A camera calibration workstation

Abstract

This application discloses a camera calibration station, including a station base and a calibration plate moving platform. The station base includes a base body and a base positioning part disposed on the base body. The base positioning part is used to cooperate with vehicle positioning. Multiple camera calibration points are disposed on the base body, with each camera calibration point being at a different distance from the base positioning part. The calibration plate moving platform includes a moving platform body and a calibration plate fixing part disposed on the moving platform body. The calibration plate fixing part is used to clamp the calibration plate, and the moving platform body is used for detachable positioning at one of the camera calibration points. This application can use the calibration plate moving platform to position at different camera calibration points to complete the calibration of multiple cameras, improving camera calibration efficiency. Moreover, one camera calibration station can calibrate multiple cameras, expanding the application range and eliminating the need for multiple camera calibration stations, thereby reducing manufacturing costs.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and more specifically, to a camera calibration station. Background Technology

[0002] In autonomous or intelligent driving vehicles, cameras related to intelligent driving are indispensable. As the level of autonomous driving increases, the types of cameras also continue to increase, generally including perception cameras, long-range cameras, etc. After each camera is installed in the vehicle and before leaving the factory, it needs to be calibrated by a camera calibration station. The calibration plate of the camera calibration station is placed in a designated position. Different cameras require different calibration plate sizes and different designated positions, so the calibration station needs to fix the calibration plate in the designated position.

[0003] In existing technologies, each camera calibration station is set up independently for a single camera, meaning that each camera calibration requires a customized calibration station. Because each camera's calibration station is independent, after calibration, the current camera calibration station needs to be moved and replaced with another camera calibration station before calibrating other cameras, impacting calibration efficiency. Furthermore, different cameras require different calibration stations, resulting in high manufacturing costs due to the need for multiple stations.

[0004] Therefore, how to improve calibration efficiency and reduce manufacturing costs is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] In view of this, the purpose of this application is to provide a camera calibration station to improve calibration efficiency and reduce manufacturing costs.

[0006] To achieve the above objectives, this application provides the following technical solution:

[0007] The first aspect of this application provides a camera calibration workstation, including a workstation base and a calibration board moving platform;

[0008] The workstation base includes a base body and a base positioning part disposed on the base body. The base positioning part is used to cooperate with the vehicle positioning. The base body is provided with multiple camera calibration points, and the distance from each camera calibration point to the base positioning part is different.

[0009] The calibration plate moving platform includes a moving platform body and a calibration plate fixing part disposed on the moving platform body. The calibration plate fixing part is used to clamp the calibration plate, and the moving platform body is used to be detachably positioned at one of the camera calibration points.

[0010] In one possible implementation, the calibration plate fixing part includes at least a first calibration plate fixing part and a second calibration plate fixing part;

[0011] The first calibration plate fixing part and the second calibration plate fixing part are used to clamp calibration plates of different specifications.

[0012] In one possible implementation, the first calibration plate fixing part is used to clamp the FAS calibration plate, and the second calibration plate fixing part is used to clamp the AI ​​calibration plate.

[0013] In one possible implementation, the first calibration plate fixing part includes first clamping grooves arranged opposite to each other on the open side, the FAS calibration plate is inserted between the two first clamping grooves, and a first tightening bolt is threaded on the first clamping groove, the first tightening bolt is used to clamp the FAS calibration plate in the first clamping groove.

[0014] And / or,

[0015] The second calibration plate fixing part includes a second clamping groove arranged opposite to each other on the open side. The AI ​​calibration plate is inserted between the two second clamping grooves. A second tightening bolt is threaded on the second clamping groove. The second tightening bolt is used to clamp the AI ​​calibration plate in the second clamping groove.

[0016] And / or,

[0017] The mobile platform body is also provided with a heightening pad, which is used to support the FAS calibration plate at the bottom.

[0018] In one possible implementation, both first clamping slots are fixed to the mobile platform body by first clamping seats at the bottom. Each first clamping seat has a fastening hole for fasteners to pass through, and at least one of the first clamping seats has a fastening hole that is a first strip hole extending along the arrangement direction of the two first clamping slots.

