Calibration device for sensors of a vehicle

Abstract

The application provides a sensor calibration device for a vehicle, comprising a first support frame and a second support frame; a first adjusting mechanism is arranged on the first support frame, and a second adjusting mechanism is arranged on the second support frame; the first adjusting mechanism and the second adjusting mechanism are used for adjusting the vehicle body; a plurality of targets are arranged on both sides of the width direction of the first support frame and the second support frame; a first driving mechanism is further arranged on the first support frame, and a second driving mechanism is arranged on the second support frame; the first driving mechanism and the second driving mechanism can synchronously drive the first adjusting mechanism and the second adjusting mechanism to move in the same direction along the width direction of the first support frame. After the vehicle is adjusted by the first adjusting mechanism and the second adjusting mechanism, the first driving mechanism and the second driving mechanism drive the vehicle to move in the width direction, so that the distance between the plurality of sensors on one side of the vehicle in the longitudinal direction and the targets can be adjusted in the limited space without moving the targets.

Description

Technical Field

[0001] This application relates to the field of vehicle calibration technology, and more specifically, to a calibration device for a sensor used in a vehicle. Background Technology

[0002] Currently, the lidar and cameras on the intelligent driving high-computing platform need to be calibrated offline to calculate the actual installation deviation of each sensor, and the algorithm will compensate for the deviation. Since different vehicle models have different sizes and sensor arrangements, the coordinates of the targets used for calibration will also be different.

[0003] In the existing technology, in order to meet the calibration requirements of different vehicle models, a target movement scheme can be adopted so that the target can be directly facing the sensor on the vehicle for calibration.

[0004] However, some calibration sites have limited space in the width direction. When encountering large vehicles, if multiple sensors on one side of the vehicle's longitudinal direction are to be calibrated, even if the target is moved, the distance between the multiple sensors in the vehicle's longitudinal direction and the target cannot be met, resulting in a limited range of applicability of the calibration device. Utility Model Content

[0005] The technical problem to be solved by this application is to provide a calibration device for a vehicle sensor. After different vehicle models are calibrated by a first adjustment mechanism and a second adjustment mechanism, a first drive mechanism and a second drive mechanism drive the vehicle to move in the width direction. This allows the distance between multiple sensors and the target on one side of the longitudinal direction of different vehicle models to be adjusted within a limited space without moving the target, thereby improving the applicability of the calibration device.

[0006] To solve the above-mentioned technical problems, this application adopts the following technical solution:

[0007] This application provides a calibration device for sensors used in a vehicle, comprising: a first support frame and a second support frame, respectively used to support the front wheels and rear wheels of the vehicle; a first adjustment mechanism is provided on the first support frame, and a second adjustment mechanism is provided on the second support frame, the first adjustment mechanism and the second adjustment mechanism being used to adjust the vehicle body and support the vehicle after adjustment; a plurality of targets are provided on both sides of the first support frame and the second support frame in the width direction, the targets being used to calibrate the sensors on the vehicle; a first drive mechanism is also provided on the first support frame, and a second drive mechanism is provided on the second support frame, the first drive mechanism and the second drive mechanism being synchronously and respectively driving the first adjustment mechanism and the second adjustment mechanism to move in the same direction along the width direction of the first support frame, so as to adjust the distance between a plurality of sensors on one side of the vehicle longitudinally and a plurality of targets on the corresponding side.

[0008] In one embodiment, the first driving mechanism includes a first driving motor, a motor bracket, and a rack. The motor bracket is connected to the first driving motor and to the first adjustment mechanism. The first support frame is also provided with the rack, which is arranged along the width direction of the first support frame. The output shaft of the first driving motor is provided with a gear that meshes with the rack. When the first driving motor rotates, it moves along the rack through the gear to drive the first adjustment mechanism to move.

[0009] In one embodiment, the first support frame is further provided with a first adapter frame, which is connected to the motor bracket and the first adjustment mechanism respectively. The first support frame is provided with a plurality of first slide rails, and a plurality of first sliders are provided between the first adapter frame and the first slide rails. The plurality of first sliders are connected to the first adapter frame, and the first sliders can slide on the first slide rails.

[0010] In one embodiment, the first adjustment mechanism includes a first connecting frame connected to the first adapter frame, and the first adjustment mechanism also includes a first expansion frame that can expand to different widths for adjusting the body of vehicles of different widths. The first adjustment mechanism also includes first roller assemblies located at both ends of the first expansion frame for supporting the front wheels of the vehicle.

