A multi-angle chart measuring device for vehicle camera calibration

Abstract

The application belongs to the technical field of camera calibration, and particularly relates to a multi-angle chart measuring device for vehicle-mounted camera calibration, which comprises a first calibration assembly; two fastening frames are installed on the first calibration assembly, two installation plates are installed between the two fastening frames, and two first electric push rods are installed on the opposite sides of the two installation plates; in the application, the angles of a second calibration assembly and a third calibration assembly are adjusted through an angle adjusting assembly, and finally, parameters of a camera are collected; through the setting of multiple calibration assemblies which are arranged in a staggered manner and whose positions and angles can be independently adjusted, multi-angle, synchronous shooting and parameter collection of the camera are realized; on the one hand, the design significantly improves the calibration efficiency and meets the needs of complex and changeable calibration scenes; on the other hand, the design innovatively replaces a traditional six-axis mechanical hand used for adjusting the position of a product with the movement of the calibration assembly, thereby effectively simplifying the equipment structure and greatly reducing the manufacturing cost and maintenance difficulty.

Description

Technical Field

[0001] This invention belongs to the field of camera calibration technology, specifically a multi-angle chart measurement device for vehicle camera calibration. Background Technology

[0002] The multi-angle chart measurement device for vehicle camera calibration is used for parameter calibration and recording of vehicle cameras. The more concise standard term in the industry is camera calibration and solidification. It mainly performs parameter calibration, i.e., the parameter acquisition stage: internal parameters, external parameters and distortion coefficients are obtained through calibration equipment (target plate, ranging tool, etc.), which is the core link of "calibration".

[0003] The programming stage, also known as the parameter writing stage, involves burning the collected valid parameters into the camera's storage chip (such as Flash). This is part of the "solidification" or "programming" process.

[0004] In essence, activating a camera from a "blank device" to one capable of "precise sensing" is a necessary prerequisite for its use in ADAS systems.

[0005] The parameter acquisition stage (i.e., calibration) is crucial for ensuring the performance of a single vehicle-mounted camera. It typically occurs after the lens and sensor have completed AA (Active Alignment) assembly, adhesive curing, and baking processes. Because vehicle-mounted camera lenses exhibit radial and tangential distortion, and the assembly of the sensor and lens may also have slight deviations, intrinsic parameter calibration is required using equipment such as a checkerboard calibration board. This process determines intrinsic parameters such as the camera's focal length and principal point coordinates, corrects lens distortion parameters, establishes the correspondence between 2D image pixels and 3D world coordinates, and also tests indicators such as color difference, white balance, and resolution using calibration equipment to prevent subsequent imaging issues such as straight line curvature and dimensional distortion.

[0006] Conventional vehicle camera calibration equipment uses a fixed calibration plate on the top, with a six-axis robotic arm gripping the product to be calibrated (the vehicle camera). By adjusting the position, angle, and distance from the calibration plate of the vehicle camera, parameters are collected from different angles. Each shot is taken from a single angle, and multiple adjustments are required to achieve parameter collection from multiple angles, resulting in low overall parameter collection efficiency. Therefore, a multi-angle chart measurement device for vehicle camera calibration is needed to solve the above problems. Summary of the Invention

[0007] To overcome the shortcomings of existing technologies, this invention proposes a multi-angle chart measurement device for vehicle-mounted camera calibration. This invention primarily addresses the problem of low efficiency in the parameter acquisition process of existing vehicle-mounted camera calibration equipment.

[0008] The technical solution adopted by the present invention to solve its technical problem is: a multi-angle chart measuring device for vehicle camera calibration, comprising a first calibration component; two fastening brackets are installed on the first calibration component, two mounting plates are installed between the two fastening brackets, and two first electric push rods are installed on opposite sides of the two mounting plates. A movable seat is fixedly connected to the end of each of the first electric push rods, and a guide rod is slidably connected inside the movable seat. The guide rod is installed on the surface of the first calibration component. A first hinge component is installed outside one movable seat, and a second hinge component is installed outside the other movable seat. A third calibration component is installed outside the first hinge component, and a second calibration component is installed outside the second hinge component. The first calibration component and the second calibration component, located on the same side of the first calibration component, are staggered. An angle adjustment component is installed on both the first calibration component and the second calibration component. The angle adjustment component on the third calibration component is installed outside the first hinge component, and the angle adjustment component on the second calibration component is installed outside the second hinge component.

[0009] The angle adjustment assembly includes a first support plate mounted on a third calibration assembly and a second support plate mounted outside a first hinge assembly. Two fixing blocks are mounted on the first support plate, and a hinge seat is rotatably connected within each of the two fixing blocks. A third screw is mounted on the hinge seat, and a fifth gear is externally threaded onto the third screw. A rotating sleeve is fitted around the third screw. A third pressure frame is mounted on the fifth gear and installed outside the rotating sleeve. A connecting seat is rotatably connected outside the rotating sleeve and installed under the second support plate. A sixth gear meshes with the fifth gear, and a rotating shaft is mounted inside the sixth gear. A worm gear is mounted outside the rotating shaft, and a worm meshes with the worm gear. A second drive motor is mounted at one end of the worm and is mounted on the rotating sleeve.

[0010] Two rotary connecting assemblies are installed between the first support plate and the second support plate. Each rotary connecting assembly includes a first side plate mounted on the first support plate and a second side plate mounted below the second support plate. A support groove is formed on the side of the second side plate, and the middle of the support groove protrudes inward. A middle seat is provided in the support groove near the first side plate. Two support wheels are rotatably connected in the middle seat. The support wheels are located in the support groove away from the first side plate. One support wheel contacts the top wall of the support groove, and the other support wheel contacts the bottom wall of the support groove. A support shaft is installed on the side of the middle seat near the first side plate. The support shaft is rotatably connected in the first side plate. A top block is installed on the side of the support shaft. A second screw is provided under the top block. A horizontal plate is externally threaded to the second screw and is installed outside the first side plate.

