Calibration board for calibrating external parameters of radar

Abstract

The utility model relates to the field of laser radar and camera fusion calibration, and provides a calibration plate for radar external parameter calibration, which comprises a storage box, and bearing plates are fixedly connected below two sides of the storage box; a bearing plate is mounted under the action of a storage box and is perpendicular to a supporting plate, then a placement plate is mounted on one side of the supporting plate, a calibration plate is mounted under the action of a placement groove, a threaded groove is driven by the calibration plate, the threaded groove is matched with a first mark disc, and then a second mark disc is mounted under the action of the threaded groove; the first mark disc and the second mark disc are different in specification, pixel coordinates of the first mark disc and the second mark disc correspond to pixel coordinates of the camera, image detail information of equipment can be richer, the calibration precision is high when the camera carries out position information calibration on the calibration plate, the storage box is slid under the action of the storage box, then a partition plate in the storage box is matched, and the calibration accuracy is improved. And the first mark disc and the second mark disc can be quickly replaced when damaged, and use by a user is facilitated.

Description

Technical Field

[0001] The utility model relates to the field of laser radar and camera fusion calibration, and in particular to a calibration plate for calibrating radar external parameters. Background Art

[0002] With the development of the driverless car industry and the 3D measurement industry, measurement sensors such as LiDAR and cameras play a very important role. In order to improve the perception ability of driverless technology and the accuracy of 3D measurement technology, an efficient and accurate sensor fusion calibration board is produced.

[0003] The existing calibration plates for the fusion of LiDAR and camera data have low accuracy in feature point acquisition and few feature points, which leads to inaccurate final calibration results. In addition, when the markings are damaged, the entire product needs to be replaced, resulting in a serious waste of resources.

[0004] Therefore, it is necessary to provide a calibration board for calibrating radar external parameters to solve the above technical problems. Utility Model Content

[0005] The utility model provides a calibration plate for calibrating radar external parameters, which solves the problem that the existing calibration plate for laser radar and camera data fusion has low accuracy in feature point acquisition and few feature points, resulting in inaccurate final calibration results, and the entire product needs to be replaced when the mark is damaged, resulting in serious waste of resources.

[0006] To solve the above technical problems, the utility model provides a calibration plate for calibrating radar external parameters, including a storage box, load-bearing plates are fixedly connected to the lower sides of the storage box, a support plate is fixedly connected to the top center of the load-bearing plate, and two support plates are provided. A placement plate is provided on one side of the support plate and located above the storage box, a placement groove is provided on the top of the placement plate, and the cross-sectional shape of the placement groove is set to be T-shaped, a calibration plate is slidably installed inside the placement groove, a thread groove is provided in the internal array of the calibration plate, and the number of the thread grooves is set to be multiple, a first mark plate is installed inside the thread groove, and a second mark plate is installed inside the thread groove and located on one side of the first mark plate, and the first mark plate and the second mark plate have different specifications.

[0007] Preferably, a protective plate is provided on the top of the placement plate, and the placement plate and the protective plate are connected by a hinge.

[0008] Preferably, threaded holes are symmetrically opened on the back of the placement plate, and the internal threads of the threaded holes are installed with positioning screws perpendicular to the calibration plate. The interior of the placement plate is fixedly connected with a hollow plate, and the hollow plate is adapted to the support plate. The internal threads of the hollow plate are installed with working bolts in contact with the support plate.

[0009] Preferably, the bottom of the load-bearing plate is symmetrically connected with universal wheels, and a plurality of universal wheels are provided.

[0010] Preferably, a storage box is slidably installed inside the storage box, a partition is fixedly connected to the inner center of the storage box, and a handle is fixedly connected to one end of the storage box.

[0011] Preferably, a positioning plate is rotatably mounted on the upper side of one side of the storage box, and two positioning plates are provided, and both positioning plates are in contact with the outer surface of the storage box.

[0012] Compared with the related art, the calibration plate for calibrating radar external parameters provided by the utility model has the following beneficial effects:

[0013] The beneficial effects of the utility model are as follows: a load-bearing plate is installed under the action of the storage box, the load-bearing plate and the support plate are perpendicular to each other, then the placement plate is installed on one side of the support plate, and then the calibration plate is installed under the action of the placement groove, the thread groove is driven by the calibration plate, the thread groove is adapted to the first mark plate, and then the second mark plate is installed under the action of the thread groove, the first mark plate and the second mark plate have different specifications, the first mark plate and the second mark plate correspond to the pixel coordinates of the camera, which can make the image detail information of the device richer, the camera has high calibration accuracy when calibrating the position information of the calibration plate, the storage box is slid under the action of the storage box, and the partition inside the storage box can classify and place the first mark plate and the second mark plate, which is convenient for replacement when the first mark plate and the second mark plate are damaged, and convenient for users to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic structural diagram of a preferred embodiment of a calibration plate for calibrating radar external parameters provided by the utility model;

[0015] Figure 2 for Figure 1 The side view structural diagram shown;

[0016] Figure 3 for Figure 1 The schematic diagram of placing the explosion structure is shown;

[0017] Figure 4 for Figure 1 Schematic diagram of the storage box installation structure shown.

