Portable vehicle body sensor calibration truth value system

Abstract

The utility model discloses a portable true value calibration system for a vehicle body sensor, which is characterized in that a positioning device in the system completes self centering through a front axle wheel and a rear axle wheel, a target device performs centering through the assistance of the positioning device, and an upper computer can display the coordinate position of a target through information fed back by the positioning device. The upper computer can fuse the coordinate system of the truth value system and the coordinate system of the vehicle, so that a sensor calibration truth value environment for the to-be-tested vehicle can be obtained. Meanwhile, static scenes at different positions can be obtained by controlling the target device and moving the position of the target through the upper computer, or a dynamic scene can be simulated by setting moving parameters of the target, the influence of an automobile body and the external environment can be conveniently eliminated when the sensor is calibrated, and therefore the more accurate calibration effect is obtained. Moreover, the whole system is convenient to carry and simple to operate, and can generate a wide range of test environments.

Description

Technical Field

[0001] The utility model belongs to the technical field of body sensor calibration, and in particular relates to a convenient body sensor calibration true value system. Background Art

[0002] Smart cars are constantly being updated, and the demand for sensor accuracy in ADAS during car development and manufacturing is also getting higher and higher. At present, when cars are being developed or rolled off the assembly line, a preliminary calibration is performed by running a few laps in an outdoor field to allow the car to self-check the sensors installed on the body. Today, with the increasing demand for autonomous driving, an autonomous driving car is no longer satisfied with this preliminary calibration, but needs to customize the true value environment for each car to calibrate and calibrate the sensors more accurately to meet the more stringent safety requirements of autonomous driving. Calibration and calibration of sensors through the true value environment actually returns to the relationship between the vehicle itself and the target object, rather than the conversion of various data between the sensor and the target object. However, the test environment generated by the current calibration truth value system is relatively simple, the operation is complex and not easy to carry, and there is also a lot of room for improvement in calibration accuracy. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a convenient body sensor calibration true value system, which can not only provide support when correcting the position of the automobile sensor, but also has the characteristics of easy portability, simple operation and data visualization.

[0004] The technical solution provided by the utility model is as follows:

[0005] A convenient body sensor calibration true value system comprises a positioning device for positioning a body and a target device for providing a sensor target, and a host computer for controlling the positioning device and the target device;

[0006] The positioning device comprises a positioning device base, and limit sliders are respectively arranged on both sides of the positioning device base, and the limit sliders slide left and right along the length direction of the positioning device base under the control of the upper computer; laser distance measuring equipment and positioning device scales corresponding to the laser distance measuring equipment are also respectively arranged on both sides of the positioning device base, and the positioning device scales are used to mark the position where the laser distance measuring equipment emits light;

[0007] The target device includes a target device base, which includes a mounting main board and a displacement component mounting plate perpendicular to the mounting main board. A target bracket with a target mounted thereon is arranged in parallel on the mounting main board, and the target bracket slides back and forth along the length direction of the displacement component mounting plate under the control of a host computer. Matt plates and target device scales corresponding to the matte plates are respectively arranged on both sides of the mounting main board, the matte plates are used to display light from a positioning device, and the target device scales are used to mark the position of light.

[0008] Furthermore, the limit slider is provided with a through threaded channel, and the positioning device screw passes through the threaded channel to install the limit slider between two mounting plates on the positioning device base, and the positioning device screw is transmission-connected to the positioning device motor arranged on one side of the positioning device base.

[0009] Furthermore, a positioning device slide rod parallel to the positioning device screw rod is arranged between the two mounting plates on the positioning device base, and the limit slider is passed through the positioning device slide rod and can slide freely along the positioning device slide rod.

[0010] Furthermore, one side of the limiting sliding block is configured as an inclined surface for contacting a vehicle tire.

[0011] Furthermore, the laser ranging device is also provided with a front infrared ranging laser head and a rear infrared ranging laser head, as well as a front infrared ranging display and a rear infrared ranging display for displaying real-time measurement data.