[0011] The third calibration component includes two connecting frames. An end plate is mounted on the bottom of each connecting frame. Two extension frames are mounted on the sides of each end plate. A calibration plate and a lamp plate assembly are located within each connecting frame. The lamp plate assembly is positioned above the calibration plate. Two clamping plates are located below the calibration plate and are situated within the connecting frames. Screws are rotatably connected to the clamping plates and threaded into the connecting frames. A third gear is mounted on the end of the screw outside the connecting frames. A first rack is externally meshed with the third gear. A first pressure frame is slidably connected to the first rack and is mounted below the connecting frames. A first screw is connected to the end of the first rack near the end plate. A threaded cylinder is threaded onto the first screw. A vertical plate mounted below the end plate is rotatably connected to the threaded cylinder. A removal hole is provided within the end plate.

[0012] A rubber sleeve is installed on the outside of the threaded cylinder, and a stop bar is installed on the outer sleeve of the rubber sleeve. A support bar is installed on the outside of the vertical plate, and the support bar is located below the stop bar. A stop block is provided on the side of the end plate. The stop block and the stop bar are located on the upper and lower sides of the extraction hole, respectively.

[0013] A pressure sensor is installed outside the connecting frame, and an alarm is provided on the side of the end plate. Both the alarm and the pressure sensor are electrically connected to the controller.

[0014] A rotating shaft is rotatably connected inside the connecting frame. A rotating rod is installed at one end of the rotating shaft inside the connecting frame. A pressing wheel is rotatably connected inside the rotating rod. A fourth gear is installed at one end of the rotating shaft outside the connecting frame. A second rack is externally meshed with the fourth gear. A second pressure frame is slidably connected to the second rack and installed outside the connecting frame. A middle rod is installed at one end of the second rack near the end plate. A second electric push rod is installed on the side of the middle rod and installed on the side of the connecting frame.

[0015] Two grooves are formed on the end plate, and two support sleeves are installed on the side of the lamp panel assembly. The support sleeves are located in the grooves, and a slide rod is slidably connected inside the support sleeve. A middle block is installed at the end of the slide rod above the lamp panel assembly, and a third electric push rod is installed outside the middle block. The third electric push rod is installed outside the end plate.

[0016] The lamp panel assembly includes a lampshade, a mica plate installed inside the lampshade, a connecting shaft rotatably connected inside the lampshade, a first gear fixedly connected to one end of the connecting shaft outside the lampshade, a second gear meshing with the first gear, a first drive motor mounted on the second gear, the first drive motor mounted outside the lampshade, a turntable mounted on one end of the connecting shaft inside the lampshade, an elastic strip mounted under the turntable, and a light strip mounted under the elastic strip.

[0017] The elastic strip is equipped with a first magnetic block at both ends, and the lampshade is equipped with a second magnetic block on each of the four sides of the inner wall. The first calibration component, the second calibration component and the third calibration component have the same structural configuration.

[0018] The beneficial effects of this invention are as follows:

[0019] 1. In this invention, the device is first assembled onto a calibration equipment using a mounting plate. Then, the controller extends the first electric push rod, causing it to move the movable seat away from the first calibration component until the second and third calibration components move horizontally to a designated position. The angle adjustment component then adjusts the angles of the second and third calibration components. Finally, parameters are acquired from the camera. By setting multiple staggered calibration components with independently adjustable positions and angles, multi-angle, synchronous shooting and parameter acquisition from the camera are achieved. This design significantly improves calibration efficiency and meets the needs of complex and varied calibration scenarios. Furthermore, it innovatively replaces the traditional six-axis robot used for adjusting product position with the movement of the calibration components, effectively simplifying the equipment structure and significantly reducing manufacturing costs and maintenance difficulty.

[0020] 2. In this invention, the integrated single-drive design enables rapid installation of the calibration plate. After placing the calibration plate, the operator only needs to rotate a single control component with one hand to trigger an automated sequence of "positioning first, then clamping." The entire process requires no pre-tightening or multi-step tightening, completing the process in one go, reducing replacement time from minutes to seconds, resulting in extremely high efficiency. It achieves true one-handed operation, reducing operational difficulty: The most prominent advantage of this solution is that the calibration plate is automatically locked by the linkage stop lever at the initial stage of rotating the threaded cylinder, eliminating the need for hand support. This allows the operator to remove both hands at the beginning of installation, requiring only continuous rotation to complete the final clamping. This completely solves the problem of traditional replacement methods requiring one hand for support and the other for operation, significantly reducing operational complexity and labor intensity. It enhances the equipment's versatility and adaptability: Due to the extremely simple and quick calibration plate replacement process, this equipment can easily adapt to calibration plates of different sizes and specifications, flexibly addressing the calibration needs of different models and field-of-view cameras, expanding the equipment's application range, and reducing the cost of configuring multiple sets of dedicated calibration equipment for different products.

[0021] 3. In this invention, the built-in pressure sensor can monitor the actual clamping force of the clamping plate on the calibration plate in real time. A closed-loop feedback system is constructed through the controller and alarm, which transforms the clamping process from a "qualitative" judgment relying on the operator's subjective feeling to a "quantitative" control based on precise values, ensuring that the clamping force is always within the optimal preset range; improving the safety of calibration plate assembly and eliminating damage: Calibration plates are usually high-precision optical components with fragile surfaces. This solution, through force control alarm, fundamentally eliminates the risk of deformation, cracking, or damage to the surface coating of the calibration plate due to over-tightening, effectively protecting valuable calibration plate assets and reducing usage costs; ensuring the stability and consistency of the calibration process: Stable and reliable clamping is a prerequisite for ensuring calibration accuracy. This solution ensures that the clamping force is consistent and sufficient after each calibration plate replacement, avoiding slight displacement of the calibration plate during the calibration process due to unstable clamping, thereby ensuring the repeatability and accuracy of calibration data.