[0019] And / or,

[0020] Both of the second clamping slots are fixed to the mobile platform body by the second clamping seat at the bottom. Each of the second clamping seats has a fastening hole for fasteners to pass through. At least one of the second clamping seats has a fastening hole that is a second strip-shaped hole extending along the arrangement direction of the two second clamping slots.

[0021] In one possible implementation, the mobile platform body includes:

[0022] A supporting main beam is provided, and the bottom of the supporting main beam is provided with a first traveling wheel;

[0023] A first support beam and a second support beam, wherein the first calibration plate fixing part is disposed on the first support beam and the second calibration plate fixing part is disposed on the second support beam.

[0024] In one possible implementation, there are two main support beams arranged in parallel, with the ends of the first and second support beams respectively supported on the two main support beams.

[0025] The distance between the two supporting beams is greater than the width of the base body, so that the mobile platform body can straddle the base body.

[0026] In one possible implementation, the base body is a frame structure assembled from multiple base beams, and angle steel reinforcements are provided at the joints of each base beam.

[0027] And / or,

[0028] Each of the camera calibration points is provided with a calibration point positioning part, and the mobile platform body is provided with a mobile platform positioning seat for detachable connection with the calibration point positioning part.

[0029] And / or,

[0030] Distance markers are set at the locations of each of the camera calibration points.

[0031] In one possible implementation, the bottom of the base body is provided with supporting feet and / or a second traveling wheel;

[0032] The height of at least one of the supporting feet and the second traveling wheel is adjustable.

[0033] In one possible implementation, there are at least two base positioning parts, and the two base positioning parts are respectively a first base positioning part and a second base positioning part;

[0034] The first base positioning part and the second base positioning part are provided with positioning holes that cooperate with the positioning of the whole vehicle through positioning elements. The positioning hole on one of the first base positioning part and the second base positioning part is a third strip hole, and the positioning hole on the other is a circular hole.

[0035] The positioning holes on the first base positioning part and the second base positioning part are one or more.

[0036] The camera calibration station provided in this application has a base positioning part on the base body of the station base. This base positioning part can be used to position and cooperate with the vehicle, thereby constraining the positional relationship between the vehicle and the station base. The calibration plate moving platform can clamp and fix the corresponding calibration plate through the calibration plate fixing part. Based on the corresponding camera on the vehicle that needs calibration, the calibration plate moving platform is positioned at the corresponding camera calibration point on the station base, and then the corresponding camera is calibrated. When other cameras need to be calibrated, the calibration plate moving platform only needs to be positioned at the corresponding camera calibration point on the station base for calibration. This application can complete the calibration of multiple cameras by positioning the calibration plate moving platform at different camera calibration points, improving the camera calibration efficiency. Moreover, one camera calibration station can calibrate multiple cameras, expanding the application range and eliminating the need for multiple camera calibration stations, thereby reducing manufacturing costs. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 This is a schematic diagram of the structure of the camera calibration station disclosed in the embodiments of this application;

[0039] Figure 2 This is a schematic diagram of the structure of the workstation base disclosed in the embodiments of this application;

[0040] Figure 3 This is a top view of the workstation base disclosed in the embodiments of this application;

[0041] Figure 4 This is a partial side view of the workstation base disclosed in an embodiment of this application;

[0042] Figure 5 This is a schematic diagram of the calibration board moving platform disclosed in the embodiments of this application;

[0043] Figure 6 This is a top view of the calibration board moving platform disclosed in an embodiment of this application;

[0044] Figure 7 This is a partial top view of the calibration board moving platform disclosed in an embodiment of this application;

[0045] Figure 8 This is a front view of the calibration board moving platform disclosed in the embodiments of this application.

[0046] The meanings of the various reference numerals in the figure are as follows:

[0047] 100 - Workstation base; 110 - Base body; 111 - Camera calibration point; 1111 - First camera calibration point; 1112 - Second camera calibration point; 1113 - Third camera calibration point; 1114 - Fourth camera calibration point; 120 - Angle steel reinforcement; 130 - First base positioning part; 131 - Third strip hole; 140 - Support foot; 150 - Second base positioning part; 151 - Circular hole; 160 - Second traveling wheel;

[0048] 200-Calibration plate moving platform; 210-Moving platform body; 211-First support beam; 212-Second support beam; 213-Main support beam; 214-First traveling wheel; 220-First calibration plate fixing part; 221-First tightening bolt; 222-First clamping groove; 223-First clamping seat; 230-Second calibration plate fixing part; 231-Round hole; 232-Second strip hole; 233-Second tightening bolt; 234-Second clamping groove; 240-Raising pad; 250-FAS calibration plate; 260-AI calibration plate; 270-Moving platform positioning seat. Detailed Implementation

[0049] The core of this application is to provide a camera calibration station to improve calibration efficiency and reduce manufacturing costs.

