Calibration pattern placement method and calibration apparatus

Abstract

The present application relates to the technical field of ADAS calibration, and discloses a calibration pattern placement method and a calibration apparatus. The method comprises: placing a calibration main frame at a reference placement position on one longitudinal side of a vehicle, so that a cross beam of the calibration main frame is perpendicular to the central axis of the vehicle; respectively installing two laser instruments within preset ranges at two ends of the cross beam; and using laser lines projected by the two laser instruments onto a calibration plane to assist in placing a calibration pattern. In the embodiments of the present application, the two laser instruments are additionally provided on the calibration main frame, and the laser lines respectively projected by the two laser instruments onto the calibration plane are used to assist in placing the calibration pattern, thereby implementing high-precision and high-efficiency placement of the calibration pattern, and being conducive to improvement of the calibration quality.

Description

Method for placing calibration patterns and calibration device

[0001] This application claims priority to Chinese Patent Application No. 2024110245189, filed on July 29, 2024, entitled “Method and apparatus for arranging calibration patterns”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle calibration technology, and in particular to a method for arranging calibration patterns and a calibration device. Background Technology

[0003] With the development of advanced technologies such as autonomous driving, more and more vehicles are being equipped with Around View Monitor (AVM) systems. AVM systems display a real-time panoramic image of the vehicle's surroundings on the vehicle's information display screen, helping the driver better understand the surrounding environment. Autonomous driving systems can also leverage this to achieve functions such as autonomous navigation and obstacle avoidance. However, when the system malfunctions or malfunctions, AVM system calibration is necessary for its normal and safe operation.

[0004] In the AVM system calibration process, a crucial step is the placement of the AVM calibration pattern. Traditionally, the placement of the pattern is determined by using a measuring tape and drawing lines on the ground. However, this method has drawbacks such as being time-consuming and having low placement accuracy, which affects the efficiency and accuracy of the AVM system calibration. Summary of the Invention

[0005] The embodiments of this application aim to provide a method and apparatus for calibrating patterns, so as to solve the technical problems of long placement time and low placement accuracy of calibration patterns in the prior art.

[0006] The embodiments of this application adopt the following technical solutions to solve its technical problems:

[0007] In a first aspect, embodiments of this application provide a method for arranging calibration patterns, applied to a calibration device, the calibration device including a calibration main frame and two lasers, the method comprising:

[0008] The calibration main frame is placed in a reference position on the longitudinal side of the vehicle, such that the crossbeam of the calibration main frame is perpendicular to the centerline of the vehicle.

[0009] The two lasers are respectively installed within a predetermined range at both ends of the crossbeam;

[0010] The calibration pattern is placed using laser lines projected onto the calibration plane by the two lasers mentioned above.

[0011] In some embodiments, the laser instrument is a two-line laser instrument, and the step of using the laser lines projected onto the calibration plane by the two laser instruments to assist in placing the calibration pattern includes:

[0012] Turn on the two-line lasers so that each of the two-line lasers projects a calibration line and a reference line onto the calibration plane, wherein the calibration line and the reference line are perpendicular to each other, and the two reference lines are located on the lateral sides of the vehicle respectively.

[0013] Determine whether the two calibration lines coincide. If the two calibration lines coincide, place the calibration patterns along the two reference lines respectively.

[0014] In some embodiments, the calibration device further includes two fine-tuning mechanisms, each of the lasers being mounted at both ends of the crossbeam via the fine-tuning mechanism, and the method further includes:

[0015] If the two calibration lines do not coincide, the attitude angle of the corresponding two-line laser is adjusted by the fine-tuning mechanism to make the two calibration lines coincide.

[0016] In some embodiments, the calibration device further includes a calibration panel. After the two two-line lasers are turned on, each two-line laser projects an auxiliary line onto the calibration panel. If the two calibration lines do not coincide, the attitude angle of the corresponding two-line laser is adjusted by the fine-tuning mechanism to make the two calibration lines coincide, including:

[0017] If the two calibration lines do not coincide, the attitude angle of the corresponding two-line laser is adjusted by the fine-tuning mechanism until the two auxiliary lines coincide, and then the two calibration lines coincide.