[0022] 4. In this invention, the device continuously changes the distance between the light source and the calibration plate through an electric mechanism, achieving stepless adjustment of the light intensity on the calibration plate surface. This makes the illumination no longer a few fixed levels, but a continuously variable that can be precisely set, providing a hardware foundation for refined calibration; enhancing the environmental adaptability and calibration flexibility of the equipment: because the light intensity can be flexibly adjusted, this device can actively adapt to different models and different photosensitive performance of vehicle cameras. At the same time, it can also quickly optimize the lighting parameters according to the actual ambient light or the requirements of specific calibration algorithms, greatly expanding the applicability and calibration flexibility of the equipment; ensuring the accuracy and consistency of calibration results: a stable and reproducible lighting environment is a prerequisite for obtaining high-quality calibration data. This solution effectively eliminates measurement errors and uncertainties introduced by changes in light by providing standardized and quantifiable lighting conditions, ensuring a high degree of consistency in the results of multiple calibrations or different batches of calibration, providing a reliable guarantee for the quality control of mass production calibration of cameras. Attached Figure Description

[0023] The invention will now be further described with reference to the accompanying drawings.

[0024] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0025] Figure 2 This is a three-dimensional structural schematic diagram of the first electric push rod in this invention;

[0026] Figure 3 This is a three-dimensional structural diagram of the third calibration component in this invention, viewed from below.

[0027] Figure 4 In this invention Figure 3 Enlarged structural diagram of section A;

[0028] Figure 5 This is a three-dimensional structural schematic diagram of the third calibration component in this invention;

[0029] Figure 6 In this invention Figure 5 Enlarged structural diagram of section B;

[0030] Figure 7 In this invention Figure 5 Enlarged structural diagram of section C;

[0031] Figure 8 This is a three-dimensional cross-sectional structural diagram of the third calibration component in this invention;

[0032] Figure 9 In this invention Figure 8 Enlarged structural diagram of section D in the middle;

[0033] Figure 10 This is a three-dimensional structural diagram of the angle adjustment component in this invention;

[0034] Figure 11 This is a schematic diagram of the three-dimensional cross-sectional structure of the rotary connection component in this invention;

[0035] Figure 12 This is a three-dimensional structural schematic diagram of the support shaft in this invention;

[0036] Figure 13 This is a schematic diagram of the three-dimensional cross-sectional structure of the lamp panel assembly in this invention;

[0037] Figure 14 In this invention Figure 13 Enlarged structural diagram of section E in the middle;

[0038] Figure 15 This is a schematic diagram of the cross-sectional structure of the lamp panel assembly in this invention;

[0039] In the diagram: 1. First calibration assembly; 2. Fastening bracket; 3. Mounting plate; 4. First electric push rod; 5. First hinge assembly; 6. Second hinge assembly; 7. Second calibration assembly; 8. Third calibration assembly; 81. Connecting frame; 82. Calibration plate; 83. Lamp panel assembly; 8301. Lampshade; 8302. Mica plate; 8303. First gear; 8304. Connecting shaft; 8305. Second gear; 8306. First drive motor; 8307. Turntable; 8308. Elastic strip; 8 309. LED strip; 8310. First magnet; 8311. Second magnet; 84. Clamping plate; 85. Screw; 86. End plate; 87. Extension frame; 9. Third gear; 10. First rack; 11. First pressure frame; 12. First screw; 13. Threaded cylinder; 14. Vertical plate; 15. Pressure sensor; 16. Alarm; 17. Rubber sleeve; 18. Stop bar; 19. Support bar; 20. Stop block; 21. Removal hole; 22. Groove; 23. Rotating shaft; 24. Rotating rod; 25. 26. Extrusion wheel; 27. Fourth gear; 28. Second rack; 29. ​​Second pressure frame; 30. Intermediate rod; 31. Second electric push rod; 32. Support sleeve; 33. Slide rod; 34. Intermediate block; 35. Third electric push rod; 36. Angle adjustment assembly; 3501. First support plate; 3502. Second support plate; 3503. Rotary connection assembly; 35031. First side plate; 35032. Second side plate; 35033. Support groove; 35034. Connecting seat; 35035. Support 35036, Wheel; 35037, Support Shaft; 35038, Top Block; 35039, Second Screw; 35030, Horizontal Plate; 3504, Fixing Block; 3505, Hinge Seat; 3506, Third Screw; 3507, Rotating Sleeve; 3508, Intermediate Seat; 3509, Fifth Gear; 3510, Third Pressure Frame; 3511, Sixth Gear; 3512, Rotating Shaft; 3513, Worm Gear; 3514, Worm; 3515, Second Drive Motor; 36, Moving Seat; 37, Guide Rod. Detailed Implementation

[0040] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0041] like Figures 1 to 15As shown, a multi-angle chart measuring device for calibrating vehicle-mounted cameras includes a first calibration component 1; two fastening brackets 2 are mounted on the first calibration component 1, and two mounting plates 3 are mounted between the two fastening brackets 2. Two first electric push rods 4 are mounted on opposite sides of the two mounting plates 3. The ends of the first electric push rods 4 are fixedly connected to movable seats 36, and guide rods 37 are slidably connected inside the movable seats 36. The guide rods 37 are mounted on the surface of the first calibration component 1. A first hinge component 5 is mounted outside one movable seat 36, and a second hinge component 6 is mounted outside the other movable seat 36. A third calibration component 8 is mounted outside the first hinge component 5, and a second calibration component 7 is mounted outside the second hinge component 6. The first calibration component 1 and the second calibration component 7, located on the same side of the first calibration component 1, are offset. Angle adjustment components 35 are mounted on both the first calibration component 1 and the second calibration component 7. The angle adjustment components 35 on the third calibration component 8 are mounted outside the first hinge component 5, and the angle adjustment components 35 on the second calibration component 7 are mounted outside the second hinge component 6.