[0018] In the figure: 1. Storage box; 2. Load-bearing plate; 3. Support plate; 4. Placement plate; 5. Placement slot; 6. Calibration plate; 7. Threaded slot; 8. First mark plate; 9. Second mark plate; 10. Protective plate; 11. Positioning screw; 12. Universal wheel; 13. Storage box; 14. Partition; 15. Positioning plate; 16. Hollow plate; 17. Working bolt. DETAILED DESCRIPTION

[0019] The utility model is further described below in conjunction with the accompanying drawings and implementation modes.

[0020] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 ,in Figure 1 A schematic structural diagram of a preferred embodiment of a calibration plate for calibrating radar external parameters provided by the utility model; Figure 2 for Figure 1 The side view structural diagram shown; Figure 3 for Figure 1 The schematic diagram of placing the explosion structure is shown; Figure 4 for Figure 1 The schematic diagram of the storage box installation structure shown is a calibration plate for calibrating the external parameters of the radar, including a storage box 1, a load-bearing plate 2 is fixedly connected to the lower sides of the storage box 1, a support plate 3 is fixedly connected to the top center of the load-bearing plate 2, and the number of the support plates 3 is two, a placement plate 4 is provided on one side of the support plate 3 and located above the storage box 1, a placement groove 5 is provided on the top of the placement plate 4, and the cross-sectional shape of the placement groove 5 is set to be T-shaped, a calibration plate 6 is slidably installed inside the placement groove 5, and a thread groove 7 is provided in the internal array of the calibration plate 6, and the number of the thread groove 7 is set to be multiple, a first mark plate 8 is installed inside the thread groove 7, and a second mark plate 9 is installed inside the thread groove 7 and located on one side of the first mark plate 8, and the first mark plate 8 and the second mark plate 9 have different specifications.

[0021] The load-bearing plate 2 is installed under the action of the storage box 1. The load-bearing plate 2 and the support plate 3 are perpendicular to each other. Then the placement plate 4 is installed on one side of the support plate 3. Then, the calibration plate 6 is installed under the action of the placement groove 5. The thread groove 7 is driven by the calibration plate 6. The thread groove 7 is adapted to the first marking plate 8. Then, the second marking plate 9 is installed under the action of the thread groove 7. The first marking plate 8 and the second marking plate 9 have different specifications. The first marking plate 8 and the second marking plate 9 correspond to the pixel coordinates of the camera, which can make the image detail information of the device richer. The camera has high calibration accuracy when calibrating the position information of the calibration plate.

[0022] A protective plate 10 is provided on the top of the placement plate 4 , and the placement plate 4 and the protective plate 10 are connected via a hinge.

[0023] The protection plate 10 is installed under the action of the hinge, which facilitates the rotation of the protection plate 10 and can protect the calibration plate 6 to a certain extent.

[0024] The back of the placement plate 4 is symmetrically provided with threaded holes, and the internal threads of the threaded holes are installed with positioning screws 11 perpendicular to the calibration plate 6. The interior of the placement plate 4 is fixedly connected with a hollow plate 16, and the hollow plate 16 is adapted to the support plate 3. The internal threads of the hollow plate 16 are installed with working bolts 17 in contact with the support plate 3.

[0025] The positioning screw 11 is installed under the action of the threaded hole. The positioning screw 11 contacts the calibration plate 6 to make the calibration plate 6 more stably installed. Then the support plate 3 is slid under the action of the hollow plate 16. The hollow plate 16 drives the placement plate 4 to facilitate the user to adjust the height of the placement plate 4. Finally, the working bolt 17 is turned. The working bolt 17 contacts the placement plate 4 to facilitate the user to disassemble and assemble the placement plate 4.

[0026] The bottom of the load-bearing plate 2 is symmetrically connected with universal wheels 12 , and a plurality of universal wheels 12 are provided.

[0027] The universal wheel 12 is installed under the action of the load-bearing plate 2, and the universal wheel 12 is used to facilitate the movement of the product, so that the user can perform multi-position detection of the external parameters of the radar.

[0028] A storage box 13 is slidably installed inside the storage box 1, a partition 14 is fixedly connected to the inner center of the storage box 13, a handle is fixedly connected to one end of the storage box 13, and a positioning plate 15 is rotatably installed on the upper side of the storage box 1. Two positioning plates 15 are provided, and both of the two positioning plates 15 are in contact with the outer surface of the storage box 13.

[0029] The storage box 13 is slid under the action of the storage box 1, and the partition 14 inside the storage box 13 can classify and place the first mark plate 8 and the second mark plate 9. When the user pulls the handle, it is convenient to take the first mark plate 8 and the second mark plate 9, and the positioning plate 15 is rotated under the action of the storage box 13. The positioning plate 15 contacts the storage box 13, which is convenient for the installation and positioning of the storage box 13.