[0011] In one embodiment, the first roller assembly includes two rows of rollers, each row of rollers is arranged along the width direction of the first support frame, and the opposite ends of the two rows of rollers located on the same side of the first expansion frame are both the first end and the other end is the second end, which is set higher than the first end.

[0012] In one embodiment, the first expansion frame includes two first pushing parts, which are positioned above the roller. The two first pushing parts can push the front wheels of the vehicle in different directions along the width direction of the first support frame.

[0013] In one embodiment, the first connecting frame is provided with two second slide rails, and a plurality of second sliders are provided between the first pushing part and the second slide rails. The plurality of second sliders are connected to the first pushing part, and the second sliders can slide on the second slide rails.

[0014] In one embodiment, two spaced conveyor chains are provided on one side of the first connecting frame. The two conveyor chains on the same side are connected by multiple connecting plates. Multiple rollers are fixed to the conveyor chains by multiple connectors. The rollers can slide along the first support frame. The connecting plate closest to the first connecting frame is fixedly connected to the first connecting frame. The first connecting frame can drive the connecting plate to move accordingly.

[0015] In one embodiment, the second drive mechanism has the same structure as the first drive mechanism; the second adjustment mechanism has the same structure as the first adjustment mechanism; the second support frame is provided with a second adapter frame connected to the second adjustment mechanism, and the second adapter frame is connected to the second drive mechanism and the second adjustment mechanism.

[0016] The technical solution of this application has the following beneficial effects:

[0017] The vehicle sensor calibration device includes a first support frame and a second support frame. The first support frame supports the front wheels of the vehicle, and the second support frame supports the rear wheels. A first adjustment mechanism is mounted on the first support frame, and a second adjustment mechanism is mounted on the second support frame. These two mechanisms work together to adjust the vehicle body, preventing sensor misalignment and improving detection accuracy. The calibration device also includes multiple targets positioned on both sides of the first and second support frames in the width direction. These targets are used to calibrate the sensors on the vehicle. A first drive mechanism is mounted on the first support frame, and a second drive mechanism is mounted on the second support frame. The second drive mechanism can work synchronously and drive the first and second adjustment mechanisms to move in the same direction along the width of the first support frame. Since the vehicle is above the first and second adjustment mechanisms after the vehicle is adjusted, the vehicle is also moved synchronously when the first and second adjustment mechanisms are moved along the width of the first support frame. This adjusts the distance between multiple sensors on one side of the vehicle and multiple targets on the corresponding side in the longitudinal direction. In cases where the calibration site is limited and the targets do not need to be moved, this can also meet the calibration requirements of some large vehicles after the vehicle body is adjusted, thus improving the applicability of the product. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the calibration device provided in the embodiments of this application;

[0020] Figure 2 A schematic diagram of the target structure provided in the embodiments of this application;

[0021] Figure 3 This is a partial structural schematic diagram of the calibration device provided in the embodiments of this application;

[0022] Figure 4 Schematic diagrams of the partial structure of the calibration device provided in the embodiments of this application from different perspectives;

[0023] Figure 5 These are schematic diagrams of the calibration device provided in the embodiments of this application from different perspectives.

[0024] Figure 6 This is a schematic diagram of the calibration device provided in the embodiments of this application from another perspective;

[0025] Figure 7 This is a top view of the calibration device provided in the embodiments of this application;

[0026] Figure 8 for Figure 7 A cross-sectional view of one of the parts in the CC direction;

[0027] Figure 9 for Figure 7 A cross-sectional view of the other part from the CC direction.