[0042] First, the device is assembled onto the calibration equipment via mounting plate 3. Then, the controller controls the extension of the first electric push rod 4, causing the first electric push rod 4 to move the moving seat 36 away from the first calibration component 1 until the second calibration component 7 and the third calibration component 8 move horizontally to the designated position. Then, the angle adjustment component 35 is used to adjust the angle of the second calibration component 7 and the third calibration component 8. Finally, the camera parameters are collected. In this solution, five staggered and adjustable second calibration components 7 and third calibration components 8 are set. Since the second calibration components 7 and third calibration components 8 can move left and right and adjust their angles, they can be set according to calibration requirements to meet multiple calibration needs. The camera can be shot from multiple angles simultaneously, thereby improving the parameter collection efficiency of the camera. Moreover, there is no need to set up a six-axis robot to adjust the product position, reducing equipment costs.

[0043] like Figure 10As shown, the angle adjustment assembly 35 includes a first support plate 3501 mounted on the third calibration assembly 8 and a second support plate 3502 mounted outside the first hinge assembly 5. Two fixing blocks 3504 are mounted on the first support plate 3501. A hinge seat 3505 is rotatably connected within the two fixing blocks 3504. A third screw 3506 is mounted on the hinge seat 3505. A fifth gear 3509 is externally threaded onto the third screw 3506. A rotating sleeve 3507 is fitted over the third screw 3506. A rotating sleeve 3507 is mounted on the fifth gear 3509. The third pressure frame 3510 is located outside the moving sleeve 3507. A connecting seat 35034 is rotatably connected to the outside of the rotating sleeve 3507. The connecting seat 35034 is installed under the second support plate 3502. The fifth gear 3509 is externally meshed with the sixth gear 3511. A rotating shaft 3512 is installed inside the sixth gear 3511. A worm gear 3513 is externally installed on the rotating shaft 3512. A worm 3514 is externally meshed on the worm gear 3513. A second drive motor 3515 is installed at one end of the worm 3514. The second drive motor 3515 is installed on the rotating sleeve 3507.

[0044] First, the device is assembled onto the calibration equipment using mounting plate 3. Then, the controller controls the extension of the first electric push rod 4, causing it to move the movable seat 36 away from the first calibration component 1 until the second calibration component 7 and the third calibration component 8 move horizontally to the designated position. Next, the controller controls the second drive motor 3515 to rotate the worm gear 3514. At this time, the worm gear 3514 drives the worm wheel 3513 and the sixth gear 3511 to rotate. Simultaneously, the sixth gear 3511 drives the fifth gear 3509 to rotate. Because the fifth gear 3509 is threadedly connected to the third screw 3506 and is restricted by the third pressure frame 3510, it rotates upwards on the surface of the third screw 3506. Since the bottom of the third screw 3506 is fixed, and the fifth gear 3509 drives the rotating sleeve 3507 upwards, the rotating sleeve 3507 rotates within the connecting seat 35034. Simultaneously, the hinge seat 3505 is within the fixing block 3504. The rotation of the first support plate 3501 relative to the second support plate 3502 causes the first support plate 3501 to rotate, thereby adjusting the angle between the two support plates. The third calibration component 8 rotates with the second support plate 3502, completing the angle adjustment of the third calibration component 8. The second drive motor 3515 controls the rotation of the worm wheel 3513 and the sixth gear 3511 through the worm gear 3514. Then, the sixth gear 3511 controls the rotation of the fifth gear 3509, realizing that the rotation of the second drive motor 3515 is converted into low speed and high torque output. At the same time, the high-resolution micro-motion capability brought by the multi-stage reduction and precision thread pair allows the angle to change slightly and controllably, thereby stably and accurately controlling the rotation of the fifth gear 3509, making the rotating sleeve 3507 rotate more stably, thus realizing the stable and precise angle adjustment of the first support plate 3501 and the third calibration component 8. This makes the parameter acquisition of the camera more accurate and reliable, thereby improving the accuracy, reliability and automation level of camera parameter calibration.

[0045] like Figures 11 to 12As shown, two rotary connecting assemblies 3503 are installed between the first support plate 3501 and the second support plate 3502. Each rotary connecting assembly 3503 includes a first side plate 35031 mounted on the first support plate 3501 and a second side plate 35032 mounted below the second support plate 3502. A support groove 35033 is formed on the side of the second side plate 35032, with a central portion protruding inwards. An intermediate seat 3508 is provided within the support groove 35033 near the first side plate 35031. Two support wheels 35035 are rotatably connected within the intermediate seat 3508, and the support wheels 35035 are located within the support groove 3502. In the portion of 33 away from the first side plate 35031, one support wheel 35035 contacts the top wall of the support groove 35033, and the other support wheel 35035 contacts the bottom wall of the support groove 35033. A support shaft 35036 is installed on the side of the intermediate seat 3508 near the first side plate 35031. The support shaft 35036 is rotatably connected inside the first side plate 35031. A top block 35037 is installed on the side of the support shaft 35036. A second screw 35038 is provided under the top block 35037. A horizontal plate 35039 is externally threaded to the second screw 35038. The horizontal plate 35039 is installed outside the first side plate 35031.