[0012] Furthermore, the base of the target bracket is arranged in parallel on the mounting main board of the target device base, and a target device motor and a target device screw driven by the target device motor are arranged on the displacement assembly mounting plate, and the target device screw passes through a threaded channel opened on the target bracket base and matching the target device screw.

[0013] Furthermore, a target device slide rod penetrating the target bracket base is also provided on the displacement component mounting plate, and the target bracket base can slide freely along the target device slide rod.

[0014] Furthermore, the positioning device scale is fixed in a scale groove provided on the positioning device base, and the target device scale is fixed in a scale groove provided on the target device base.

[0015] Beneficial effects of the utility model:

[0016] The positioning device in the utility model completes its own centering through the front and rear axle wheels, and the target device is centered with the assistance of the positioning device. The host computer can display the coordinate position of the target through the information fed back by the positioning device. The host computer can merge the coordinate system of the true value system with the vehicle coordinate system to obtain a sensor calibration true value environment for the vehicle to be tested. At the same time, the target device can be controlled by the host computer, and the position of the target can be moved to obtain static scenes at different positions, or the movement parameters of the target can be set to simulate dynamic scenes, so that the sensor can eliminate the influence of the vehicle body and the external environment during calibration, thereby obtaining a more accurate calibration effect. The entire system is easy to carry, simple to operate, and can generate a wide range of test environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0018] Figure 1 It is a schematic diagram of a true value calibration system provided by an embodiment of the utility model;

[0019] Figure 2 It is a structural schematic diagram of a positioning device provided by an embodiment of the utility model;

[0020] Figure 3 It is a structural schematic diagram of a laser distance measuring device provided by an embodiment of the utility model;

[0021] Figure 4 It is a structural schematic diagram of a target device provided by an embodiment of the utility model;

[0022] Figure 5 It is a flow chart of a calibration method provided by an embodiment of the utility model;

[0023] Figure 6 It is a top view of a calibration true value system provided by an embodiment of the utility model.

[0024] Wherein, each reference numeral represents:

[0025] 1-positioning device, 101-positioning device base, 102-limit slider, 103-positioning device screw, 104-positioning device slide bar, 105-positioning device motor, 106-laser ranging equipment, 1061-main switch, 1062-front infrared ranging display, 1063-rear infrared ranging display, 1064-front infrared ranging laser switch, 1065-rear infrared ranging laser switch, 1066-marking laser, 1067-front infrared ranging laser head, 1068-rear infrared ranging laser head, 107-positioning device scale; 2-target device, 201-target device base, 202-target bracket, 203-target, 204-target device screw, 205-target device slide bar, 206-target device motor, 207-black matte plate, 208-target device scale. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, other embodiments obtained by ordinary technicians in this field without making creative work are all within the scope of protection of the present invention.

[0027] like Figure 1 As shown, this embodiment provides a portable vehicle body sensor calibration true value system, which mainly includes a positioning device 1, a target device 2 and a host computer. The positioning device 1 is used to position vehicle tires, the target device 2 is used to provide targets for vehicle body sensor calibration, and the host computer is used to control the positioning device 1 and the target device 2.

[0028] like Figure 2 As shown, the positioning device 1 includes a positioning device base 101, and limit sliders 102 are respectively arranged on both sides of the positioning device base 101. The limit sliders 102 can slide left and right along the length direction of the positioning device base 101 under the control of the host computer. The limit slider 102 is provided with a through threaded channel, and the limit slider 102 is installed between two mounting plates on the positioning device base 101 through the threaded channel by the positioning device screw 103. The positioning device screw 103 is connected to the positioning device motor 105 arranged on one side of the positioning device base 101. The host computer controls the positioning device motor 105 and utilizes the mutual cooperation of the positioning device screw 103 and the threaded channel on the limit slider 102 to realize the displacement control of the limit slider 102. One side of the limit slider 102 is set as an inclined surface for contacting the tire.

[0029] In some embodiments, to ensure that the limiting slider 102 can move smoothly, a positioning device slide bar 104 is arranged between the two mounting plates on the positioning device base 101 , and the limiting slider 102 is passed through the positioning device slide bar 104 and can slide freely along the positioning device slide bar 104 .