[0028] Icons: 1-First support frame; 11-First slide rail; 12-First slider; 2-Second support frame; 21-Third slide rail; 3-First adjustment mechanism; 31-First connecting frame; 32-First expansion frame; 321-First push part; 3211-Connecting piece; 3212-Swing rod; 322-First connecting rod assembly; 33-First roller assembly; 34-First cylinder; 35-Second slide rail; 36-Second slider; 4-Second adjustment mechanism; 41-Second connecting frame; 42-Second expansion frame; 422-Second cylinder; 43-Fourth slide rail; 5-First drive mechanism; 51-First drive motor; 52-Motor bracket; 53-Rack; 6-Second drive mechanism; 7-First adapter frame; 71-Connecting part; 8-Second adapter frame; 9-Conveyor chain; 10-Connecting plate; 13-Connector; 14-Adapter; 15-Support plate; 16-Target. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0030] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0031] like Figure 1 and 5As shown in the illustration, this application provides a calibration device for a vehicle sensor, including a first support frame 1 and a second support frame 2. The first support frame 1 supports the front wheels of the vehicle, and the second support frame 2 supports the rear wheels. A first adjustment mechanism 3 is provided on the first support frame 1, and a second adjustment mechanism 4 is provided on the second support frame 2. The first adjustment mechanism 3 and the second adjustment mechanism 4 work together to adjust the vehicle body, preventing sensor misalignment and improving detection accuracy. After adjusting the vehicle, the first adjustment mechanism 3 and the second adjustment mechanism 4 support the vehicle. The calibration device also includes multiple targets 16 disposed on both sides of the first support frame 1 and the second support frame 2 in the width direction. The targets 16 are used to calibrate the sensors on the vehicle. A first drive mechanism 5 is also provided on the first support frame 1. The second support frame 2 is equipped with a second drive mechanism 6. The first drive mechanism 5 and the second drive mechanism 6 can work synchronously and drive the first adjustment mechanism 3 and the second adjustment mechanism 4 to move in the same direction along the width of the first support frame 1, respectively. Since the vehicle is above the first adjustment mechanism 3 and the second adjustment mechanism 4 after the vehicle is adjusted, the vehicle is also moved synchronously when the first adjustment mechanism 3 and the second adjustment mechanism 4 are moved along the width of the first support frame 1. This adjusts the distance between multiple sensors on one side of the vehicle longitudinally and multiple targets 16 on the corresponding side. In cases where the calibration site is limited and the targets 16 do not need to be moved, the calibration requirements of some large vehicles after the vehicle body is adjusted can be met, thus improving the applicability of the product.

[0032] Optionally, when the width of the calibration site is limited, even if the target 16 can be moved, when calibrating some large vehicles, placing the target 16 on the edge of the calibration site width will make the distance between the target 16 and the vehicle too close, which will not meet the calibration requirements. Therefore, by moving the vehicle, the longitudinal side of the vehicle will gradually move closer to the target 16, while the other side will gradually move away. When the width space is limited and the target 16 is not moved, the side that moves away can meet the requirements.

[0033] Optionally, when encountering large vehicles, since the first drive mechanism 5 and the second drive mechanism 6 need to move synchronously and in the same direction, in the case of limited width space, in order to ensure that the distance between one side of the vehicle longitudinally and the target 16 meets the calibration requirements, the distance between the vehicle and the target 16 on one side will be too close when moving the vehicle, while the other side meets the requirements. Therefore, in order to meet the final calibration requirements, one side longitudinally can be calibrated first, and then the other side can be calibrated.

[0034] Optionally, the sensors on the vehicle may include cameras and / or radar.

[0035] Optionally, during the vehicle design phase, the installation positions and calibration parameters of the sensors on the vehicle are designed and calculated based on the vehicle body being upright. If the vehicle body is not upright, the actual operating state of the sensors will deviate from the design requirements, causing the sensor performance to fail to meet the design specifications. Therefore, before calibration, the vehicle body is aligned using the first alignment mechanism 3 and the second alignment mechanism 4 to meet the calibration requirements. After the vehicle is aligned, the first alignment mechanism 3 and the second alignment mechanism 4 also support the vehicle, and moving the first alignment mechanism 3 and the second alignment mechanism 4 synchronously moves the vehicle.

[0036] Optionally, the first support frame 1 and the second support frame 2 are spaced apart, and both are metal support frames, so as to meet the structural strength requirements.

[0037] Optionally, the volume of the second support frame 2 is slightly larger than that of the first support frame 1.

[0038] like Figure 2 As shown, optionally, the target 16 may be provided with multiple calibration images, wherein the multiple calibration images are used to calibrate the camera and / or radar.

[0039] like Figure 2 As shown, specifically, there can be nine calibration images, each of which is determined by the sensor to be calibrated. For example, when the sensor to be calibrated is a camera, the calibration image can be a QR code checkerboard pattern; when the sensor to be calibrated is a LiDAR, the calibration image can be a circular pattern.