[0050] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the application as described in the claims. Additionally, the complete composition represented in the embodiments below is not limited to what is necessary as the solution to the application described in the claims. It should be noted that, for ease of description, only the parts relevant to the application are shown in the drawings. Unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0051] like Figure 1 As shown in the embodiment of this application, the camera calibration station includes a station base 100 and a calibration board mobile platform 200.

[0052] like Figure 2 As shown, the workstation base 100 includes a base body 110 and a base positioning part disposed on the base body 110. The base positioning part can be arranged at one end of the base body 110 in the length direction and is used to cooperate with the vehicle positioning to achieve mutual fixation with the vehicle, determine the positional relationship between the vehicle and the workstation base 100, and then determine the positional relationship between the camera on the vehicle and the workstation base 100.

[0053] The base body 110 is provided with multiple camera calibration points 111. The distance from each camera calibration point 111 to the base positioning part is different. The specific number of camera calibration points 111 can be configured according to commonly used cameras. For example, the first camera calibration point 1111, the second camera calibration point 1112, the third camera calibration point 1113, and the fourth camera calibration point 1114 disclosed in this embodiment. The different distances of the first camera calibration point 1111, the second camera calibration point 1112, the third camera calibration point 1113, and the fourth camera calibration point 1114 to the base positioning part can be used for calibration points at different distances for different cameras.

[0054] Specifically, the first camera calibration point 1111 is the calibration point of the AI ​​(Artificial Intelligence) camera at 1.7m, the second camera calibration point 1112 is the calibration point of the FAS (Forward Active Safety) camera at 2.7m and the AI ​​camera at 2.5m, the third camera calibration point 1113 is the calibration point of the AI ​​camera at 3m, and the fourth camera calibration point 1114 is the calibration point of the AI ​​camera at 3.5m.

[0055] It should be noted that the specific calibration points mentioned above are merely an example. Those skilled in the art can set specific calibration points based on the actual cameras on the vehicle to complete the calibration work for the corresponding cameras. Figure 4 As shown, distance markers can be set at the locations of each camera calibration point 111 to facilitate operators in identifying the calibration points of the corresponding cameras using the distance markers.

[0056] like Figure 5 As shown, in this embodiment, the calibration plate moving platform 200 includes a moving platform body 210 and a calibration plate fixing part disposed on the moving platform body 210. The calibration plate fixing part is used to clamp the calibration plate. When different calibration plates need to be set, multiple calibration plate fixing parts can be provided on the moving platform body 210 to achieve clamping of various calibration plates.

[0057] The mobile platform body 210 is detachably positioned at one of the camera calibration points 111. The method of fixing the mobile platform body 210 to each camera calibration point 111 can be arbitrary, as long as the mobile platform body 210 can be quickly positioned at the corresponding position on the base body 110.

[0058] The camera calibration station provided in this application has a base positioning part on the base body 110 of the station base 100. This base positioning part can be used to position and cooperate with the vehicle, thereby constraining the positional relationship between the vehicle and the station base 100. The calibration plate moving platform 200 can clamp and fix the corresponding calibration plate through the calibration plate fixing part. Based on the corresponding camera on the vehicle that needs to be calibrated, the calibration plate moving platform 200 is positioned at the corresponding camera calibration point 111 on the station base 100, and then the corresponding camera can be calibrated.

[0059] When other cameras need to be calibrated, the calibration board moving platform 200 only needs to be repositioned on the corresponding camera calibration point 111 on the workstation base 100 for calibration. This application can complete the calibration of multiple cameras by positioning the calibration board moving platform 200 on different camera calibration points 111, which improves the camera calibration efficiency. Moreover, one camera calibration workstation can calibrate multiple cameras, which expands the application range and eliminates the need to configure multiple camera calibration workstations, thereby reducing manufacturing costs.

