, and determines the distance between the center of the light spot and the crosshair markings. The method involves: using the smallest pixel size as the unit, converting pixels into a black-and-white binary image through binarization to determine the pixel positions at the edge of the light spot. Sub-pixel level interpolation is then performed on the edge pixels using the least squares method. (Selection...) The edge curve function of the imaging spot is used to fit the spot. This yields the values ​​of coefficients A, B, C, D, E, and F.

[0055] The coordinates of the center of the ellipse are obtained by converting the coefficients. The length of the major semi-axis is 'a', and the length of the minor semi-axis is 'b'; the conversion formula is: x-coordinate of the ellipse center ; ordinate of the ellipse center ; ; ; Furthermore, A < C.

[0056] , The distance from the center of the light spot to the center of the crosshair is given. The tilt angle θ of the clamping platform is obtained from the length of the major semi-axis a and the length of the minor semi-axis b. The attitude compensation command of the clamping platform is generated by the offset distance and the tilt angle θ. The command is executed by driving the three-axis adjustment fixture to perform three-dimensional correction of pitch, yaw and roll of the clamping platform.

[0057] After the first movement is completed, the light spot center position and the light spot shape are confirmed again according to the light spot captured by the auxiliary positioning camera module, until the auxiliary positioning camera module optical axis (L) is parallel to the normal line (N) of the cross chart, and the image light spot center is located on the cross chart mark line.

[0058] The three-axis adjustment clamp provides height compensation by the electric leveling leg, and provides horizontal deflection angle compensation by the linkage rotary table.

[0059] When the three-axis adjustment clamp executes the instruction, the electric leveling leg is driven to compensate the height, eliminate the vertical deviation of the clamping platform, so that the imaging light spot is circular; and then the linkage rotary table is driven to adjust the horizontal deflection angle, so that the maximum offset distance between the imaging point center of the four point light sources on the cross chart and the cross chart mark line is less than or equal to 0.05 mm.

[0060] There are four typical working conditions of the relative deviation of the clamping platform to the cross chart, as shown in the accompanying drawings. Figure 3 As shown in the accompanying drawings, the center axis of the cross chart is parallel to but not coincident with the center axis of the clamping platform. Figure 4 As shown in the accompanying drawings, the center axis of the cross chart is coincident with the center axis of the clamping platform but has a rotational deviation around the axis. Figure 5 As shown in the accompanying drawings, the cross chart and the clamping platform have a deviation around the horizontal and vertical center line. In actual situations, the relative attitude deviation of the cross chart and the clamping platform is a combination of the four typical working conditions.

[0061] The clamping base realizes the fixed clamping, five-degree-of-freedom adjustment and radial movement along the clamping platform of the camera module of different specifications by setting multiple platforms.

[0062] As shown in the accompanying drawings, the setting method of the clamping base is as follows: a first layer platform is set, as shown in the accompanying drawings, the same length, different width and different shape camera modules are clamped by the module clamping jaws on the first layer platform 5. Figure 6 Figure 7 A second layer platform 7 is set below the first layer platform 5 and is connected by sliding along the guide rail, and the movement of the first layer platform and the second layer platform along the guide rail realizes the movement of the clamped camera module along the first horizontal direction, i.e. translation along the X axis.

[0063] A third layer platform 8 is set below the second layer platform 7 and is connected by sliding along the guide rail, and the movement of the second layer platform and the third layer platform along the guide rail realizes the movement of the clamped camera module along the second horizontal direction, i.e. translation along the Y axis.

[0064] A fourth layer platform 9 is set below the third layer platform 8, and four inclination adjustment screws 10 are set between the third layer platform and the fourth layer platform. Through the rotation adjustment of the four inclination adjustment screws, the clamped camera module is realized along the rotation around the first horizontal direction and the rotation around the second horizontal direction, i.e. RX and RY rotation, and the roll and pitch of the clamped camera module are realized.​

[0065] The fifth layer platform 11 is arranged below the fourth layer platform 9, and the corner adjusting screw 12 is arranged at the center position between the fourth layer platform and the fifth layer platform. By adjusting the rotation of the corner adjusting screw, the clamped camera module is rotated around the third vertical direction, i.e. RZ rotation, and the yaw of the clamped camera module is realized.