[0040] Optionally, in some embodiments, multiple calibration images are arranged in a 3x3 grid, with one calibration image set in each grid.

[0041] In some embodiments, multiple calibration images can be arranged in a 3x3 grid, with one calibration image set in each grid. The calibration images in each grid can be the same or different, depending on the calibration requirements, and are not specifically limited here.

[0042] Optionally, in some embodiments, the calibration image corresponding to each grid is a QR code checkerboard or a circular sticker.

[0043] Understandably, the vehicle's camera can use image recognition algorithms to identify different QR codes and determine whether the camera is installed at the correct angle. Then, it can analyze the camera's installation angle by judging the corner points where the black and white checkerboard patterns intersect and perform error compensation to complete the camera calibration. The ring sticker allows the LiDAR to obtain a circular point cloud, thereby achieving LiDAR calibration.

[0044] In actual execution, the calibration image corresponding to each grid can be determined according to the sensor to be calibrated. For example, in the embodiments of this application, it can be composed of a calibration image of a QR code checkerboard for calibrating a camera; it can also be composed of a ring sticker for calibrating a LiDAR; or it can be composed of a QR code checkerboard and a ring sticker for simultaneously calibrating a camera and a LiDAR.

[0045] Optionally, the target 16 can be connected via a lifting bracket, allowing the target 16 to be adjusted in height to adapt to various vehicle models. The lifting bracket can be a rotating threaded type or a pin type; this application does not impose specific limitations, and those skilled in the art can choose according to the actual situation.

[0046] like Figures 5 to 8 As shown, in one embodiment, the first drive mechanism 5 includes a first drive motor 51, a motor bracket 52, and a rack 53. The motor bracket 52 is connected to the first drive motor 51 and the first adjustment mechanism 3. The rack 53 is mounted on the first support frame 1 and is arranged along the width direction of the first support frame 1. The output shaft of the first drive motor 51 is provided with a gear that meshes with the rack 53. When the first drive motor 51 rotates, it moves along the rack 53 through the gear, thereby driving the first adjustment mechanism 3 to move, and also driving the vehicle to move.

[0047] Optionally, the first drive motor 51 can be controlled via a connecting wire or remotely.

[0048] Optionally, both the first support frame 1 and the second support frame 2 are longitudinally elongated and extend along the longitudinal direction perpendicular to the vehicle body. The rack 53 also extends along the length direction of the first support frame 1 and the second support frame 2, so that the vehicle can be controlled to move along the width direction of the first support frame 1 and the second support frame 2.

[0049] Optionally, the connection between the motor bracket 52 and the first adjustment mechanism 3 is an indirect connection, not a direct connection.

[0050] like Figure 6 and 9 As shown, optionally, the second drive mechanism 6 has the same structure as the first drive mechanism 5, and both include a second drive motor, a motor bracket and a rack 53. The rack 53 in the second drive mechanism 6 is fixed on the second support frame 2 and is arranged along the width direction of the second support frame 2. The output shaft of the second drive motor is provided with a gear that meshes with the rack 53. When the second drive motor rotates, it moves along the rack 53 through the gear to drive the second adjustment mechanism 4 to move, and at the same time drives the vehicle to move.

[0051] Optionally, the first drive motor 51 and the second drive motor need to work synchronously and can rotate simultaneously through remote control.

[0052] Optionally, the first support frame 1 includes multiple crossbeams, and the rack 53 can be fixed on one of the crossbeams with the toothed side facing down to facilitate meshing with the gear on the first drive motor 51; similarly, the second support frame 2 also includes multiple crossbeams, and the rack 53 can be fixed on one of the crossbeams with the toothed side facing down to facilitate meshing with the gear on the second drive motor.

[0053] Optionally, the target 16 can be fixed to the ground with bolts.

[0054] like Figures 5 to 8 As shown, in one embodiment, the first support frame 1 is also provided with a first adapter frame 7. The first adapter frame 7 is connected to the motor bracket 52 and the first adjustment mechanism 3 respectively. The first support frame 1 is provided with a plurality of first slide rails 11. A plurality of first sliders 12 are provided between the first adapter frame 7 and the first slide rails 11. The plurality of first sliders 12 are connected to the first adapter frame 7. The first sliders 12 can slide on the first slide rails 11. In this way, when the first drive motor 51 rotates, the first drive motor 51 moves along the rack 53, and the first sliders 12 on the first adapter frame 7 move synchronously along the first slide rails 11, so that the first drive motor 51 can drive the first adjustment mechanism 3 to move synchronously.