[0060] There are two common types of calibration plates: the AI ​​calibration plate 260 and the FAS calibration plate 250. The AI ​​calibration plate 260 and the FAS calibration plate 250 have different dimensions, therefore they cannot be fixed by a single calibration plate fixing part. Based on this, in a specific embodiment of this application, the calibration plate fixing part includes at least a first calibration plate fixing part 220 and a second calibration plate fixing part 230. The first calibration plate fixing part 220 and the second calibration plate fixing part 230 are used to clamp calibration plates of different specifications.

[0061] For example, the first calibration plate fixing part 220 can be used to clamp the FAS calibration plate 250, and the second calibration plate fixing part 230 can be used to clamp the AI ​​calibration plate 260. Those skilled in the art will understand that when it is necessary to calibrate the FAS camera, the FAS calibration plate 250 can be fixed to the first calibration plate fixing part 220; correspondingly, when it is necessary to calibrate the AI ​​camera, the AI ​​calibration plate 260 can be fixed to the second calibration plate fixing part 230.

[0062] In this embodiment, the mobile platform body 210 is also provided with a heightening pad 240, which is used to support the FAS calibration plate 250 at the bottom. Multiple heightening pads 240 can be provided to ensure the reliability of the support. The heightening pad 240 can be fixed to the mobile platform body 210 by fasteners. It has a support groove on its upper side, and the FAS calibration plate 250 is embedded in the support groove. The heightening pad 240 can increase the height of the FAS calibration plate 250, so that the FAS calibration plate 250 does not need to have a large height dimension, thus reducing the cost of the FAS calibration plate 250.

[0063] like Figures 6-8 As shown, the first calibration plate fixing part 220 includes first clamping grooves 222 arranged opposite to each other on the open side, and the FAS calibration plate 250 is inserted between the two first clamping grooves 222. After the FAS calibration plate 250 is inserted between the two first clamping grooves 222, the side walls of the first clamping grooves 222 can restrict the FAS calibration plate 250 from moving back and forth in a direction perpendicular to the plate surface of the FAS calibration plate 250. Since the first clamping grooves 222 are not sealed in the height direction, the FAS calibration plate 250 can be inserted into the first clamping grooves 222 from the top.

[0064] A first tightening bolt 221 is threaded onto the first clamping groove 222. The first tightening bolt 221 is used to clamp the FAS calibration plate 250 within the first clamping groove 222. After the FAS calibration plate 250 is inserted between the two first clamping grooves 222, the FAS calibration plate 250 can be fixed onto the first clamping groove 222 by tightening the first tightening bolt 221. Multiple first tightening bolts 221 can be arranged at intervals along the height direction of the first clamping groove 222 to provide a reliable fixing effect.

[0065] For example, the first clamping groove 222 has multiple welding nut holes ( Figure 8 Five solutions are shown (those skilled in the art can select the actual number according to their needs). Nuts are welded at the welding nut holes, and the first tightening bolt 221 cooperates with the nut. By rotating the first tightening bolt 221, the FAS calibration plate 250 can be clamped and loosened. To facilitate the rotation of the first tightening bolt 221, it can be a hand-tightening bolt, so that it can be easily turned without the aid of a wrench, improving ease of use.

[0066] The second calibration plate fixing part 230 includes two second clamping grooves 234 arranged opposite each other on the open side, and the AI ​​calibration plate 260 is inserted between the two second clamping grooves 234. After the AI ​​calibration plate 260 is inserted between the two second clamping grooves 234, the side walls of the second clamping grooves 234 can restrict the AI ​​calibration plate 260 from moving back and forth in a direction perpendicular to the plate surface of the AI ​​calibration plate 260. Since the second clamping grooves 234 are not sealed in the height direction, the AI ​​calibration plate 260 can be inserted into the second clamping grooves 234 from the top.

[0067] A second tightening bolt 233 is threaded onto the second clamping groove 234. The second tightening bolt 233 is used to clamp the AI ​​calibration plate 260 within the second clamping groove 234. After the AI ​​calibration plate 260 is inserted between the two second clamping grooves 234, the AI ​​calibration plate 260 can be fixed onto the second clamping grooves 234 by tightening the second tightening bolt 233. Multiple second tightening bolts 233 can be arranged at intervals along the height direction of the second clamping grooves 234 to provide a reliable fixing effect.