[0066] The bottom of the fifth layer platform 11 is slidably connected with the clamping platform through the guide groove structure 13, as shown in the accompanying drawings. Figure 13 The sliding track of the guide groove structure 13 is arranged along the radial direction of the clamping platform, so that the clamped camera module 4 is moved to the center position of the clamping platform.

[0067] The first, second horizontal direction and third vertical direction correspond to the X, Y, Z three directions in the Cartesian coordinate system, and the rotation around the first horizontal direction, the second horizontal direction and the third vertical direction respectively refers to the RX, RY and RZ direction. The reciprocating motion control of each platform and screw is realized through motor control.

[0068] Specifically, as shown in the accompanying drawings, Figure 7 The camera module on the single set of clamping base is fixed by six pairs of module clamping jaws 6 on the left and right sides, and the module clamping jaw 6 includes an external soft contact clamping block 13 and an internal clamping support spring 14. The external soft contact clamping block 13 is used for adhering and clamping the camera module, reducing the damage to the surface of the camera module caused by hard contact, and the internal clamping support spring 14 is fixedly connected with the external soft contact clamping block on one side, and is connected with the module clamping installation layer platform on the other side, and the compression stroke is adjustable.

[0069] Due to the long length and adjustable clamping width of the six pairs of module clamping jaws, the module clamping jaws are suitable for single lens module, binocular module, three lens module and other modules of different sizes, regular or irregular shapes; In S6, the image analysis module is used to analyze the offset between the imaging center (C) of the camera module to be detected and the center (O) of the cross image card in the imaging, and the offset is fed back to the clamping base. The micrometer level displacement compensation of the camera module to be detected is realized by the motor control of the clamping base, until After the centering of the imaging center is completed, the subsequent test of the camera module can be carried out.

[0070] The centering adjustment method of the imaging center and the center of the cross image card in the imaging is as follows: Step one, judge whether the imaging center is in the cross image card mark line and the 45° radial direction, if not, use the first platform and the second platform in the five degree of freedom module clamping base to adjust, by translating the camera module to be tested, until the optical axis center falls on the cross image mark line or the 45° radial line, and enter the next step.

[0071] Step 2: Determine whether the optical axis of the camera module is perpendicular to the plane of the crosshair card. If it is not perpendicular, use the tilt adjustment screw between the third and fourth platforms in the five-degree-of-freedom module clamping base to adjust the camera module under test to rotate around the first and second horizontal directions until the center line of the optical axis is parallel to the central axis of the crosshair card, and proceed to the next step of judgment.

[0072] Step 3: Determine the consistency of the horizontal and vertical directions between the camera module and the crosshair. If the horizontal and vertical directions are inconsistent: Use the angle adjustment screw between the fourth and fifth platforms in the five-degree-of-freedom module clamping base to adjust the camera module under test to rotate around the third vertical direction until the crosshair of the camera module under test is parallel to the horizontal and vertical directions, and then proceed to the next step of judgment.

[0073] Step 4: Determine the alignment of the optical axis centerline with the center axis of the crosshair. If the optical axis centerline does not align, use the first and second platforms in the five-degree-of-freedom module clamping base for adjustment again. Move the camera module under test until the optical axis centerline aligns with the center axis of the crosshair. The adjustment is then complete.