[0055] Optionally, the first adapter 7 can be connected to the first connecting frame 31 in the first adjustment mechanism 3 by bolts.

[0056] like Figure 7 As shown, optionally, the first adapter 7 also includes a connecting part 71, which is connected to the motor bracket 52.

[0057] like Figure 6 , 7 As shown in Figure 9, optionally, the second support frame 2 is also provided with a second adapter frame 8. The second adapter frame 8 is connected to the motor bracket 52 and the second adjustment mechanism 4 respectively. The second support frame 2 is provided with multiple third slide rails 21. Multiple third sliders are provided between the second adapter frame 8 and the third slide rails 21. The multiple third sliders are connected to the second adapter frame 8. The third sliders can slide on the third slide rails 21. In this way, when the second drive motor rotates, the second drive motor moves along the rack 53, and the third sliders on the second adapter frame 8 move synchronously along the third slide rails 21, which facilitates the second drive motor to drive the second adjustment mechanism 4 to move synchronously. The second adapter frame 8 is also provided with a connecting part connected to the motor bracket 52.

[0058] like Figure 1 , 3As shown in Figures 5, 6, and 8, in one embodiment, the first adjustment mechanism 3 includes a first connecting frame 31 connected to the first adapter frame 7. When the first adapter frame 7 is moved by the first drive motor 51, the first connecting frame 31 can be moved synchronously. The first adjustment mechanism 3 also includes a first expansion frame 32, which can expand to different widths. The first adjustment mechanism 3 also includes a first roller assembly 33 located at both ends of the first expansion frame 32. The first roller assembly 33 is used to support the front wheels of the vehicle. When different vehicle models are parked on the first roller assembly 33, the first expansion frame 32 can expand to the corresponding width, thereby adjusting the body of vehicles of different widths. At the same time, the contact between the first roller assembly 33 and the wheel is a line contact. Compared with surface contact, the friction between the front wheel and the roller assembly is reduced. When the first expansion frame 32 is expanded for adjustment, it is easier to adjust the body.

[0059] like Figure 3 As shown, optionally, the first roller assembly 33 also includes multiple connecting shafts. One end of the connecting shaft is rotatably connected to the first connecting frame 31, and the other end is rotatably connected to the support plate 15. Both ends of the support plate 15 are connected to the first connecting frame 31. Each connecting shaft is provided with a roller, so that the roller can rotate.

[0060] like Figure 3 As shown, optionally, the second adjustment mechanism 4 includes a second connecting frame 41 connected to the second adapter frame 8. When the second adapter frame 8 is moved by the second drive motor, the second connecting frame 41 can be moved synchronously. The second adjustment mechanism 4 also includes a second expansion frame 42, which can expand to different widths. The second adjustment mechanism 4 also includes second roller assemblies located at both ends of the second expansion frame 42. The second roller assemblies are used to support the rear wheels of the vehicle. When different vehicle models are parked on the second roller assemblies, the second expansion frame 42 can expand to the corresponding width, thereby adjusting the body of vehicles of different widths. At the same time, the contact between the second roller assembly and the wheel is a line contact. Compared with surface contact, the friction between the front wheel and the roller assembly is reduced. When the second expansion frame 42 is expanded for adjustment, it is easier to adjust the body.

[0061] Optionally, the second roller assembly also includes multiple connecting shafts. One end of the connecting shaft is rotatably connected to the second connecting frame 41, and the other end is rotatably connected to the support plate 15. Both ends of the support plate 15 are connected to the second connecting frame 41. Each connecting shaft is equipped with a roller, allowing the roller to rotate.

[0062] Optionally, the second connecting frame 41 and the second adapter frame 8 can be connected by bolts.

[0063] Optionally, the first expansion frame 32 and the second expansion frame 42 need to work simultaneously.

[0064] like Figure 3As shown, in one embodiment, the first roller assembly 33 includes two rows of rollers, each row of rollers is arranged along the width direction of the first support frame 1, and the two rows of rollers on the same side of the first expansion frame 32 have one end opposite to each other as the first end and the other end as the second end. The second end is set higher than the first end. This arrangement makes the two rows of rollers on the same side form an angle, thereby positioning the front wheel.