[0046] When adjusting the angle of the third calibration component 8, firstly, the second screw 35038 is rotated. Simultaneously, the second screw 35038 pushes the top block 35037 and the support shaft 35036, causing the support shaft 35036 to drive the intermediate seat 3508 and the two support wheels 35035 to rotate. This causes the two support wheels 35035 to press tightly against the inner wall of the support groove 35033. Then, the controller controls the second drive motor 3515 to drive the worm gear 3514 to rotate. At this time, the worm gear 3514 drives the worm wheel 3513 and the sixth gear 3511 to rotate. Simultaneously, the sixth gear 3511 drives the fifth gear 3509 to rotate, causing the fourth gear 26 to rotate and move upwards on the surface of the third screw 3506. Since the bottom end of the third screw 3506 is fixed, and the fourth gear 26 is pressed by the third pressure frame 3510, the fourth gear 26 drives the rotating sleeve 3507 to move upward on the surface of the third screw 3506, so that the rotating sleeve 3507 rotates in the connecting seat 35034. At the same time, the hinge seat 3505 rotates in the fixed block 3504. At this time, both support wheels 35035 are pressed against the inner wall of the support groove 35033. The two support wheels 35035 move steadily in the support groove 35033, guiding the movement of the second side plate 35032. This makes the third calibration component 8 more stable as the second support plate 3502 rotates, and makes the third calibration component 8 adjust the angle more accurately.

[0047] Furthermore, when the first side plate 35031 drives the support wheel 35035 to move within the support groove 35033, since only one side of the support wheel 35035 contacts the inner wall of the support groove 35033, the support wheel 35035 rolls on the inner wall of the support groove 35033. Moreover, since the rolling friction of the support wheel 35035 is small, the resistance encountered by the first side plate 35031 when moving is small, which in turn reduces the operating current of the second drive motor 3515 from being too large, and improves the energy efficiency and safety of the second drive motor 3515 during operation.

[0048] like Figures 3 to 6 As shown, the first calibration component 1, the second calibration component 7, and the third calibration component 8 have the same structural configuration. The third calibration component 8 includes two connecting frames 81, with end plates 86 mounted on the bottom of the two connecting frames 81. Two extension frames 87 are mounted on the sides of the end plates 86. A calibration plate 82 and a lamp plate assembly 83 are provided inside the two connecting frames 81. The lamp plate assembly 83 is located above the calibration plate 82. Two clamping plates 84 are provided below the calibration plate 82, and the clamping plates 84 are located inside the connecting frames 81. Screws 85 are rotatably connected to the clamping plates 84. The screw 85 is threaded inside the connecting frame 81. The end of the screw 85 located outside the connecting frame 81 is equipped with a third gear 9. The third gear 9 is externally meshed with a first rack 10. The first rack 10 is slidably connected to a first pressure frame 11. The first pressure frame 11 is installed under the connecting frame 81. The end of the first rack 10 near the end plate 86 is connected to a first screw 12. The first screw 12 is externally threaded to a threaded cylinder 13. The threaded cylinder 13 is rotatably connected to a vertical plate 14 installed under the end plate 86. The end plate 86 has a removal hole 21.

[0049] When a larger calibration plate 82 is needed for a camera of another size, the calibration plate 82 must first be removed. Then, the threaded cylinder 13 is rotated. This causes the threaded cylinder 13 to move the first screw 12 and the first rack 10 closer to the end plate 86, thereby causing the first rack 10 to rotate the third gear 9 and the screw 85. The screw 85 then causes the clamping plate 84 to separate from the calibration plate 82. The calibration plate 82 can then be removed downwards through the removal hole 21. Next, the larger calibration plate 82 is placed into the connecting frame 81 through the removal hole 21, and then the threaded cylinder is rotated. 13. At this time, the threaded cylinder 13 drives the first screw 12 and the first rack 10 to move away from the end plate 86, thereby causing the first rack 10 to drive the third gear 9 and the screw 85 to rotate. As a result, the screw 85 rotates, it drives the clamping plate 84 to move closer to the calibration plate 82. At this time, the clamping plate 84 clamps and secures the calibration plate 82, thereby completing the replacement of the calibration plate 82. The process of replacing the calibration plate 82 in this solution is smoothly linked and easy to operate, which significantly improves the replacement efficiency of the calibration plate 82 and enables the equipment to flexibly adapt to the calibration requirements of cameras of different sizes.

[0050] like Figure 6As shown, a rubber sleeve 17 is installed on the outside of the threaded cylinder 13, and a stop bar 18 is installed on the outside of the rubber sleeve 17. A support bar 19 is installed on the outside of the vertical plate 14, and the support bar 19 is located below the stop bar 18. A stop block 20 is provided on the side of the end plate 86. The stop block 20 and the stop bar 18 are located on the upper and lower sides of the extraction hole 21, respectively.

[0051] When the threaded cylinder 13 is rotated, the rubber sleeve 17 drives the stop rod 18 to rotate, causing the stop rod 18 to rotate closer to the end plate 86 until the stop rod 18 abuts against the surface of the stop block 20. This stops the calibration plate 82 located in the extraction hole 21. At this point, the hand holding the calibration plate 82 can be released after rotating the threaded cylinder 13 less than one revolution. Then, the threaded cylinder 13 is rotated again. Since the stop rod 18 is blocked by the stop block 20, the threaded cylinder 13 and the rubber sleeve 17 rotate within the stop rod 18. This causes the threaded cylinder 13 to drive the first screw 12 and the first rack 10 away from the end plate 86. This causes the first rack 10 to drive the third gear 9 and the screw 85 to rotate, and then the screw 85... As the rotation occurs, the clamping plate 84 moves closer to the calibration plate 82. At this time, the synchronously moving clamping plate 84 clamps and secures the calibration plate 82, thus completing the assembly of the calibration plate 82. This eliminates the need to pre-tighten one end of the calibration plate 82 and then tighten the screws 85 to clamp the calibration plate 82 before assembly, saving the steps of replacing the calibration plate 82 and making the replacement of the calibration plate 82 more efficient. Furthermore, during the assembly of the calibration plate 82, the hand pushing the calibration plate 82 can be removed by rotating the threaded cylinder 13 less than one turn, eliminating the need to hold the calibration plate 82 with one hand throughout the process, making the assembly of the calibration plate 82 more convenient.