[0018] In some embodiments, a vision module is provided on the calibration master frame, and a calibration target is attached to the vehicle. The reference placement position of placing the calibration master frame on one longitudinal side of the vehicle includes:

[0019] The vision module identifies calibration targets attached to the vehicle to provide the positional offset of the calibration master frame;

[0020] The position offset is used as a placement guide to place the calibration main frame at the reference placement position.

[0021] Secondly, embodiments of this application also provide a calibration device, the calibration device comprising:

[0022] A calibration main frame, which includes crossbeams;

[0023] Two fine-tuning mechanisms are respectively installed at both ends of the crossbeam;

[0024] Two two-line lasers are respectively mounted on the corresponding fine-tuning mechanism, and each two-line laser is capable of projecting mutually perpendicular calibration lines and reference lines onto the calibration plane;

[0025] When the two calibration lines coincide, the two reference lines are used to assist in placing the calibration pattern. The fine-tuning mechanism can adjust the pose of the corresponding two-line laser so that the two calibration lines coincide.

[0026] In some embodiments, the fine-tuning mechanism includes:

[0027] A base, which is mounted on the crossbeam;

[0028] A platform on which the two-line laser is mounted, the platform including a hinge and a braking part, the platform being hinged to the base via the hinge;

[0029] A driving assembly is disposed on the base and connected to the braking part. The driving assembly is used to drive the braking part to rotate relative to the base around the hinge axis of the hinge part, so as to drive the stage and the two-line laser to rotate, so that the two calibration lines coincide.

[0030] In some embodiments, a calibration panel is also included, which is disposed on the stage or the two-line laser;

[0031] Each of the two-line lasers projects an auxiliary line onto the calibration panel. The auxiliary line can be moved on the calibration panel under the adjustment of the corresponding fine-tuning structure so that the two auxiliary lines coincide.

[0032] In some embodiments, the calibration panel includes a semi-transparent first region and a non-transparent second region, the first region and the second region being adjacent to each other in the vertical direction, and the first region having a light-emitting hole;

[0033] The auxiliary line of any of the two-line lasers can be projected onto the first area on the calibration panel of the corresponding fine-tuning mechanism, and projected onto the calibration panel of the other fine-tuning mechanism through the light exit hole.

[0034] In some embodiments, the platform further includes a platform body, the hinge portion and the braking portion are respectively located at two ends in the length direction of the platform body, and the hinge portion is a hinge shaft;

[0035] The base includes a hinge hole and a receiving groove. The hinge hole is sleeved on the hinge part, and the braking part is received in the receiving groove and can rotate relative to the base about the hinge axis within the receiving groove.

[0036] Compared with the prior art, the embodiments of this application provide a pattern placement method and calibration device. By adding two laser instruments to the calibration main frame, the laser lines projected by the two laser instruments onto the calibration plane are used to assist in the placement of the calibration pattern, thereby achieving high-precision and high-efficiency placement of the calibration pattern and improving the calibration quality. Attached Figure Description

[0037] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0038] Figure 1 is a flowchart illustrating the method for arranging the marking pattern in one embodiment of this application;

[0039] Figure 2 is a schematic diagram showing the position of the main frame placed in front of the vehicle in an embodiment of this application;

[0040] Figure 3 is a schematic diagram of the position of the laser device installed behind the crossbeam of the calibration main frame in an embodiment of this application;

[0041] Figure 4 is a schematic diagram of the position of the calibration pattern after it is placed with the reference of two lasers projected onto the calibration plane in an embodiment of this application.

[0042] Figure 5 is a schematic diagram of the calibration device provided in an embodiment of this application;

[0043] Figure 6 is a structural schematic diagram of the first connector and the second connector of the sliding assembly provided in an embodiment of this application;

[0044] Figure 7 is a schematic diagram of the fine-tuning mechanism provided in an embodiment of this application;

[0045] Figure 8 is an exploded view of the structure of the fine-tuning mechanism provided in the embodiment of this application;

[0046] Figure 9 is another structural schematic diagram of the fine-tuning mechanism provided in an embodiment of this application;

[0047] Figure 10 is a schematic diagram of the assembled structure of the fine-tuning mechanism and the two-line laser provided in the embodiment of this application;

[0048] Figure 11 is a schematic diagram of another structure of the fine-tuning mechanism and the two-line laser instrument after assembly provided in the embodiment of this application;

[0049] Figure 12 is a schematic diagram of the structure of the calibration panel provided in the embodiment of this application. Detailed Implementation

[0050] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present application.