[0068] For example, the second clamping groove 234 has multiple welding nut holes ( Figure 8 Five solutions are shown (those skilled in the art can select the actual number according to their needs). Nuts are welded at the nut holes, and the second tightening bolt 233 cooperates with the nuts. By rotating the second tightening bolt 233, the AI ​​calibration plate 260 can be clamped and loosened. To facilitate the rotation of the second tightening bolt 233, it can be a hand-tightening bolt, so that it can be easily turned without the aid of a wrench, improving ease of use.

[0069] In one specific embodiment of this application, both first clamping grooves 222 are fixed to the mobile platform body 210 via first clamping seats 223 at the bottom. Each first clamping seat 223 has a fastening hole for fasteners to pass through, and at least one of the first clamping seats 223 has a first strip-shaped hole extending along the arrangement direction of the two first clamping grooves 222. It should be noted that the number of fastening holes on the first clamping seat 223 is not limited, and those skilled in the art can set the specific number of fastening holes according to requirements.

[0070] This embodiment uses a circular hole on one of the first clamping seats 223 and a first strip-shaped hole on the other as an example. When the FAS calibration plate 250 needs to be installed, the fastener corresponding to the first strip-shaped hole can be loosened. Since the fastener is no longer tightening, the corresponding first clamping groove 222 can be moved. By moving one of the first clamping grooves 222, the distance between the two first clamping grooves 222 can be increased until it exceeds the width of the FAS calibration plate 250. This means that the FAS calibration plate 250 does not need to be inserted into the first clamping groove 222 from the top. After placing the FAS calibration plate 250 between the two first clamping grooves 222 from the side, the loosened first clamping groove 222 is pushed, so that the two first clamping grooves 222 are clamped on both sides of the FAS calibration plate 250. Then, the first tightening bolt 221 is tightened. If you need to disassemble the FAS calibration board 250, simply reverse the steps described above; this will not be repeated here.

[0071] Similarly, both second clamping slots 234 are fixed to the mobile platform body 210 via second clamping seats at the bottom. Each second clamping seat has a fastening hole for fasteners to pass through, and at least one of the second clamping seats has a second strip-shaped hole 232 extending along the arrangement direction of the two second clamping slots 234. It should be noted that the number of fastening holes on the second clamping seats is not limited, and those skilled in the art can set the specific number of fastening holes according to requirements.

[0072] Taking one of the second clamping seats as a round hole 231 and the other as a second strip hole 232 as an example, when installing the AI ​​calibration plate 260, the fastener corresponding to the second strip hole 232 can be loosened. Since the fastener is no longer in place, the corresponding second clamping groove 234 can move. By moving one of the second clamping grooves 234, the distance between the two second clamping grooves 234 can be increased until it exceeds the width of the AI ​​calibration plate 260. This eliminates the need for the AI ​​calibration plate 260 to be inserted into the second clamping groove 234 from the top. After placing the AI ​​calibration plate 260 between the two second clamping grooves 234 from the side, the loosened second clamping grooves 234 are pushed, clamping the two second clamping grooves 234 on both sides of the AI ​​calibration plate 260. Finally, the second tightening bolt 233 is tightened. If you need to disassemble the AI ​​calibration board 260, simply reverse the steps described above; this will not be repeated here.

[0073] For example, the fastening holes on the first clamping seat 223 and the second clamping seat on the left side can be designed as two 8mm round holes. A corresponding rivet nut can be set at the position of the fastening hole corresponding to the mobile platform body 210. The first clamping groove 222 and the second clamping groove 234 on the left side can be fixed at this position by the cooperation of the bolt and the rivet nut.