[0074] Specifically, it includes: (1) When the imaging center is neither on the crosshair line nor in the 45° radial direction of the line; The equations of the elliptical contour curves of the light spot in the vertical and horizontal directions of the current image are fitted to obtain the lengths of the major and minor semi-axes of the two elliptical curves. Based on the difference between the lengths of the major and minor semi-axes of the two elliptical curves, information is fed back to the five-degree-of-freedom module clamping base. By adjusting the positions of the first and second platforms, the camera module under test is moved in the first and second horizontal directions until the lengths of the major and minor semi-axes of the elliptical contour curves of the light spot in the vertical and horizontal directions are equal, thereby ensuring that the optical axis center falls on the crosshair or the 45° radial line.

[0075] As attached Figure 8 As shown, taking the image center deviation of the camera module in the first quadrant as an example, the elliptical equations of the light spot contour curves at the 12 o'clock vertical direction and the 3 o'clock horizontal direction are fitted, along with the lengths of the major and minor semi-axes of the two elliptical curves. The positions of the first and second platforms are adjusted accordingly until the lengths of the major and minor semi-axes of the light spot contour curve elliptical curves at the 12 o'clock vertical direction and the 3 o'clock horizontal direction are equal.

[0076] An attached diagram illustrates an image where the imaging center is located on the crosshair or at a 45° radial angle to the crosshair. Figure 9 As shown.

[0077] (2) If the imaging center is located on the crosshair or the 45° radial line, but the optical axis of the camera module is not perpendicular to the plane of the crosshair; Fit the ellipse equation of the spot profile curve in the vertical direction and the horizontal direction in the current imaging and the corresponding long and short semi-axis length. According to the difference of the long and short semi-axis length, feedback to the five degrees of freedom module clamping base, adjust the inclination adjusting screw between the third layer platform and the fourth layer platform, make the imaging center of the measured camera module rotate around the first and second horizontal directions, until the long semi-axis length and the short semi-axis length of the ellipse of the spot profile curve in the vertical direction and the horizontal direction are equal, and the optical axis center line is parallel to the center axis of the cross card.

[0078] As shown in the accompanying Figure 10 , taking the imaging center deviation of the camera module in the first quadrant as an example, fit the ellipse equation of the spot profile curve in the vertical direction 12 o'clock and the horizontal direction 3 o'clock, and the long and short semi-axis length of the two ellipse curves. Adjust the height of the inclination adjusting screw until the long semi-axis length and the short semi-axis length of the ellipse curve in the vertical direction 12 o'clock and the horizontal direction 3 o'clock are equal.

[0079] (3) When the imaging center is on the cross card reticle or 45° radial line, and the optical axis of the camera module is perpendicular to the cross card plane, but the horizontal and vertical directions of the camera module do not match the horizontal and vertical directions of the cross card; Estimate the angle between the cross cursor of the measured camera module and the cross reticle on the cross card, and feed back this information to the five degrees of freedom module clamping base. Adjust the angle adjusting screw between the fourth layer platform and the fifth layer platform to make the measured camera module rotate around the third vertical direction, until the cross cursor of the measured camera module is parallel to the horizontal and vertical directions.

[0080] As shown in the accompanying Figure 11 , taking the imaging center deviation of the camera module in the first quadrant as an example, the imaging center is on the cross card reticle or 45° radial line, and the optical axis of the camera module is perpendicular to the cross card plane, but the horizontal and vertical directions of the camera module do not match the horizontal and vertical directions of the cross card.

[0081] (4) When the imaging center is on the cross card reticle or 45° radial line, the optical axis of the camera module is perpendicular to the cross card plane, the horizontal and vertical directions of the camera module are consistent with the horizontal and vertical directions of the cross card, and the optical axis center line of the camera module does not coincide with the reticle center axis of the cross card; Estimate the distance between the cross cursor center of the measured camera module and the cross reticle center of the cross card, and feed back to the five degrees of freedom module clamping base. Adjust the position of the first platform and the second platform to make the measured camera module move in the first and second horizontal directions, until the optical axis center line of the measured camera module coincides with the reticle center axis of the cross card.