[0030] Laser distance measuring devices 106 are also provided on both sides of the positioning device base 101. Figure 3 As shown, the laser distance measuring device 106 has a main switch 1061. When the main switch 1061 is turned on, the marking laser 1066 on the laser distance measuring device 106 will emit light in four vertical directions. The laser distance measuring device 106 is also provided with a front infrared distance measuring laser head 1067 and a rear infrared distance measuring laser head 1068. The front infrared distance measuring laser switch 1064 is used to control the front infrared distance measuring laser head 1067 and display real-time data on the front infrared distance measuring display 1062. The rear infrared distance measuring laser switch 1065 is used to control the rear infrared distance measuring laser head 1068 and display real-time data on the rear infrared distance measuring display 1063. A positioning device scale 107 corresponding to the laser distance measuring device 106 is also provided on the side of the positioning device base 101, which is used to mark the position of the emitted light.

[0031] like Figure 4 As shown, the target device 2 includes a target device base 201, and the target device base 201 includes a mounting main board and a displacement component mounting plate perpendicular to the mounting main board; the target 203 is set on the target bracket 202, and the base of the target bracket 202 is parallel to the main board of the target device base 201, and the displacement component mounting plate is provided with a target device motor 206 and a target device screw 204 driven by the target device motor 206, and the target device screw 204 passes through a threaded channel matching the target device screw 204 opened on the base of the target bracket 202. The upper computer controls the target device motor 206 so that the target bracket 202 can move along the target device screw 204 in a direction perpendicular to the main board, thereby realizing the distance control of the target 203.

[0032] In some embodiments, to ensure that the target bracket 202 can be smoothly displaced, a target device slide bar 205 penetrating the base of the target bracket 202 is also provided on the displacement component mounting plate of the target device base 201 , and the base of the target bracket 202 can slide freely along the target device slide bar 205 .

[0033] Black matte plates 207 are also provided on both sides of the main board of the target device base 201, and the black matte plates 207 are used to block and display the light emitted by the positioning device 1. A target device scale 208 corresponding to the black matte plates 207 is also provided on the side of the main board of the target device base 201, which is used to mark the specific position of the emitted light.

[0034] Laser distance measuring devices are installed on both sides of the positioning device. The marking laser on the laser distance measuring device will emit light in four directions, up, down, front and back. When the light is irradiated on the target device, the light pointing scale on the black matte plate of the target device can be used to confirm whether the target device is centered by checking whether the scale on the positioning device is consistent with the scale on the positioning device. In addition, the laser distance measuring device has an infrared distance measuring laser head that can measure the distance in the front and back directions. When the scales of the positioning device and the target device are consistent, the distance values ​​displayed on the laser distance measuring devices on both sides can be adjusted to be consistent, that is, the alignment of the target device is completed and it is level with the positioning device. The target bracket on the target device is fixed to the base of the target device by screws and slide bars, and the sliding action is controlled by a motor. The user can control the motor through the host computer to move the target bracket to the specified position to form a static true value environment, or the user can control the motor through the host computer to set the initial position of the target bracket and set constant speed movement or accelerated movement strategies to form a dynamic true value environment.

[0035] Based on the above-mentioned convenient truth value system, the basic process of building a body sensor calibration truth value environment is as follows: align the two positioning devices themselves through the front and rear axle wheels of the vehicle to be tested, and use the laser ranging equipment of the positioning device to center and position the target device. At this point, a coordinate system with the center of the positioning device as the origin can be established. The host computer can merge this coordinate system with the vehicle coordinate system to obtain a truth value environment for the vehicle to be tested. Figure 5 As shown, the specific steps include:

[0036] S1, the vehicle to be tested stops;

[0037] S2, placing two positioning devices 1 behind the front wheels and in front of the rear wheels of the vehicle to be tested respectively;

[0038] S3, controlling the motor of the positioning device through the upper computer so that the limit sliders on both sides of the positioning device are in close contact with the side of the tire;