[0074] Two 8mm × 20mm slotted holes are formed on the first clamping seat 223 and the second clamping seat on the right side. Corresponding rivet nuts are installed at the fixed positions of these slotted holes on the moving platform body 210. The first clamping groove 222 and the second clamping groove 234 on the right side can be fixed in this position by the cooperation of bolts and rivet nuts. The purpose of these slotted holes is to allow the first clamping groove 222 and the second clamping groove 234 on the right side to have the freedom of horizontal movement, facilitating the assembly of the corresponding calibration plate. When the first clamping groove 222 and the second clamping groove 234 on the right side move horizontally to the right, the calibration plate can be directly pushed into the slots of the first clamping groove 222 and the second clamping groove 234, without needing to be installed from top to bottom (the calibration plate is relatively large, making top-down installation difficult).

[0075] like Figure 5As shown, the mobile platform body 210 may include a main support beam 213, a first support beam 211, and a second support beam 212.

[0076] A first support beam 211 and a second support beam 212 are provided. A first calibration plate fixing part 220 is provided on the first support beam 211, and a second calibration plate fixing part 230 is provided on the second support beam 212. Specifically, there may be two parallel supporting beams 213, with the two ends of the first support beam 211 and the second support beam 212 respectively supported on the two supporting beams 213.

[0077] The two main support beams 213 can be arranged in parallel, and the first support crossbeam 211 and the second support crossbeam 212 can be arranged perpendicular to the main support beams 213. It should be noted that those skilled in the art can also arrange the extension directions and relative positions of the main support beams 213, the first support crossbeam 211, and the second support crossbeam 212 according to other requirements. The first support crossbeam 211 and the second support crossbeam 212 can be arranged at intervals along the extension direction of the main support beam 213.

[0078] Since the FAS calibration plate 250 has a larger width than the AI ​​calibration plate 260, during calibration, the first support beam 211 used to fix the first calibration plate fixing part 220 can be located on the side closer to the base positioning part. This prevents the second calibration plate fixing part 230 from obstructing the FAS calibration plate 250.

[0079] The distance between the two supporting beams 213 can be designed to be greater than the width of the base body 110, so that the mobile platform body 210 can straddle the base body 110 and move along the extension direction of the base body 110. A first traveling wheel 214 is provided at the bottom of the supporting beams 213. The position and number of the first traveling wheels 214 at the bottom of the supporting beams 213 can be arranged according to actual needs. The first traveling wheel 214 can be a caster wheel or other types of traveling wheels; this embodiment does not limit the specific type of the first traveling wheel 214.

[0080] In addition, the first support beam 211, the second support beam 212 and the main support beam 213 can all be aluminum profile square steel, and angle steel reinforcements can be set at the batch connection to strengthen the connection position.

[0081] like Figures 2-4 As shown in a specific embodiment of this application, the base body 110 is a frame structure assembled from multiple base beams, and angle steel reinforcement 120 is provided at the splice of each base beam. The base beams can also be aluminum profile square steel.

[0082] The angle steel reinforcement 120 can be a right-angled angle steel. Both right-angled fixing surfaces of the angle steel reinforcement 120 have through holes. Rivet nuts are installed at corresponding positions on the base beam. The angle steel reinforcement 120 and the base beam can be fixed together with bolts. One right-angled fixing surface of the angle steel reinforcement 120 is fixed to one base beam, and the other right-angled fixing surface is fixed to another base beam, thus achieving a vertical rigid connection of the base body 110.

[0083] Each camera calibration point 111 is equipped with a calibration point positioning part, which can be a first positioning hole opened on the base beam. The mobile platform body 210 is equipped with a mobile platform positioning seat 270 for detachable connection with the calibration point positioning part. The mobile platform positioning seat 270 has a second positioning hole. A mobile platform positioning pin passes through the second positioning hole on the mobile platform positioning seat 270 and the first positioning hole on the workstation base to connect the calibration plate mobile platform 200 to the workstation base 100. By pushing the calibration plate mobile platform 200, the calibration plate mobile platform 200 can be connected to the corresponding camera calibration point 111 on the workstation base 100 to realize the calibration work of different cameras.

[0084] Because the base body 110 has a relatively large overall size, in order to improve the stability of the base body 110, support feet 140 can be provided at the bottom of the base body 110. The base body 110 is supported by the support feet 140. Two support feet 140 can be provided on the long side of the base body 110, and one support foot 140 can be provided on the short side. It should be noted that the number and position of the support feet 140 are not limited to the above example, and those skilled in the art can choose the number and position of the support feet 140 according to their needs.