[0082] As shown in the accompanying Figure 12As shown, taking the first quadrant camera module imaging center offset as an example, the imaging center is on the cross card reticle or 45° radial line, the camera module optical axis is perpendicular to the cross card plane, and the horizontal and vertical directions of the camera module are consistent with the horizontal and vertical directions of the cross card, but the optical axis center line of the camera module does not coincide with the reticle center axis of the cross card.

[0083] As shown in the accompanying drawings, Figure 13 A device for batch testing of vehicle-mounted multi-type camera imaging quality, comprising: A test target plate unit 1, comprising a positive cross-shaped reflective target plate and a target plate fixing support, the surface of the positive cross-shaped reflective target plate is covered with a 95% reflectivity diffuse reflection coating for providing accurate cross marks. The target plate fixing support is used to stably support the positive cross-shaped reflective target plate to ensure that its position is fixed and unchanged.

[0084] A clamping and positioning unit, comprising a camera module installation platform 2, an infrared point light source array 3, an auxiliary positioning camera module 15, and a multi-station clamping clamp.

[0085] The camera module installation platform is used to install multiple groups of camera modules 4, and the camera modules are 8 groups arranged at equal intervals along the radial direction of the camera module installation platform.

[0086] The infrared point light source array is vertically and uniformly installed at the four corners of the camera module installation platform. The spot size of the point light source is a regular circular spot to ensure imaging consistency.

[0087] The auxiliary positioning camera module is integrated in the central axis of the camera module installation platform, and the optical axis is perpendicular to the platform plane, which is used to shoot the cross target plate and point light source imaging to provide the basis for attitude adjustment.

[0088] The multi-station clamping clamp is arranged on the camera module installation platform and adopts modular design, equipped with variable-diameter clamps, which can adapt to camera modules of different sizes and shapes to be compatible with multiple 15- 120mm camera module housing. The clamping clamp is equipped with a pneumatic self-adaptive clamp and a pressure sensor to realize a controllable clamping force of 5-50N, ensuring stable clamping and avoiding damage to the camera module. The contact surface of the clamp is covered with a silicone anti-slip layer with a hardness of Shore A 40±5.

[0089] A motion compensation unit, comprising a base adjustment system and a three-axis adjustment clamp.

[0090] The base adjustment system is arranged between the multi-station clamping fixture and the camera module mounting platform, and the movement adjustment of the camera module in five degrees of freedom is realized by the base adjustment system, which includes a plurality of high-precision sliding rails and a plurality of screw rods. The high-precision sliding rails support the accurate movement of the camera module in the plane, and the screw rods support the rotational movement of the camera module around three coordinate directions, thereby meeting the requirement that the repeat positioning accuracy of the base adjustment system is ≤±1 μm. The base adjustment system supports the operation in a wide temperature range of -40°C to 85°C, and meets the IP66 certification level.

[0091] The three-axis adjustment fixture is arranged at the bottom of the camera module mounting platform, and includes an electric leveling support leg and a linkage rotary table, which realizes the three-dimensional correction of the pitch, yaw and roll of the camera module mounting platform. The electric leveling support leg provides height compensation, and the linkage rotary table adjusts the horizontal deflection angle, so as to ensure that the camera module mounting platform is parallel to the cross mark plate.

[0092] The image analysis unit includes an image processing chip and a motion control card.

[0093] The image processing chip is integrated in the intelligent analysis unit, and is used for real-time processing of images captured by the auxiliary positioning camera module and the to-be-tested camera module. The least square method is used to fit the light spot profile curve, and the light spot center coordinates and the major and minor axis lengths are calculated.

[0094] The motion control card generates a posture compensation instruction according to the image analysis result, and controls the movement of the three-axis adjustment fixture and the base adjustment system. Full-automatic closed-loop centering is realized, and the test efficiency and accuracy are improved.

[0095] Example 1, simultaneous testing of multiple types of vehicle-mounted cameras According to the batch testing centering method provided in the present application, two front-view cameras, two surround-view cameras, two binocular cameras and two three-view cameras are respectively arranged on the six-degree-of-freedom adjustable clamping platform.

