Calibration device and system for vehicle vision

Abstract

The utility model provides a calibration device for vehicle vision, which comprises a calibration frame and a plurality of calibration plates, and is characterized in that the calibration frame is movably arranged on the ground; the plurality of calibration plates are arranged around the calibration frame, and each calibration plate is provided with a connecting assembly and an adjusting assembly; each calibration plate is telescopically connected to the calibration frame through a connecting assembly so as to adjust the distance between each calibration plate and the calibration frame, and the height and flatness of each calibration plate relative to the ground are adjusted through an adjusting assembly. In addition, the utility model also provides a calibration system for vehicle vision. According to the technical scheme, the position, the angle, the height and the flatness of the calibration plates are accurately controlled through the movable calibration frame and the multiple calibration plates with the adjustable height and flatness, and then the problem that in an existing mode, the calibration precision is insufficient due to the fact that the position, the angle, the height and the flatness of the calibration plates are difficult to control is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to vehicle vision technical field especially, relate to a kind of calibration device and system for vehicle vision. BACKGROUND

[0002] In the calibration process of the vehicle's Car Rearview System, currently, manual calibration board or calibration cloth laid on the ground is used for calibration. However, the position, angle, height and flatness of the calibration board are difficult to control accurately, which leads to insufficient calibration accuracy, and further affects the splicing quality and visual effect of the Car Rearview System panoramic image, resulting in phenomena such as broken garage lines and distortion, which interferes with the driving assistance function. SUMMARY

[0003] Therefore, it is necessary to provide a calibration device and system for vehicle vision.

[0004] In the first aspect, the utility model embodiment provides a calibration device for vehicle vision, which comprises a calibration frame and a plurality of calibration boards. The calibration frame is movably arranged on the ground. The plurality of calibration boards are arranged around the calibration frame. Each calibration board is provided with a connecting component and an adjusting component. Each calibration board is telescopically connected to the calibration frame through the connecting component to adjust the distance between each calibration board and the calibration frame. The height and flatness of each calibration board relative to the ground are adjusted through the adjusting component.

[0005] Further, the bottom of each calibration board is provided with a plurality of lockable first universal wheels. Each first universal wheel has a storage state indicating that it is stored in the corresponding calibration board, and a moving state indicating that it contacts the ground. When the first universal wheel is in the moving state, the corresponding calibration board can be moved to different positions.

[0006] Further, the adjusting component comprises a plurality of adjusting members, which are arranged in the corresponding calibration board along an axis perpendicular to the ground.

[0007] Further, when the first universal wheel is in the storage state, the plurality of adjusting members are supported on the ground.

[0008] Further, the height of the corresponding calibration board relative to the ground is adjusted by adjusting all adjusting members of the corresponding calibration board, and the flatness of the corresponding calibration board relative to the ground is adjusted by adjusting part or all adjusting members of the corresponding calibration board.

[0009] Further, the bottom of the calibration frame is provided with a plurality of second universal wheels capable of being locked, so that the calibration frame can be moved on the ground or locked at a calibration position on the ground.

[0010] Further, the connecting assembly is detachably mounted between each calibration plate and the calibration frame.

[0011] Further, the calibration frame comprises a movable frame body and a plurality of fixed frame bodies connected in sequence, the movable frame body has a first state indicating that the movable frame body is fixed to one of the plurality of fixed frame bodies, and a second state indicating that the movable frame body is movable around one of the plurality of fixed frame bodies, and when the movable frame body is in the first state, the calibration frame forms a closed frame along an axial surface parallel to the ground.

[0012] Further, when the movable frame body is in the second state, the calibration frame can be entered by a vehicle, or the vehicle in the calibration frame can drive away from the calibration frame.

[0013] In a second aspect, the utility model provides a kind of calibration system for vehicle vision, calibration system includes above-mentioned calibration device, and imaging equipment, calibration device is formed calibration area on the ground by the calibration frame and the plurality of calibration plate;The field of view of imaging equipment covers the calibration area.

[0014] The calibration device and system for vehicle vision described above, by having movable calibration frame and multiple adjustable height and flatness calibration plate, to accurately control the position, angle, height and flatness of calibration plate, and then solve the problem of insufficient calibration accuracy caused by the difficulty in controlling the position, angle, height and flatness of calibration plate in existing mode. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model, and for those skilled in the art, other drawings can be obtained from the structure shown in these drawings without creative labor.

[0016] Figure 1 The perspective view of the calibration device for vehicle vision provided by the embodiments of the utility model is provided.

[0017] Figure 2 The top view of the calibration device for vehicle vision provided by the embodiments of the utility model is provided.