[0085] The height of the support foot 140 is adjustable, although a non-adjustable support foot 140 can also be selected. The height of the support foot 140 can be adjusted by using a threaded rod as the support rod, with a rivet nut at a corresponding position on the base body 110. The support foot 140 is installed in place by screwing, and its height can be adjusted by rotating it.

[0086] To facilitate the movement of the workstation base 100, a second traveling wheel 160 is provided at the bottom of the base body 110. Specifically, the second traveling wheel 160 can be arranged at the four corners of the base body 110. The second traveling wheel 160 can be a caster wheel or other types of traveling wheels. This embodiment does not limit the specific type of the second traveling wheel 160.

[0087] The height of the second traveling wheel 160 is adjustable, although a non-adjustable second traveling wheel 160 can also be selected. The height adjustment method of the second traveling wheel 160 can be similar to that of the supporting foot 140, that is, the support rod of the second traveling wheel 160 is a threaded rod, and the base body 110 is provided with a rivet nut at the corresponding position. The second traveling wheel 160 is installed in place by screwing, and the height of the second traveling wheel 160 can be adjusted by rotating it.

[0088] At least one of the support foot 140 and the second traveling wheel 160 has an adjustable height. For example, it can be selected that only the support foot 140, only the second traveling wheel 160, or both the support foot 140 and the second traveling wheel 160 have adjustable heights. The height adjustment range of the support foot 140 and the second traveling wheel 160 is ±15mm. The purpose of height adjustment is to allow for tolerance, because due to manufacturing errors and tire pressure variations, the height at the positioning points of the vehicle is not uniform. Adjustment facilitates the positioning of the workstation base 100 with the vehicle and the calibration plate moving platform 200.

[0089] To improve the positioning reliability between the base positioning part and the vehicle, in one specific embodiment of this application, there are at least two base positioning parts. Taking two base positioning parts as an example, the two base positioning parts are defined as a first base positioning part 130 and a second base positioning part 150, respectively. The first base positioning part 130 and the second base positioning part 150 can both be arranged at one end in the length direction of the base body 110, and the first base positioning part 130 and the second base positioning part 150 are respectively arranged at both ends in the width direction of the base body 110.

[0090] The first base positioning part 130 and the second base positioning part 150 are provided with positioning holes that cooperate with the positioning of the whole vehicle through positioning elements. The positioning hole on one of the first base positioning part 130 and the second base positioning part 150 is a third strip hole 131, and the positioning hole on the other is a circular hole 151.

[0091] For example, the positioning hole on the second base positioning part 150 is a circular hole 151 with a diameter of 8mm, and the positioning hole on the first base positioning part 130 is a third strip hole 131 with a diameter of 8mm × 15mm. The purpose of the third strip hole 131 is to provide tolerance. Corresponding positioning holes are also provided at corresponding positions on the vehicle, which are used to connect and position the workstation base 100 with the positioning holes on the first base positioning part 130 and the second base positioning part 150 through positioning pins. That is, the connection between the workstation base 100 and the vehicle is ensured by the positioning pin passing through the positioning hole on the vehicle and the positioning hole on the base positioning part.

[0092] The first base positioning part 130 and the second base positioning part 150 may have one or more positioning holes. In this embodiment, the first base positioning part 130 and the second base positioning part 150 are both provided with two positioning holes. The two positioning holes are redundantly designed, and only one of the positioning holes on the first base positioning part 130 and the second base positioning part 150 needs to be connected to the vehicle.

[0093] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "a," and / or "the" are not specifically singular and may include the plural. Generally, the terms "comprising" and "including" only indicate the inclusion of expressly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements. An element defined by the phrase "comprising an..." does not exclude the presence of other identical elements in the process, method, product, or apparatus that includes the element.

[0094] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0095] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0096] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A camera calibration station, characterized in that, Includes workstation base (100) and calibration board mobile platform (200); The workstation base (100) includes a base body (110) and a base positioning part disposed on the base body (110). The base positioning part is used to cooperate with the vehicle positioning. The base body (110) is provided with a plurality of camera calibration points (111), and the distance from each camera calibration point (111) to the base positioning part is different. The calibration plate moving platform (200) includes a moving platform body (210) and a calibration plate fixing part disposed on the moving platform body (210). The calibration plate fixing part is used to clamp the calibration plate, and the moving platform body (210) is used to be detachably positioned at one of the camera calibration points (111).