[0065] Optionally, the included angle formed by the first roller assembly 33 can be 160 degrees.

[0066] Optionally, the second roller assembly includes multiple rows of rollers, all of which are on the same horizontal plane.

[0067] like Figure 3 and 4 As shown, in one embodiment, the first expansion frame 32 includes two first pushing parts 321. The first pushing parts 321 are positioned higher than the rollers to prevent the first roller assembly 33 from interfering with the first pushing parts 321 during the pushing process. The two first pushing parts 321 can push the front wheels of the vehicle in different directions along the width direction of the first support frame 1. Thus, when the front wheels of the vehicle are parked on the first roller assembly 33 and the rear wheels are parked on the second roller assembly, if the vehicle body deviates, one of the first pushing parts 321 will first touch the inner side of the front wheel. At this time, the first pushing part 321 that first touches the inner side of the front wheel continues to work. This will push the front wheels of the vehicle to move on the first roller assembly 33, and another first pushing part 321 will also work synchronously until both first pushing parts 321 are in contact with the inner side of the two front wheels and can no longer push, indicating that the front of the vehicle has been aligned. At the same time, the second pushing part is also working synchronously, and its working principle is the same as that of the first pushing part 321. When one of the second pushing parts first contacts the inner side of one of the rear wheels, it continues to push until both second pushing parts are in contact with the inner side of the two rear wheels and can no longer push, indicating that the rear of the vehicle has been aligned. The two first pushing parts 321 and the two second pushing parts work together to align the vehicle body.

[0068] Optionally, in the initial state, neither the first expansion bracket 32 ​​nor the second expansion bracket 42 is expanded, and the first expansion bracket 32 ​​and the second expansion bracket 42 are respectively located between the two front wheels and between the two rear wheels.

[0069] Optionally, the second expansion frame 42 includes two second pushing parts, which are positioned higher than the rollers to prevent the second roller assembly from interfering with the second pushing parts during the pushing process. The two second pushing parts can push the rear wheels of the vehicle in different directions along the width direction of the second support frame 2. Thus, when the front wheels of the vehicle are parked on the first roller assembly 33 and the rear wheels are parked on the second roller assembly, if the vehicle body deviates, one of the second pushing parts will first touch the inner side of the rear wheel. At this time, the second pushing part that first touches the inner side of the rear wheel continues to work, which will push the rear wheels of the vehicle to move on the second roller assembly. The other second pushing part also works synchronously until both second pushing parts are in contact with the inner sides of the two rear wheels and can no longer push, indicating that the rear of the vehicle has been straightened.

[0070] Optionally, when the parked vehicle deviates, one of the first pushers 321 may first hit the inside of the front wheel of the vehicle, or one of the second pushers may first hit the inside of the rear wheel of the vehicle, or one of the first pushers 321 and one of the second pushers may hit the front wheel and the rear wheel of the vehicle simultaneously, respectively. The above situations mainly depend on the deviating angle of the vehicle.

[0071] like Figure 3 and 4 As shown, optionally, the first pushing part 321 includes a connecting piece 3211 and a swing rod 3212 perpendicular to the connecting piece 3211. The swing rod 3212 is positioned higher than the connecting piece 3211, allowing it to fit against the inner side of the front wheel and push the front wheel of the vehicle. A first cylinder 34 is fixed below the connecting piece 3211. One end of the first cylinder 34 is fixed to the first connecting frame 31, and the other end is connected to one of the connecting pieces 3211. When the first cylinder 34 is working, it can push one of the first pushing parts 321 to move along the width direction of the first support frame 1. The first expansion frame 32 also includes a first connecting rod assembly 322, which is connected to both first pushing parts 321. When one of the first pushing parts 321 is pushed by the first cylinder 34, the first connecting rod assembly 322 can drive the other first pushing part 321 to move in different directions, thus realizing that the two first pushing parts 321 move in different directions respectively. The middle position of the first connecting rod assembly 322 is rotatably connected to the first connecting frame 31.

[0072] Optionally, the first link assembly 322 provided in this embodiment is only an example and may be other structures.

[0073] Optionally, in some cases, the first linkage assembly 322 can be omitted, that is, two first cylinders 34 are respectively provided below the two connecting pieces 3211, and the two first cylinders 34 work simultaneously, which can simultaneously push the two first pushing parts 321.