[0018] Figure 3 The schematic diagram of the first universal wheel moving state provided by the embodiments of the utility model is provided.

[0019] Figure 4 The first omnidirectional wheel storage state schematic diagram provided by the utility model embodiment.

[0020] Figure 5 The first state schematic diagram of the movable frame provided by the utility model embodiment.

[0021] Figure 6 The second state schematic diagram of the movable frame provided by the utility model embodiment.

[0022] Figure 7 The first schematic diagram of the vehicle driving into the calibration frame provided by the utility model embodiment.

[0023] Figure 8 The second schematic diagram of the vehicle driving into the calibration frame provided by the utility model embodiment.

[0024] Figure 9 The schematic diagram of the calibration system for vehicle vision provided by the utility model embodiment.

[0025] Element reference

[0026] Vehicle - 1000 Calibration plate - 2 Calibration device for vehicle vision - 100 Connection assembly - 20 Imaging device - 101 First universal wheel - 21 Calibration system for vehicle vision - 200 Adjustment assembly - 22 Calibration frame - 1 Adjustment piece - 220 Second universal wheel - 10 Prescribed driving-in direction - X Movable frame body - 11 Axis - Z Fixed frame body - 12

[0027] The implementation, functional features and advantages of the utility model will be further described with reference to the drawings in combination with embodiments. DETAILED DESCRIPTION

[0028] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relationship described based on the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0029] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implying the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the utility model, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0030] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and so on terms should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated;Can be mechanical connection, also can be electrical connection;Can be direct connection, also can be indirectly connected through intermediate medium, can be the communication of two elements or the interaction of two elements. For ordinary skilled in the art, the above terms can be understood according to the specific meaning in the utility model.

[0031] In order to make the content of the utility model by more clear and more accurate understanding, now will be combined with the drawings detailed description. The drawings of the specification show the example of the embodiment of the utility model, wherein, the same reference signs indicate the same element. It can be understood that the proportion shown in the drawings of the specification is not the proportion of the actual implementation of the utility model, it is only for the purpose of illustration, and is not drawn according to the original size.

[0032] Please refer to Figure 1 And Figure 2 , Figure 1 And Figure 2 The calibration device 100 for vehicle vision is schematically shown from different perspectives. The present application provides a calibration device 100 for vehicle vision. The calibration device 100 is used to realize the calibration of the full-vehicle visible system related to vehicle vision in the vehicle 1000, so as to improve the splicing quality and visual effect of the panoramic image of the full-vehicle visible system, and thus improve the driving assistance function of the vehicle 1000.

[0033] In the embodiment, the calibration device 100 includes a calibration frame 1 and a plurality of calibration boards 2. Specifically, the calibration frame 1 is movably arranged on the ground. The bottom of the calibration frame 1 is provided with a plurality of second universal wheels 10. The plurality of second universal wheels 10 can be locked to enable the calibration frame 1 to move on the ground or be locked at a calibration position on the ground. The second universal wheels 10 in the present application can be switched between locked and unlocked by the user's operation, so that when the calibration frame 1 is moved to a calibration position where subsequent calibration of vehicle vision can be completed, the calibration frame 1 is locked at the calibration position on the ground by locking the second universal wheels 10. The ground can be determined according to the application scenario of vehicle vision calibration, for example, the ground can be located in an indoor maintenance workshop, or located in an outdoor maintenance site. The ground in the present application is only an example of the application scenario of the calibration device 100, and should not be regarded as a limitation of the application scenario of the calibration device 100.

[0034] Please refer to Figure 5 And Figure 6 , Figure 5 And Figure 6The different states of the movable frame 11 are illustrated. The calibration frame 1 can be used for the vehicle 1000 to drive in according to the preset driving-in direction X to complete the calibration of the vehicle vision. Specifically, the calibration frame 1 includes the movable frame 11 and a plurality of fixed frames 12. The movable frame 11 and the plurality of fixed frames 12 are sequentially connected so that the calibration frame 1 can form a closed frame. More specifically, the movable frame 11 has a first state indicating that the movable frame 11 is fixed to one of the plurality of fixed frames 12, and a second state indicating that the movable frame 11 is movable around one of the plurality of fixed frames 12, and when the movable frame 11 is in the first state, the movable frame 11 is fixed between the partial fixed frames 12 so that the calibration frame 1 forms a closed frame along an axis plane parallel to the ground.