[0096] After all the to-be-tested cameras are clamped and fixed, the camera, the auxiliary positioning camera and the four infrared point light sources arranged in the vertical and horizontal directions around the clamping platform are sequentially turned on.

[0097] At the same time, the cross diagram test mark plate is reset to the standard zero position.

[0098] Subsequently, the automatic centering program of the clamping platform is started, the system accurately calculates and adjusts the posture of the camera mounting platform through the image analysis module, so that the coaxiality deviation between the optical axis center of each to-be-tested camera and the center of the cross diagram mark plate is not more than 0.03 mm.

[0099] The method realizes a high-precision, high-efficiency and flexible non-destructive centering process, and is especially suitable for the simultaneous testing of multiple types of vehicle-mounted camera modules, and significantly improves the test effect and production capacity. ​

[0100] Example 2, high and low temperature environment adaptability batch test Using the batch test of the present application, 8 sets of binocular camera modules of the same batch are installed on the clamping platform at one time. After all the cameras are clamped firmly and confirmed to be on, the auxiliary positioning camera and the four infrared point light sources around the clamping platform are activated synchronously.

[0101] At the same time, the cross diagram test target plate is accurately reset to the preset zero point.

[0102] Subsequently, the high and low temperature environment adaptability test mode of the clamping platform is started, and the centering process is automatically executed by the system to ensure that the coaxiality deviation between the optical axis center of each camera to be tested and the center of the cross diagram target plate is maintained at a high precision level of ≤ 0.03mm within the entire temperature variation range (such as -40℃ to 85℃).

[0103] This process does not require manual intervention and is fully automated, which not only greatly improves the test efficiency and shortens the test period, but also effectively saves test resources and costs, and is very suitable for performance evaluation of vehicle-mounted cameras under large batch, multiple environmental conditions.

[0104] The above is only an embodiment of the present application, and well-known specific technical solutions and / or common knowledge of characteristics in the scheme are not described in detail. It should be noted that for those skilled in the art, without departing from the technical solutions of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application, and these will not affect the effect and practicality of the present application. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.​

Claims

1. A method for batch testing of imaging quality of multiple types of vehicle-mounted cameras, characterized in that, include: S1. Multiple camera modules to be tested are mounted on a clamping platform, and a preset crosshair is set in front of the camera modules to be tested; the clamping platform is a six-degree-of-freedom adjustable platform, and multiple camera module clamping bases are set on the clamping platform. The clamping bases can rotate in three dimensions and can move radially along the clamping platform to the center of the clamping platform; four vertical point light sources are evenly distributed on the clamping platform, and auxiliary camera modules are set on the central axis of the clamping platform. The optical axis of the auxiliary camera modules is perpendicular to the plane of the clamping platform. S2, ignite the light source, illuminate the auxiliary positioning camera module and the camera module to be tested, and reset the crosshair card to the preset standard position; S3. Use an auxiliary positioning camera module to capture images of the crosshair card and transmit the captured images to the image analysis module; S4. The image analysis module analyzes whether the point light source and the crosshair mark are aligned. If they are not aligned, the relative posture of the clamping platform and the crosshair mark is adjusted, and the process returns to S3 to re-encode and detect the image. If they are aligned, the next step is executed. S5. Move a set of clamping bases to the center of the clamping platform, use the camera module under test to take pictures of the crosshair card, and transmit the captured image to the image analysis module; S6. The image analysis module analyzes whether the center of the image capture coincides with the center of the crosshair in the image. If they do not coincide, the clamping posture of the camera module under test is adjusted by the clamping base, and the process returns to S5 to re-capture and detect. If they coincide, the next step is executed. S7. Move the clamping bases of the remaining camera modules to be tested to the center of the clamping platform in sequence; S8, and repeat steps S5-S6 for each camera module under test until the center of the image capture of all camera modules under test in the center of the mounting platform coincides with the center of the image chart. S9. Remove the crosshair card and proceed with subsequent shooting tests in sequence.