[0052] like Figures 4 to 6 As shown, a pressure sensor 15 is installed outside the connecting frame 81, and an alarm 16 is provided on the side of the end plate 86. Both the alarm 16 and the pressure sensor 15 are electrically connected to the controller.

[0053] When assembling the calibration plate 82, the calibration plate 82 is placed into the connecting frame 81 through the removal hole 21. Then, the threaded cylinder 13 is rotated. At this time, the threaded cylinder 13 drives the first screw 12 and the first rack 10 to move away from the end plate 86, thereby causing the first rack 10 to drive the third gear 9 and the screw 85 to rotate. This causes the screw 85 to drive the clamping plate 84 to move and be stably clamped on the surface of the calibration plate 82. At this time, the end of the first rack 10 presses against the pressure sensor 15. When the pressure sensor 15 detects that the pressure value has reached the preset range, the controller controls the alarm 16 to sound an alarm. At this time, the rotation of the threaded cylinder 13 is stopped. In this solution, the movement range of the first rack 10 is detected, so as to accurately ensure the movement range of the screw 85, thereby ensuring that the clamping force of the clamping plate 84 on the calibration plate 82 is moderate. There will be no situation where the clamping force is too large and damages the calibration plate 82, or the clamping force is too small and the clamping is unstable. This ensures that the assembly process of the calibration plate 82 is more accurate and safer.

[0054] like Figures 8 to 9 As shown, a rotating shaft 23 is rotatably connected inside the connecting frame 81. A rotating rod 24 is installed at one end of the rotating shaft 23 inside the connecting frame 81. A pressing wheel 25 is rotatably connected inside the rotating rod 24. A fourth gear 26 is installed at one end of the rotating shaft 23 outside the connecting frame 81. A second rack 27 is meshed with the fourth gear 26. A second pressure frame 28 installed outside the connecting frame 81 is slidably connected to the second rack 27. An intermediate rod 29 is installed at one end of the second rack 27 near the end plate 86. A second electric push rod 30 is installed on the side of the intermediate rod 29. The second electric push rod 30 is installed on the side of the connecting frame 81.

[0055] The controller controls the second electric push rod 30 to shorten. At this time, the second electric push rod 30 drives the second rack 27 to move closer to the end plate 86 via the intermediate rod 29. Simultaneously, the second rack 27 drives the fourth gear 26 to rotate, which in turn drives the rotating rod 24 to rotate upwards via the rotating shaft 23. The rotating rod 24 then drives the pressing wheel 25 to rotate upwards, causing the pressing wheel 25 to push the lamp plate assembly 83 upwards. This increases the distance between the lamp plate assembly 83 and the calibration plate 82. This solution achieves flexible and continuous adjustment of the distance between the lamp plate assembly 83 and the calibration plate 82. By changing this distance, the light intensity received by the surface of the calibration plate 82 can be precisely adjusted, effectively changing the imaging lighting conditions of the camera during calibration. This allows operators to actively optimize lighting parameters according to the photosensitive characteristics of different camera models, ambient light conditions, and the parameter requirements of specific calibration procedures, providing a stable, suitable, and reproducible lighting environment for camera calibration, ultimately improving the accuracy and consistency of calibration results.

[0056] like Figure 7 As shown, two grooves 22 are provided on the end plate 86, and two support sleeves 31 are installed on the side of the lamp panel assembly 83. The support sleeves 31 are located in the grooves 22, and a slide rod 32 is slidably connected in the support sleeves 31. A middle block 33 is installed at one end of the slide rod 32 above the lamp panel assembly 83, and a third electric push rod 34 is installed outside the middle block 33. The third electric push rod 34 is installed outside the end plate 86.

[0057] The controller controls the extension of the third electric push rod 34. At this time, the third electric push rod 34 drives the middle block 33 and the slide rod 32 to move away from the end plate 86. At the same time, the slide rod 32 drives the support sleeve 31 and the lamp plate assembly 83 to move away from the end plate 86, thereby adjusting the lamp plate assembly 83 to move parallel to the calibration plate 82. In this solution, by adjusting the lateral position of the lamp plate assembly 83, the projection angle and coverage of light on the surface of the calibration plate 82 can be optimized, effectively avoiding edge shadows, center overexposure or illumination gradient caused by the fixed position of the light source, ensuring that the feature points on the calibration plate 82 obtain uniform and consistent illumination in the entire field of view, and improving the imaging quality of each frame of calibration image.

[0058] like Figures 13 to 14 As shown, the lamp panel assembly 83 includes a lamp cover 8301, a mica plate 8302 installed inside the lamp cover 8301, a connecting shaft 8304 rotatably connected inside the lamp cover 8301, a first gear 8303 fixedly connected to one end of the connecting shaft 8304 outside the lamp cover 8301, a second gear 8305 meshing with the first gear 8303, a first drive motor 8306 mounted on the second gear 8305, the first drive motor 8306 mounted outside the lamp cover 8301, a turntable 8307 mounted on one end of the connecting shaft 8304 inside the lamp cover 8301, an elastic strip 8308 mounted below the turntable 8307, and a light strip 8309 mounted below the elastic strip 8308.

[0059] The controller controls the first drive motor 8306 to drive the second gear 8305 to rotate. At this time, the second gear 8305 controls the first gear 8303, the connecting shaft 8304 and the turntable 8307 to rotate, so that the turntable 8307 drives the elastic strip 8308 and the light strip 8309 to rotate 90 degrees. At the same time, after the elastic strip 8308 rotates 90 degrees, the deformed part recovers its original shape by its own elasticity, so that the light strip 8309 returns to a straight shape after rotating 90 degrees. In this solution, the angle of the light strip 8309 in the light board assembly 83 is adjusted to change the distribution direction of the light, thereby adjusting the light source to a position that avoids reflected light from directly entering the lens to the greatest extent, thus effectively suppressing glare and overexposed areas of highlights in the image, thereby ensuring clear and uniform imaging of the pattern on the calibration board 82, and ensuring more accurate camera calibration.