[0035] Please refer to Figure 7 and Figure 8 , Figure 7 and Figure 8 The flow of subsequent vehicle vision calibration after the vehicle 1000 drives into the calibration frame 1 according to the preset driving-in direction X is illustrated. When the movable frame 11 is in the second state, the calibration frame 1 can be used for the vehicle 1000 to drive in according to the preset driving-in direction X, or the vehicle 1000 in the calibration frame 1 can drive out of the calibration frame 1. In this application, the size of the fixed frame 12 and the movable frame 11 can be determined according to the size of the vehicle 1000 to complete the vehicle vision calibration, so that when the movable frame 11 is in different states, the vehicle 1000 can drive into the calibration frame 1 according to the preset driving-in direction X and be limited in the calibration frame 1, or drive out of the calibration frame 1.

[0036] Further, the geometric shape of the closed frame can be set according to the size of the vehicle 1000. The geometric shape includes but is not limited to a rectangle, a rounded rectangle, etc. For example, the geometric shape of the closed frame in this application is a rectangle, and the movable frame 11 and the plurality of fixed frames 12 are four frames constituting the rectangle. Among them, two fixed frames 12 are oppositely arranged, one fixed frame 12 is oppositely arranged with the movable frame 11, and the movable frame 11 is movably fixed to one of the oppositely arranged two fixed frames 12, so that the movable frame 11 is used for the vehicle 1000 to drive into the calibration frame 1 according to the preset driving-in direction X and be limited, or the vehicle 1000 in the calibration frame 1 drives out of the calibration frame 1 when the movable frame 11 has different states.

[0037] In some possible embodiments, in order to facilitate the driving in or driving out of the vehicle 1000 relative to the calibration frame 1, the closed frame can also be provided with two opposite movable frames 11 and two opposite fixed frames 12. The two movable frames 11 are respectively arranged on the two sides of the two fixed frames 12, so that the vehicle 1000 can drive into the calibration frame 1 from one of the movable frames 11 in a preset driving-in direction X, and drive out of the calibration frame 1 from the other movable frame 11 in a direction opposite to the preset driving-in direction X.

[0038] In the present embodiment, a plurality of calibration plates 2 are arranged around the calibration frame 1. Each calibration plate 2 is provided with a connecting assembly 20 and an adjusting assembly 22. Each calibration plate 2 is telescopically connected to the calibration frame 1 through the connecting assembly 20, so as to adjust the distance between each calibration plate 2 and the calibration frame 1. In the present application, the connecting assembly 20 can be a connecting chain, a telescopic rod, a folding connecting rod, etc., and the distance between each calibration plate 2 and the calibration frame 1 is adjusted by operating the connecting chain, the telescopic rod, the folding connecting rod, etc.

[0039] In the present embodiment, the height and flatness of each calibration plate 2 relative to the ground are adjusted by the adjusting assembly 22. Specifically, the adjusting assembly 22 includes a plurality of adjusting members 220, which are arranged along an axis Z perpendicular to the ground or are arranged through the corresponding calibration plate 2 perpendicular to the ground. The height of the corresponding calibration plate 2 relative to the ground is adjusted by adjusting all the adjusting members 220 of the corresponding calibration plate 2. The flatness of the corresponding calibration plate 2 relative to the ground is adjusted by adjusting part or all of the adjusting members 220 of the corresponding calibration plate 2. In the present application, the adjusting members 220 can be screws, bolts, telescopic rods, etc. Each adjusting member 220 can be adjusted in a screwing or telescopic manner to adjust the relative height to the ground, so as to adjust the flatness of the corresponding calibration plate 2 relative to the ground. When it is necessary to adjust the height of the corresponding calibration plate 2 relative to the ground, all the adjusting members 220 can be adjusted in a screwing manner to make the relative heights of all the adjusting members 220 to the ground equal, so that the height of the corresponding calibration plate 2 relative to the ground is adjusted. Further, the outer surface of each adjusting member 220 is provided with a scale line (not shown in the figure). The scale lines provided on each adjusting member 220 can be scale lines with the same range, so as to facilitate the adjustment of each adjusting member 220, so that the height of the calibration plate 2 relative to the ground is consistent.

[0040] Further, the connecting assembly 20 is detachably mounted between each calibration plate 2 and the calibration frame 1, so that the calibration plate 2 is detachably connected to the calibration frame 1. After the vehicle vision calibration is completed, the calibration plate 2 can be detached from the calibration frame 1 by detaching the connecting assembly 20, or directly moved into the calibration frame 1 to complete the storage of multiple calibration plates 2. When the calibration plate 2 is adjusted to have a height relative to the ground smaller than the height of the calibration frame 1 relative to the ground, the calibration plate 2 can also be directly stored in the calibration frame 1 without detaching the connecting assembly 20, but relying on the connecting assembly 20 with sufficient length, to complete the storage of the calibration device 100 and reduce the occupied space of the calibration device 100.