[0030] The working principle of a calibration plate for calibrating radar external parameters provided by the utility model is as follows;

[0031] The first step: install the calibration plate 6 under the action of the placement groove 5, and drive the thread groove 7 through the calibration plate 6. The thread groove 7 is adapted to the first mark plate 8. Then, the second mark plate 9 is installed under the action of the thread groove 7. The first mark plate 8 and the second mark plate 9 have different specifications. The first mark plate 8 and the second mark plate 9 correspond to the pixel coordinates of the camera, which can make the image detail information of the device richer. The camera has high calibration accuracy when calibrating the position information of the calibration plate.

[0032] Step 2: Install the protection plate 10 under the action of the hinge to facilitate the rotation of the protection plate 10, which can protect the calibration plate 6 to a certain extent; install the positioning screw 11 under the action of the threaded hole; the positioning screw 11 is in contact with the calibration plate 6 to make the calibration plate 6 more stably installed; then slide the support plate 3 under the action of the hollow plate 16; the hollow plate 16 drives the placement plate 4 to facilitate the user to adjust the height of the placement plate 4; finally, turn the working bolt 17; the working bolt 17 is in contact with the placement plate 4 to facilitate the user to disassemble and assemble the placement plate 4.

[0033] Step 3: Slide the storage box 13 under the action of the storage box 1, and the partition 14 inside the storage box 13 can classify and place the first mark plate 8 and the second mark plate 9, so that the user can easily take the first mark plate 8 and the second mark plate 9 when pulling the handle, and rotate the positioning plate 15 under the action of the storage box 13, and the positioning plate 15 contacts with the storage box 13, so as to facilitate the installation and positioning of the storage box 13.

[0034] Step 4: Finally, the universal wheel 12 is installed under the action of the load-bearing plate 2. The universal wheel 12 facilitates the movement of the product and facilitates the user to perform multi-position detection of the external parameters of the radar.

[0035] Compared with the related art, the calibration plate for calibrating radar external parameters provided by the utility model has the following beneficial effects:

[0036] The load-bearing plate 2 is installed under the action of the storage box 1, and the load-bearing plate 2 and the supporting plate 3 are perpendicular to each other. Then the placement plate 4 is installed on one side of the supporting plate 3, and then the calibration plate 6 is installed under the action of the placement groove 5. The thread groove 7 is driven by the calibration plate 6, and the thread groove 7 is adapted to the first marking plate 8. Then, the second marking plate 9 is installed under the action of the thread groove 7. The first marking plate 8 and the second marking plate 9 have different specifications. The first marking plate 8 and the second marking plate 9 correspond to the pixel coordinates of the camera, which can make the image detail information of the device richer. The camera has high calibration accuracy when calibrating the position information of the calibration plate. The storage box 13 is slid under the action of the storage box 1, and the partition 14 inside the storage box 13 can classify and place the first marking plate 8 and the second marking plate 9, which is convenient for replacement when the first marking plate 8 and the second marking plate 9 are damaged, which is convenient for users to use.

[0037] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A calibration plate for calibrating radar external parameters, comprising a storage box (1), characterized in that: A load-bearing plate (2) is fixedly connected to the lower sides of the storage box (1), a support plate (3) is fixedly connected to the top center of the load-bearing plate (2), two support plates (3) are provided, a placement plate (4) is provided on one side of the support plate (3) and located above the storage box (1), a placement groove (5) is provided on the top of the placement plate (4), the cross-sectional shape of the placement groove (5) is set to be T-shaped, a calibration plate (6) is slidably installed inside the placement groove (5), a thread groove (7) is provided in the internal array of the calibration plate (6), the number of the thread grooves (7) is set to be multiple, a first marking plate (8) is installed inside the thread groove (7), a second marking plate (9) is installed inside the thread groove (7) and located on one side of the first marking plate (8), and the first marking plate (8) and the second marking plate (9) have different specifications.

2. The calibration plate for calibrating radar external parameters according to claim 1, characterized in that: A protective plate (10) is provided on the top of the placement plate (4), and the placement plate (4) and the protective plate (10) are connected via a hinge.

3. The calibration plate for calibrating radar external parameters according to claim 2, characterized in that: The back of the placement plate (4) is symmetrically provided with threaded holes, and the internal threads of the threaded holes are installed with positioning screws (11) perpendicular to the calibration plate (6). The interior of the placement plate (4) is fixedly connected with a hollow plate (16), and the hollow plate (16) is adapted to the support plate (3). The internal threads of the hollow plate (16) are installed with working bolts (17) in contact with the support plate (3).

4. The calibration plate for calibrating radar external parameters according to claim 3, characterized in that: The bottom of the load-bearing plate (2) is symmetrically connected with universal wheels (12), and a plurality of universal wheels (12) are provided.

5. The calibration plate for calibrating radar external parameters according to claim 4, characterized in that: A storage box (13) is slidably mounted inside the storage box (1), a partition (14) is fixedly connected to the center of the storage box (13), and a handle is fixedly connected to one end of the storage box (13).

6. The calibration plate for calibrating radar external parameters according to claim 5, characterized in that: A positioning plate (15) is rotatably mounted on the upper side of one side of the storage box (1), and two positioning plates (15) are provided, and both positioning plates (15) are in contact with the outer surface of the storage box (13).

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