2. The camera calibration station of claim 1, wherein, The calibration plate fixing part includes at least a first calibration plate fixing part (220) and a second calibration plate fixing part (230); The first calibration plate fixing part (220) and the second calibration plate fixing part (230) are used to clamp calibration plates of different specifications.

3. The camera calibration station of claim 2, wherein, The first calibration plate fixing part (220) is used to clamp the FAS calibration plate (250), and the second calibration plate fixing part (230) is used to clamp the AI ​​calibration plate (260).

4. The camera calibration station of claim 3, wherein, The first calibration plate fixing part (220) includes a first clamping groove (222) arranged opposite to each other on the open side. The FAS calibration plate (250) is inserted between the two first clamping grooves (222). A first tightening bolt (221) is threaded on the first clamping groove (222). The first tightening bolt (221) is used to clamp the FAS calibration plate (250) in the first clamping groove (222). And / or, The second calibration plate fixing part (230) includes a second clamping groove (234) arranged opposite to each other on the open side. The AI ​​calibration plate (260) is inserted between the two second clamping grooves (234). A second tightening bolt (233) is threaded on the second clamping groove (234). The second tightening bolt (233) is used to clamp the AI ​​calibration plate (260) in the second clamping groove (234). And / or, The mobile platform body (210) is also provided with a heightening plate (240), which is used to support the FAS calibration plate (250) at the bottom.

5. The camera calibration station of claim 4, wherein, Both of the first clamping grooves (222) are fixed to the mobile platform body (210) by the first clamping seat (223) at the bottom. The first clamping seat (223) is provided with a fastening hole for fasteners to pass through. At least one of the first clamping seats (223) has a fastening hole that is a first strip hole extending along the arrangement direction of the two first clamping grooves (222). And / or, Both of the second clamping grooves (234) are fixed to the mobile platform body (210) by the second clamping seat at the bottom. The second clamping seat is provided with a fastening hole for fasteners to pass through. At least one of the second clamping seats is a second strip hole (232) extending along the arrangement direction of the two second clamping grooves (234).

6. The camera calibration station according to any one of claims 2-5, wherein, The mobile platform body (210) includes: A supporting beam (213) is provided at the bottom of which a first traveling wheel (214) is provided. The first support beam (211) and the second support beam (212) are provided, the first calibration plate fixing part (220) is provided on the first support beam (211), and the second calibration plate fixing part (230) is provided on the second support beam (212).

7. The camera calibration station of claim 6, wherein, The supporting main beams (213) are two parallel beams, and the two ends of the first supporting crossbeam (211) and the second supporting crossbeam (212) are respectively supported on the two supporting main beams (213); The distance between the two supporting beams (213) is greater than the width of the base body (110) so that the mobile platform body (210) can straddle the base body (110).

8. The camera calibration station of any one of claims 1-5, wherein, The base body (110) is a frame structure assembled from multiple base beams, and angle steel reinforcements (120) are provided at the joints of each base beam. And / or, Each of the camera calibration points (111) is provided with a calibration point positioning part, and the mobile platform body (210) is provided with a mobile platform positioning seat (270) for detachably connecting to the calibration point positioning part. And / or, Distance markers are set at the locations of each of the camera calibration points (111).

9. The camera calibration station of any one of claims 1-5, wherein, The base body (110) is provided with a support foot (140) and / or a second traveling wheel (160) at its bottom. The height of at least one of the supporting foot (140) and the second traveling wheel (160) is adjustable.

10. The camera calibration station of any one of claims 1-5, wherein, The base positioning part is at least two, and two of the base positioning parts are a first base positioning part (130) and a second base positioning part (150). The first base positioning part (130) and the second base positioning part (150) are provided with positioning holes that cooperate with the positioning of the whole vehicle through positioning members. The positioning hole on one of the first base positioning part (130) and the second base positioning part (150) is a third strip hole (131), and the positioning hole on the other is a circular hole (151). The positioning holes on the first base positioning part (130) and the second base positioning part (150) are one or more.

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