[0051] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] In the first aspect, the embodiments of this application provide a method for arranging calibration patterns. Please refer to Figures 1 to 4. This method is applied to a calibration device 100, which can assist in the high-precision placement of the calibration pattern 300.

[0054] The calibration device 100 can be used for vehicle ADAS system calibration and is used in conjunction with the vehicle and diagnostic equipment. In this embodiment, the calibration device 100 is used to assist in the placement of the calibration pattern 300 to facilitate the accurate calibration of the vehicle's Around View Monitor (AVM). The calibration device 100 includes a calibration main frame 40 and two lasers 21. The calibration main frame 40 is usually placed on the front or rear side of the vehicle 200. In some embodiments, the calibration main frame 40 includes a base, a stand, and a crossbeam 41. The stand is vertically arranged and mounted on the base, the crossbeam 41 is mounted on the stand, and the two lasers 21 are respectively mounted at opposite ends of the crossbeam 41. Optionally, the laser instrument 21 is a two-line laser instrument 21, which can project the calibration line 214 and the reference line to the calibration plane (such as the ground) respectively. The calibration line 214 is parallel to the crossbeam 41, and the reference line is perpendicular to the crossbeam 41. The two reference lines are located on the left and right sides of the vehicle respectively. When the two calibration lines 214 coincide, the user can use the reference lines on the left and right sides of the vehicle to help place the calibration pattern 300.

[0055] In some embodiments, the laser instrument 21 is slidably mounted on the crossbeam 41, which allows for quick and convenient adjustment of the position of the laser instrument 21 to accurately reach the preset range on the crossbeam 41, effectively ensuring that the position of the laser instrument 21 meets the requirements of the calibration system.

[0056] Furthermore, the calibration device 100 also includes two fine-tuning mechanisms 11. The two lasers 21 are respectively installed at opposite ends of the crossbeam 41 through the two fine-tuning mechanisms 11. When the two calibration lines 214 do not coincide, the attitude angle (such as yaw angle) of the lasers 21 can be adjusted through the fine-tuning mechanisms 11, thereby changing the projection position of the calibration lines 214 so that the two calibration lines 214 coincide.

[0057] In some embodiments, the calibration device 100 further includes a vision module. Optionally, the vision module may include one or more cameras 101. The vision module may be mounted on the crossbeam 41 of the calibration main frame 40. The vision module can identify images of targets 201 attached to the vehicle 200 (such as images of targets attached to the wheels of the vehicle), thereby calculating the relative positional relationship between the vehicle and the calibration main frame 40, facilitating the placement of the calibration main frame 40 to a reference placement position. This ensures that the placement position of the calibration main frame 40 meets the calibration requirements.

[0058] As shown in Figure 1, Figure 1 is a flowchart illustrating a method for arranging a calibration pattern 300 according to an embodiment of this application. The specific arrangement steps are as follows:

[0059] S201. Place the calibration main frame 40 at a reference placement position on one longitudinal side of the vehicle, so that the crossbeam 41 of the calibration main frame 40 is perpendicular to the center axis of the vehicle.

[0060] In this embodiment, the placement of the calibration main frame 40 can be performed by an operator. Alternatively, the calibration main frame 40 can be pre-placed by a robotic arm or other means, thereby placing the calibration main frame 40 on one longitudinal side of the vehicle.

[0061] The longitudinal side of the vehicle indicates either the front or rear of the vehicle. The reference placement position indicates the ideal position where the calibration main frame 40 is placed. This reference placement position is related to the vehicle model, the ADAS system to be calibrated, and the position of the sensors to be calibrated on the vehicle. Depending on different calibration requirements, the reference placement position of the calibration main frame 40 will vary. For example, the reference placement position could be a location directly in front of the vehicle (as shown in Figure 2) or a location directly behind the vehicle. After the calibration main frame 40 is placed in the reference placement position, the crossbeam 41 of the calibration main frame 40 is perpendicular to the vehicle's centerline; that is, the crossbeam 41 of the calibration main frame 40 is aligned with the vehicle.