[0060] like Figure 15 As shown, a first magnetic block 8310 is installed at both ends of the elastic strip 8308, and a second magnetic block 8311 is installed on each of the four sides of the inner wall of the lampshade 8301.

[0061] The controller controls the first drive motor 8306 to drive the second gear 8305 to rotate. The second gear 8305 then controls the first gear 8303, connecting shaft 8304, and turntable 8307 to rotate. This causes the turntable 8307 to rotate the elastic strip 8308 and lamp strip 8309 by 90 degrees. Simultaneously, after the elastic strip 8308 rotates 90 degrees, the deformed portion recovers its original shape due to its own elasticity. At the same time, the magnetic forces of the first magnetic block 8310 and the second magnetic block 8311 act on the elastic strip 8308, causing it to be pulled by the magnetic forces at both ends. This results in the elastic strip 8308 undergoing both elastic recovery and magnetic force action. The elastic strip 8308 restores the straightness of the lamp strip 8309 after rotating 90 degrees, preventing the elastic strip 8308 from drooping or tilting due to stress relaxation or gravity. This ensures the straightness of the elastic strip 8308 and the lamp strip 8309, thus maintaining a standard and stable straight state for the lamp strip 8309. This eliminates the uneven illumination caused by the deformation of the light source itself. As a result, during the calibration process, regardless of the orientation of the lamp strip 8309, the illumination pattern of the calibration board 82 is purely determined by the angle and can be accurately predicted, greatly improving the comparability and consistency of calibration data under different lighting settings.

[0062] During operation, the device is first assembled onto the calibration equipment via mounting plate 3. Then, the controller controls the extension of the first electric push rod 4, causing it to move the movable seat 36 away from the first calibration component 1 until the second calibration component 7 and the third calibration component 8 move horizontally to the designated position. Next, the controller controls the second drive motor 3515 to rotate the worm gear 3514. At this time, the worm gear 3514 drives the worm wheel 3513 and the sixth gear 3511 to rotate, while the sixth gear 3511 simultaneously drives the fifth gear 3509 to rotate. Furthermore, due to the threaded connection between the fifth gear 3509 and the third screw 3506, and the constraint of the fifth gear 3509 by the third pressure frame 3510, the fifth gear 3509 rotates upwards on the surface of the third screw 3506. Since the bottom end of the third screw 3506 is fixed, and the fifth gear 3509 drives the rotating sleeve 3507 to move upwards, the rotating sleeve 3507 rotates within the connecting seat 35034. Simultaneously, the hinge seat 3505 rotates within the fixed block 3504, thereby driving the first support plate 3501 relative to the third screw 3506. The second support plate 3502 rotates, thereby adjusting the angle between the first support plate 3501 and the second support plate 3502. The third calibration component 8 rotates along with the second support plate 3502, completing the angle adjustment of the third calibration component 8. Then, the controller controls the second electric push rod 30 to shorten. At this time, the second electric push rod 30 drives the second rack 27 to move closer to the end plate 86 through the intermediate rod 29. At the same time, the second rack 27 drives the fourth gear 26, the rotating shaft 23, the rotating rod 24 and the extrusion wheel 25 to rotate upward, thereby causing the extrusion wheel 25 to move towards the end plate 86. The upward pusher moves the lamp panel assembly 83 upward, thereby increasing the distance between the lamp panel assembly 83 and the calibration plate 82. Then, the controller controls the third electric push rod 34 to extend. At this time, the third electric push rod 34 drives the middle block 33 and the slide rod 32 to move away from the end plate 86. At the same time, the slide rod 32 drives the support sleeve 31 and the lamp panel assembly 83 to move away from the end plate 86, thereby adjusting the lamp panel assembly 83 to move parallel to the calibration plate 82. After completing the adjustment of angle, position and light, the control light strip 8309 is then activated to collect parameters from the camera.

[0063] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A multi-angle chart measuring device for calibrating vehicle-mounted cameras; comprising a first calibration component (1); characterized in that: Two fasteners (2) are mounted on the first calibration component (1); two mounting plates (3) are mounted between the two fasteners (2); two first electric push rods (4) are mounted on opposite sides of the two mounting plates (3); a movable seat (36) is fixedly connected to the end of the first electric push rod (4); a guide rod (37) is slidably connected inside the movable seat (36); the guide rod (37) is mounted on the surface of the first calibration component (1); a first hinge assembly (5) is mounted outside one movable seat (36); a second hinge assembly (6) is mounted outside the other movable seat (36); the first A third calibration component (8) is mounted on the outside of a hinge assembly (5); a second calibration component (7) is mounted on the outside of a second hinge assembly (6); the first calibration component (1) and the second calibration component (7) located on the same side of the first calibration component (1) are offset; an angle adjustment component (35) is mounted on both the first calibration component (1) and the second calibration component (7); the angle adjustment component (35) on the third calibration component (8) is mounted on the outside of the first hinge assembly (5); the angle adjustment component (35) on the second calibration component (7) is mounted on the outside of the second hinge assembly (6); The first calibration component (1) and the second calibration component (7) have the same structural configuration as the third calibration component (8); the third calibration component (8) includes two connecting frames (81); end plates (86) are installed at the bottom of the two connecting frames (81); two extension frames (87) are installed on the side of the end plates (86); a calibration plate (82) and a lamp plate assembly (83) are provided in the two connecting frames (81); the lamp plate assembly (83) is located on the upper side of the calibration plate (82); two clamping plates (84) are provided under the calibration plate (82); and the clamping plates (84) are located in the connecting frames (81); a screw (85) is rotatably connected under the clamping plates (84); the screw (85) A screw is threaded inside the connecting frame (81); a third gear (9) is installed at one end of the screw (85) outside the connecting frame (81); a first rack (10) is externally meshed with the third gear (9); a first pressure frame (11) is slidably connected to the first rack (10); the first pressure frame (11) is installed under the connecting frame (81); a first screw (12) is connected to one end of the first rack (10) near the end plate (86); a threaded cylinder (13) is externally threaded to the first screw (12); a vertical plate (14) installed under the end plate (86) is rotatably connected to the threaded cylinder (13); a take-out hole (21) is provided inside the end plate (86). A rubber sleeve (17) is installed on the outside of the threaded cylinder (13); a stop bar (18) is provided on the outside of the rubber sleeve (17); a support bar (19) is installed on the outside of the vertical plate (14); the support bar (19) is located below the stop bar (18); a stop block (20) is provided on the side of the end plate (86); the stop block (20) and the stop bar (18) are located on the upper and lower sides of the extraction hole (21), respectively.