[0074] like Figure 3 and 4 As shown, optionally, the second pushing part has the same structure as the first pushing part 321, except that the volume of the second pushing part is larger than that of the first pushing part 321. The second pushing part also includes a connecting plate and a swing rod perpendicular to the connecting plate. The swing rod is set higher than the connecting plate and can fit against the inner side of the rear wheel to push the rear wheel of the vehicle. A second cylinder 422 is fixed below the connecting plate. One end of the second cylinder 422 is fixed to the second connecting frame 41, and the other end is connected to one of the connecting plates. When the second cylinder 422 is working, it can push one of the second pushing parts to move along the width direction of the second support frame 2. The second expansion frame 42 also includes a second linkage assembly, which is connected to the two second pushing parts respectively. When one of the second pushing parts is pushed by the second cylinder 422, the second linkage assembly can drive the other second pushing part to move in a different direction, thereby realizing that the two second pushing parts move in different directions respectively. The middle position of the second linkage assembly is rotatably connected to the second connecting frame 41.

[0075] Optionally, the second link assembly provided in this application embodiment is only an example, and other structures may also be used.

[0076] Optionally, in some cases, the second linkage assembly can be omitted, that is, two second cylinders 422 are respectively installed below the two connecting plates, and the two second cylinders 422 work simultaneously to push the two second pushing parts at the same time.

[0077] Optionally, the first cylinder 34 and the second cylinder 422 need to work simultaneously, which can be controlled by a connecting wire or remotely.

[0078] like Figure 3 and 8 As shown, in one embodiment, the first connecting frame 31 is provided with two second slide rails 35, and a plurality of second sliders 36 are provided between the first pushing part 321 and the second slide rails 35. The plurality of second sliders 36 are connected to the first pushing part 321, and the second sliders 36 can slide on the second slide rails 35. By setting the second slide rails 35 and the second sliders 36, the first pushing part 321 moves more smoothly, making it easier for the first pushing part 321 to push the front wheel.

[0079] like Figure 3 As shown, optionally, the second connecting frame 41 is provided with two fourth slide rails 43, and multiple fourth sliders are provided between the second pushing part and the fourth slide rails 43. The multiple fourth sliders are connected to the second pushing part and can slide on the fourth slide rails 43. By setting the fourth slide rails 43 and the fourth sliders, the second pushing part moves more smoothly, making it easier for the second pushing part to push the rear wheel.

[0080] like Figure 1 and 8 As shown, in one embodiment, the first connecting frame 31 is further provided with two spaced conveyor chains 9 on one side. The two conveyor chains 9 on the same side are connected by multiple connecting plates 10. Due to the structural strength of the connecting plates 10, the spacing between the two conveyor chains 9 on the same side is fixed, preventing the conveyor chains 9 from falling off the first support frame 1 when moving. The conveyor chains 9 are fixed with multiple rollers by multiple connectors 13. The rollers can slide along the first support frame 1. The connecting plate 10 closest to the first connecting frame 31 is fixedly connected to the first connecting frame 31, so that multiple connecting plates 10 and the two conveyor chains 9 on the same side are all connected to the first connecting frame 31. In this way, when the first connecting frame 31 moves, it can push the conveyor chains 9 and multiple connecting plates 10 to move accordingly. The rollers can also reduce the friction between the conveyor chains 9 and the first support frame 1, making it easier for the conveyor chains 9 and connecting plates 10 to move. In addition, the first support frame 1 is relatively high and has other parts in the direction. By setting multiple connecting plates 10, the hollow areas on both sides of the first connecting frame 31 can be sealed to prevent personnel from falling.

[0081] Optionally, a groove can be provided above the first support frame 1 for the conveyor chain 9 to slide.

[0082] Optionally, multiple rollers can be fixed to one side of the conveyor chain 9 and can slide along the first support frame 1.

[0083] like Figure 8 As shown, optionally, multiple adapters 14 can also be provided on the conveyor chain 9. The adapters 14 are connected to the connecting plate 10, thereby realizing the connection between the connecting plate 10 and the conveyor chain 9.

[0084] like Figure 1 As shown, optionally, the length of the connecting plate 10 should be adapted to the length of the first support frame 1 in the Y direction to prevent the two conveyor chains 9 on the same side from falling off.