2. The method for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 1, characterized in that: The light spot emitted by the point light source is a regular circular spot, and the circular spots formed by the four point light sources are the same size; S4, also includes: the cross pattern card photographed by the auxiliary camera module, and the attitude of the camera module mounting platform is adjusted so that the mounting platform is parallel to the plane of the cross pattern card according to the difference between the center position of the imaging spot of the point light source photographed by the auxiliary camera module and the cross axis of the cross pattern card.

3. The method for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 2, characterized in that, The S4 method involves using an auxiliary positioning camera module to capture a point light source image, fit a circular light spot, and determine the distance between the center of the light spot and the crosshair markings. The specific method is as follows: Using the smallest pixel size as the unit, pixels are converted into black and white binary images through binarization to determine the pixel positions of the light spot edges; sub-pixel level interpolation processing is performed on the edge pixels based on the least squares method; and selection... As the edge curve function of the imaging spot, spot fitting is performed; the values ​​of coefficients A, B, C, D, E, and F are calculated. The coordinates of the center of the ellipse are obtained by converting the coefficients. The length of the major semi-axis is 'a', and the length of the minor semi-axis is 'b'; the conversion formula is: x-coordinate of the center of the ellipse ; ordinate of the ellipse center ; ； ； , The distance from the center of the light spot to the center of the crosshair is given. The tilt angle θ of the clamping platform is obtained from the length of the major semi-axis a and the length of the minor semi-axis b. The attitude compensation command of the clamping platform is generated by the offset distance and the tilt angle θ. The command is executed by driving the three-axis adjustment fixture to perform three-dimensional correction of pitch, yaw and roll of the clamping platform.

4. The method for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 3, characterized in that, It also includes the method for setting up the clamping base: A first-layer platform is set up, and the module clamps on the first-layer platform can elastically clamp camera modules of the same length, different widths, and different shapes from both ends. The second platform is set below the first platform and is slidably connected by a guide rail. The camera module being clamped is moved along the first horizontal direction by the movement of the first platform and the second platform along the guide rail. The third platform is set below the second platform and is slidably connected by a guide rail. The camera module being clamped is moved along the second horizontal direction by the movement of the second platform and the third platform along the guide rail. A fourth platform is set below the third platform. Four tilt adjustment screws are set between the third and fourth platforms. By rotating the four tilt adjustment screws, the clamped camera module can be rotated around the first horizontal direction and around the second horizontal direction, thus realizing the roll and pitch of the clamped camera module. The fifth platform is set below the fourth platform. An angle adjustment screw is set at the center between the fourth and fifth platforms. By rotating the angle adjustment screw, the clamped camera module can be rotated around the third vertical direction, thus achieving the yaw of the clamped camera module. The bottom of the fifth platform is slidably connected to the clamping platform through a guide groove structure. The sliding trajectory of the guide groove structure is set radially along the clamping platform, so that the clamped camera module moves to the center position of the clamping platform.

5. A method for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 4, characterized in that, The S6 also includes a method for aligning the imaging center with the center of the crosshair chart in the image, specifically as follows: Determine whether the imaging center is located on the crosshair and the 45° radial direction. If not, adjust the first and second platforms in the five-degree-of-freedom module clamping base by translating the camera module under test until the optical axis center falls on the crosshair or the 45° radial line, and proceed to the next step of judgment. Determine whether the optical axis of the camera module is perpendicular to the plane of the crosshair card. If it is not perpendicular, use the tilt adjustment screw between the third and fourth platforms in the five-degree-of-freedom module clamping base to adjust the camera module under test to rotate around the first and second horizontal directions until the center line of the optical axis is parallel to the central axis of the crosshair card, and proceed to the next step of judgment. Determine the consistency of the horizontal and vertical directions between the camera module and the crosshair. If the horizontal and vertical directions are inconsistent: use the angle adjustment screw between the fourth and fifth platforms in the five-degree-of-freedom module clamping base to adjust the camera module under test to rotate around the third horizontal direction until the crosshair of the camera module under test is parallel to the horizontal and vertical directions, and proceed to the next step of judgment. Determine whether the optical axis centerline coincides with the center axis of the crosshair. If the optical axis centerline does not coincide, use the first and second platforms in the five-degree-of-freedom module clamping base to adjust again. Move the camera module under test until the optical axis centerline coincides with the center axis of the crosshair. The adjustment is then complete.