2. A multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 1; characterized in that: The angle adjustment assembly (35) includes a first support plate (3501) mounted on the third calibration assembly (8) and a second support plate (3502) mounted outside the first hinge assembly (5); two fixing blocks (3504) are mounted on the first support plate (3501); a hinge seat (3505) is rotatably connected inside the two fixing blocks (3504); a third screw (3506) is mounted on the hinge seat (3505); a fifth gear (3509) is externally threaded onto the third screw (3506); a rotating sleeve (3507) is sleeved on the third screw (3506); and a rotating sleeve (3507) is mounted on the fifth gear (3509) mounted on the rotating sleeve (3507). 7) The third pressure frame (3510) is externally connected to the rotating sleeve (3507); the connecting seat (35034) is installed under the second support plate (3502); the fifth gear (3509) is externally meshed with the sixth gear (3511); the sixth gear (3511) is internally installed with a rotating shaft (3512); the rotating shaft (3512) is externally installed with a worm gear (3513); the worm gear (3513) is externally meshed with a worm (3514); a second drive motor (3515) is installed at one end of the worm (3514); the second drive motor (3515) is installed on the rotating sleeve (3507).

3. The multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 2, characterized in that: Two rotary connecting assemblies (3503) are installed between the first support plate (3501) and the second support plate (3502); the rotary connecting assembly (3503) includes a first side plate (35031) installed on the first support plate (3501) and a second side plate (35032) installed under the second support plate (3502); a support groove (35033) is provided on the side of the second side plate (35032); the middle part of the support groove (35033) protrudes inward; an intermediate seat (3508) is provided in the part of the support groove (35033) near the first side plate (35031); two support wheels (35035) are rotatably connected in the intermediate seat (3508); the support wheels (35035) are located in the support groove (3503). 3) The part away from the first side plate (35031); one support wheel (35035) contacts the top wall of the support groove (35033); the other support wheel (35035) contacts the bottom wall of the support groove (35033); a support shaft (35036) is installed on the side of the intermediate seat (3508) near the first side plate (35031); the support shaft (35036) is rotatably connected inside the first side plate (35031); a top block (35037) is installed on the side of the support shaft (35036); a second screw (35038) is provided under the top block (35037); a horizontal plate (35039) is externally threaded to the second screw (35038); the horizontal plate (35039) is installed outside the first side plate (35031).

4. The multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 3, characterized in that: A pressure sensor (15) is installed outside the connecting frame (81); an alarm (16) is provided on the side of the end plate (86); both the alarm (16) and the pressure sensor (15) are electrically connected to the controller.

5. A multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 4, characterized in that: A rotating shaft (23) is rotatably connected inside the connecting frame (81); a rotating rod (24) is installed at one end of the rotating shaft (23) inside the connecting frame (81); a pressing wheel (25) is rotatably connected inside the rotating rod (24); a fourth gear (26) is installed at one end of the rotating shaft (23) outside the connecting frame (81); a second rack (27) is meshed with the fourth gear (26); a second pressure frame (28) is slidably connected to the second rack (27) and installed outside the connecting frame (81); an intermediate rod (29) is installed at one end of the second rack (27) near the end plate (86); a second electric push rod (30) is installed on the side of the intermediate rod (29); the second electric push rod (30) is installed on the side of the connecting frame (81).

6. A multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 5, characterized in that: Two grooves (22) are provided on the end plate (86); two support sleeves (31) are installed on the side of the lamp panel assembly (83); the support sleeves (31) are located in the grooves (22); a slide rod (32) is slidably connected in the support sleeves (31); a middle block (33) is installed at one end of the slide rod (32) above the lamp panel assembly (83); a third electric push rod (34) is installed outside the middle block (33); the third electric push rod (34) is installed outside the end plate (86).

7. A multi-angle chart measuring device for vehicle-mounted camera calibration according to claim 6, characterized in that: The lamp panel assembly (83) includes a lampshade (8301); a mica plate (8302) is installed inside the lampshade (8301); a connecting shaft (8304) is rotatably connected inside the lampshade (8301); a first gear (8303) is fixedly connected to one end of the connecting shaft (8304) outside the lampshade (8301); a second gear (8305) is meshed with the first gear (8303); a first drive motor (8306) is installed on the second gear (8305); the first drive motor (8306) is installed outside the lampshade (8301); a turntable (8307) is installed at one end of the connecting shaft (8304) inside the lampshade (8301); an elastic strip (8308) is installed under the turntable (8307); and a light strip (8309) is installed under the elastic strip (8308).

8. A multi-angle chart measuring device for calibrating vehicle-mounted cameras according to claim 7, characterized in that: The elastic strip (8308) has a first magnetic block (8310) installed at both ends; the lampshade (8301) has a second magnetic block (8311) installed on all four sides of its inner wall.

Images