[0085] Optionally, the same structure described above can be provided on both sides of the second adapter frame 8, which will not be described in detail here.

[0086] In one implementation, the second drive mechanism 6 has the same structure as the first drive mechanism 5; the second adjustment mechanism 4 has the same structure as the first adjustment mechanism 3; the second support frame 2 is provided with a second adapter frame 8 connected to the second adjustment mechanism 4, and the second adapter frame 8 is connected to the second drive mechanism 6 and the second adjustment mechanism 4. In this way, the second drive mechanism 6 can drive the second adjustment mechanism 4 to move synchronously through the second adapter frame 8.

[0087] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

[0088] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0089] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A calibration device for a vehicle sensor, characterized in that, include: The first support frame and the second support frame are used to support the front wheels and the rear wheels of the vehicle, respectively. The first support frame is provided with a first adjustment mechanism, and the second support frame is provided with a second adjustment mechanism. The first adjustment mechanism and the second adjustment mechanism are used to adjust the body of the vehicle and support the vehicle after adjustment. Multiple targets are provided on both sides of the first support frame and the second support frame in the width direction. The targets are used to calibrate the sensors on the vehicle. The first support frame is also provided with a first drive mechanism, and the second support frame is provided with a second drive mechanism. The first drive mechanism and the second drive mechanism can synchronously drive the first adjustment mechanism and the second adjustment mechanism to move in the same direction along the width direction of the first support frame, so as to adjust the distance between multiple sensors on one side of the vehicle longitudinally and multiple targets on the corresponding side.

2. The calibration device according to claim 1, characterized in that, The first driving mechanism includes a first driving motor, a motor bracket, and a rack. The motor bracket is connected to the first driving motor and to the first adjustment mechanism. The first support frame is also provided with the rack, which is arranged along the width direction of the first support frame. The output shaft of the first driving motor is provided with a gear that meshes with the rack. When the first driving motor rotates, it moves along the rack through the gear to drive the first adjustment mechanism to move.

3. The calibration device according to claim 2, characterized in that, The first support frame is also provided with a first adapter frame, which is connected to the motor bracket and the first adjustment mechanism respectively. The first support frame is provided with a plurality of first slide rails, and a plurality of first sliders are provided between the first adapter frame and the first slide rails. The plurality of first sliders are connected to the first adapter frame, and the first sliders can slide on the first slide rails.

4. The calibration device according to claim 3, characterized in that, The first adjustment mechanism includes a first connecting frame connected to the first adapter frame, and the first adjustment mechanism also includes a first expansion frame that can be expanded to different widths for adjusting the body of vehicles of different widths. The first adjustment mechanism also includes a first roller assembly located at both ends of the first expansion frame for supporting the front wheels of the vehicle.

5. The calibration device according to claim 4, characterized in that, The first roller assembly includes two rows of rollers, each row of rollers is arranged along the width direction of the first support frame, and the two rows of rollers located on the same side of the first expansion frame have one end opposite to each other as the first end and the other end as the second end, which is set higher than the first end.

6. The calibration device according to claim 5, characterized in that, The first expansion frame includes two first pushing parts, which are positioned above the roller. The two first pushing parts can push the front wheels of the vehicle in different directions along the width direction of the first support frame.

7. The calibration device according to claim 6, characterized in that, The first connecting frame is provided with two second slide rails, and a plurality of second sliders are provided between the first pushing part and the second slide rails. The plurality of second sliders are connected to the first pushing part, and the second sliders can slide on the second slide rails.

8. The calibration apparatus according to any one of claims 4 to 7, characterized in that, Two spaced conveyor chains are provided on one side of the first connecting frame. The two conveyor chains on the same side are connected by multiple connecting plates. Multiple rollers are fixed to the conveyor chains by multiple connectors. The rollers can slide along the first support frame. The connecting plate closest to the first connecting frame is fixedly connected to the first connecting frame. The first connecting frame can drive the connecting plate to move.

9. The calibration apparatus according to any one of claims 1 to 7, characterized in that, The second drive mechanism has the same structure as the first drive mechanism; the second adjustment mechanism has the same structure as the first adjustment mechanism. The second support frame is provided with a second adapter frame connected to the second adjustment mechanism, and the second adapter frame is connected to the second drive mechanism and the second adjustment mechanism.

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