6. A method for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 5, characterized in that: The camera module on the single clamping base is symmetrically fixed by six pairs of module jaws on the left and right sides. The module jaws include external soft contact clamping blocks and internal clamping support springs. The external soft contact clamping blocks are used to fit and clamp the camera module. The internal clamping support springs are fixedly connected to the external soft contact clamping blocks, and the compression stroke of the internal clamping support springs is adjustable.

7. An apparatus for batch testing of imaging quality of multiple types of vehicle-mounted cameras, employing the testing method described in any one of claims 1-6, characterized in that... include: The test target unit includes a positive cross reflective target and a target fixing bracket. The surface of the positive cross reflective target is coated with a diffuse reflective coating with 95% reflectivity to provide accurate cross markings. The target fixing bracket is used to firmly support the positive cross reflective target and ensure that its position remains fixed. The clamping and positioning unit includes a camera module mounting platform, an infrared point light source array, an auxiliary positioning camera module, and a multi-station clamping fixture; The camera module mounting platform is used to mount multiple camera modules, with a total of 8 camera modules, which are arranged at equal intervals radially along the camera module mounting platform; Infrared point light source arrays are vertically and evenly distributed at the four corners of the camera module mounting platform; the light spots emitted by the point light sources are regular circular spots to ensure image consistency. The auxiliary positioning camera module is integrated into the central axis of the camera module mounting platform. Its optical axis is perpendicular to the platform plane. It is used to capture images of the crosshair and point light source, providing a basis for attitude adjustment. The multi-station clamping fixture is set on the camera module mounting platform. It adopts a modular design and is equipped with a variable diameter clamp to adapt to camera modules of different sizes and shapes. The clamping fixture is equipped with a pneumatic adaptive clamp and a pressure sensor to achieve controllable adjustment of clamping force. The contact surface of the clamp is covered with a silicone anti-slip layer.

8. The apparatus for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 7, characterized in that, Also includes: The motion compensation unit includes a base adjustment system and a three-axis adjustment fixture; The base adjustment system is located between the multi-station clamping fixture and the camera module mounting platform. This system enables the camera module to adjust its movement in five degrees of freedom. It includes multiple high-precision slide rails and multiple screws. The high-precision slide rails support precise movement of the camera module in a plane, while the screws support rotational movement of the camera module around three coordinate directions. The three-axis adjustment fixture is located at the bottom of the camera module mounting platform and includes electrically adjustable leveling legs and a linked rotary table. This allows for three-dimensional correction of the camera module mounting platform in pitch, yaw, and roll. The electrically adjustable leveling legs provide height compensation, and the linked rotary table adjusts the horizontal deflection angle.

9. The apparatus for batch testing of imaging quality of multiple types of vehicle-mounted cameras according to claim 8, characterized in that, Also includes: The image analysis unit includes an image processing chip and a motion control card. The image processing chip is integrated into the intelligent analysis unit to process images captured by the auxiliary positioning camera module and the camera module under test in real time. The light spot contour curve is fitted by the least squares method to calculate the center coordinates and semi-major and semi-minor axes of the light spot. The motion control card generates attitude compensation commands based on the image analysis results to control the movement of the three-axis adjustment fixture and the base adjustment system.

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