[0041] Please refer to Figure 3 and Figure 4 , Figure 3 and Figure 4 illustrate different states of the first universal wheel 21. The bottom of each calibration plate 2 is provided with a plurality of lockable first universal wheels 21. Each first universal wheel 21 has a storage state indicating that it is stored in the corresponding calibration plate 2, and a moving state indicating that it contacts the ground, and when the first universal wheel 21 is in the moving state, the corresponding calibration plate 2 can be moved to different positions. When the first universal wheel 21 is in the storage state, a plurality of adjusting members 220 are supported on the ground.

[0042] Please refer to Figure 9 , which is a schematic diagram of a calibration system for vehicle vision provided by the utility model embodiment. The application also provides a calibration system 200 for vehicle vision. The calibration system 200 comprises a calibration device 100 and an imaging device 101. The calibration device 100 forms a calibration area on the ground through the calibration frame 1 and the plurality of calibration plates 2. The field of view of the imaging device 101 covers the calibration area. In the application, the imaging device 101 can be a device related to the vision system in the vehicle 1000, such as a camera module. In other embodiments, the imaging device 101 can also be a camera module to be tested for calibration, and after the calibration is completed by the calibration system 200, it can be installed in the vehicle 1000 to adapt to the vehicle 1000.

[0043] In the above embodiment, the position, angle, height and flatness of the calibration plate are accurately controlled by having a movable calibration frame and a plurality of calibration plates with adjustable height and flatness, thereby solving the problem of insufficient calibration accuracy caused by the difficulty in controlling the position, angle, height and flatness of the calibration plate in the prior art.

[0044] Obviously, those skilled in the art can make various modifications and changes to the present application without departing from the spirit and scope of the application. Thus, if these modifications and changes of the present application fall within the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and changes.

[0045] The above merely lists preferred embodiments of the present application, and of course cannot limit the scope of the present application, so equivalent changes made according to the claims of the present application still belong to the scope of the present application.

Claims

1. A calibration device for vehicle vision, characterized in that, The calibration device comprises: a calibration frame movably arranged on the ground; a plurality of calibration boards arranged around the calibration frame, each calibration board being provided with a connecting assembly and an adjusting assembly; the connecting assembly is used to telescopically connect each calibration board to the calibration frame, so as to adjust the distance between each calibration board and the calibration frame; the adjusting assembly is used to adjust the height and flatness of each calibration board relative to the ground.

2. The calibration device of claim 1, wherein The bottom of each calibration board is provided with a plurality of lockable first universal wheels, each first universal wheel having a storage state representing storage in the corresponding calibration board, and a moving state representing contact with the ground, and when the first universal wheel is in the moving state, the corresponding calibration board can be moved to different positions.

3. The calibration device of claim 2, wherein, The adjusting assembly comprises a plurality of adjusting members, which are arranged in the corresponding calibration board along an axis perpendicular to the ground.

4. The calibration device of claim 3, wherein When the first universal wheel is in the storage state, the plurality of adjusting members are supported on the ground.

5. The calibration device of claim 3, wherein Adjusting the height of the corresponding calibration board relative to the ground is achieved by adjusting all adjusting members of the corresponding calibration board, and adjusting the flatness of the corresponding calibration board relative to the ground is achieved by adjusting part or all adjusting members of the corresponding calibration board.

6. The calibration device of claim 1, wherein, The bottom of the calibration frame is provided with a plurality of lockable second universal wheels, so that the calibration frame can be moved on the ground or locked at a calibration position on the ground.

7. The calibration device of claim 1, wherein The connecting assembly is detachably mounted between each calibration board and the calibration frame.

8. The calibration device of claim 1, wherein, The calibration frame comprises a movable frame body and a plurality of fixed frame bodies connected in sequence, the movable frame body having a first state representing that the movable frame body is fixed to one of the plurality of fixed frame bodies, and a second state representing that the movable frame body is movable around one of the plurality of fixed frame bodies, and when the movable frame body is in the first state, the calibration frame forms a closed frame along an axis parallel to the ground.

9. The calibration device of claim 8, wherein, When the movable frame body is in the second state, the calibration frame can be entered by a vehicle, or the vehicle in the calibration frame can drive out of the calibration frame.

10. A calibration system for vehicle vision, characterized in that, The calibration system comprises: The calibration device for vehicle vision according to any one of claims 1-9, the calibration device forming a calibration area on the ground through the calibration frame and the plurality of calibration boards; An imaging device, a field of view of the imaging device covering the calibration area.

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