[0039] S4, start the laser distance measuring device 106 on the front wheel positioning device, and adjust the front wheel direction through the steering wheel of the vehicle to be tested so that the data of the marking laser projected to the scale of the front wheel positioning device is consistent with the data of the scale of the rear wheel positioning device, that is, the front wheel steering machine has been reset to zero and the centering procedure of the positioning device is completed;

[0040] S5, placing the target device 2 in front of or behind the vehicle to be tested;

[0041] S7, move the target device 2 so that the scale of the target device projected by the positioning device 1 is consistent with the scale data of the positioning device and the distance readings displayed on the laser distance measuring devices on both sides of the positioning device are also consistent, that is, the centering and positioning procedures of the target device 2 are completed. Figure 6 As shown;

[0042] S7, inputting the relevant parameters of the positioning device and the vehicle to be tested through the host computer, and integrating the true value system with the coordinates of the vehicle to be tested;

[0043] S8. The target position or movement strategy is determined by controlling the target device motor through the host computer, that is, the vehicle body sensor true value environment system is completed.

[0044] S9. The user uses the vehicle body sensor truth environment system to collect data to calibrate and calibrate the sensor.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A portable body sensor calibration true value system, characterized in that: It includes a positioning device for positioning the vehicle body and a target device for providing a sensor target, and a host computer for controlling the positioning device and the target device; The positioning device comprises a positioning device base, and limit sliders are respectively arranged on both sides of the positioning device base, and the limit sliders slide left and right along the length direction of the positioning device base under the control of the upper computer; laser distance measuring equipment and positioning device scales corresponding to the laser distance measuring equipment are also respectively arranged on both sides of the positioning device base, and the positioning device scales are used to mark the position where the laser distance measuring equipment emits light; The target device includes a target device base, which includes a mounting main board and a displacement component mounting plate perpendicular to the mounting main board. A target bracket with a target mounted thereon is arranged in parallel on the mounting main board, and the target bracket slides back and forth along the length direction of the displacement component mounting plate under the control of a host computer. Matt plates and target device scales corresponding to the matte plates are respectively arranged on both sides of the mounting main board, the matte plates are used to display light from a positioning device, and the target device scales are used to mark the position of light.

2. A portable body sensor calibration true value system as claimed in claim 1, characterized in that: The limit slider is provided with a through threaded channel, and the positioning device screw passes through the threaded channel to install the limit slider between two mounting plates on the positioning device base. The positioning device screw is transmission-connected to a positioning device motor arranged on one side of the positioning device base.

3. A portable body sensor calibration true value system as claimed in claim 2, characterized in that: A positioning device slide rod parallel to the positioning device screw rod is arranged between the two mounting plates on the positioning device base, and the limit slider is penetrated on the positioning device slide rod and can slide freely along the positioning device slide rod.

4. A portable body sensor calibration true value system as claimed in claim 1, characterized in that: One side of the limiting sliding block is configured as an inclined surface for contacting a vehicle tire.

5. A portable body sensor calibration true value system as claimed in claim 1, characterized in that: The laser distance measuring device is also provided with a front infrared distance measuring laser head and a rear infrared distance measuring laser head, as well as a front infrared distance measuring display and a rear infrared distance measuring display for displaying real-time measurement data.

6. A portable body sensor calibration true value system as claimed in claim 1, characterized in that: The base of the target bracket is arranged in parallel on the mounting main board of the target device base. A target device motor and a target device screw driven by the target device motor are arranged on the displacement component mounting plate. The target device screw passes through a threaded channel opened on the target bracket base and matching the target device screw.

7. A portable vehicle body sensor calibration true value system as claimed in claim 6, characterized in that: The displacement component mounting plate is also provided with a target device slide rod penetrating the target bracket base, and the target bracket base can slide freely along the target device slide rod.

8. The portable vehicle body sensor calibration true value system as claimed in claim 1, characterized in that: The positioning device scale is fixed in a scale groove provided on the positioning device base, and the target device scale is fixed in a scale groove provided on the target device base.

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