[0062] In some embodiments, the reference placement position of the calibration main frame 40 can be determined by tools such as a plumb bob, laser, or measuring tape, so that the operator can place the calibration main frame 40 at the reference placement position.

[0063] As shown in Figure 2, in some embodiments, a vision module is also provided on the calibration master frame 40, and a calibration target is attached to the vehicle. The vision module can identify the target attached to the vehicle to provide the positional offset of the calibration master frame 40, and use the positional offset as a placement guide so that the operator can place the calibration master frame 40 in the reference placement position. Specifically, by identifying the target attached to the vehicle through the vision module, the position of the calibration master frame 40 relative to the vehicle can be calculated in real time. Then, by comparing the position of the calibration master frame 40 relative to the vehicle with the reference placement position, the positional offset of the calibration master frame 40 can be obtained.

[0064] The vision module may include one or more cameras 101. For example, the vision module may include two cameras 101 disposed at both ends of the crossbeam 41. The calibration targets may be attached to each wheel of the vehicle, or to the front or rear of the vehicle. As shown in Figure 2, each vehicle is equipped with a calibration target, which has a preset pattern with high contrast and a specific geometric shape to facilitate accurate recognition by the vision module.

[0065] The position of the calibration main frame 40 relative to the vehicle can be achieved through the relative relationship between the positional features of the calibration main frame 40 and the positional features of the vehicle. Specifically, the positional features of the vehicle may include the positions of the vehicle's wheels, the position of the vehicle's front or rear, the position of the vehicle's rearview mirrors, the positions of the vehicle's radar and other sensors, the position of the vehicle's centerline or thrust line, etc. The positional features of the calibration main frame 40 may be the positional features of the camera 101 on the calibration main frame 40, or the positional features of the centerline or center point of the crossbeam 41 relative to the vehicle.

[0066] In some embodiments, two cameras 101 at both ends of the crossbeam 41 are used to acquire calibration target images on both sides of the vehicle. The calibration target images can characterize the vehicle's positional features, such as the positional features of each wheel and the positional features of the vehicle's centerline or thrust line. The relative position between the two cameras 101 at both ends of the crossbeam 41 can characterize positional features such as the centerline or center point of the crossbeam 41. Therefore, by calibrating the positional features of the main frame 40 and the vehicle's positional features, the position of the main frame 40 relative to the vehicle can be obtained.

[0067] After obtaining the position of the calibration main frame 40 relative to the vehicle, the current position of the calibration main frame 40 relative to the vehicle is compared with the reference placement position, and the position offset of the calibration main frame 40 is calculated. The position offset represents the position deviation between the current position of the calibration main frame 40 and the reference placement position. Specifically, the position offset can include six aspects of position deviation: front-rear distance offset, left-right distance offset, vertical distance offset, yaw angle offset, pitch angle offset, and roll angle offset.

[0068] After obtaining the position offset, the operator can adjust the placement position and angle of the calibration main frame 40 to adjust the calibration main frame 40 to the reference placement position so that the crossbeam 41 of the calibration main frame 40 is aligned with the vehicle.

[0069] S202. Install the two laser devices 21 at the preset ranges at both ends of the crossbeam 41 respectively;

[0070] The preset range indicates the ideal placement position of the laser instrument 21. After the laser instrument 21 is adjusted to the preset range on the crossbeam 41, the position of the laser instrument 21 meets the requirements of the calibration system. The preset range is related to the vehicle model, the ADAS system to be calibrated, and the position of the sensor to be calibrated on the vehicle.

[0071] In some embodiments, the laser device 21 is slidably mounted on the crossbeam 41, which has scale lines indicating its position, allowing for quick and accurate sliding of the laser device 21 within a preset range. In some embodiments, the calibration frame 40 is positioned directly in front of or behind the vehicle. In this case, the center of the crossbeam 41 can be used as a reference point for positioning the laser device 21, allowing it to be slid to a preset range on the left or right side of the crossbeam 41.

[0072] In some embodiments, an operator may adjust the position of the laser device 21 to place it within a preset range of the crossbeam 41. In other embodiments, a servo motor may drive the laser device 21 to adjust its position, sliding it within a preset range of the crossbeam 41 and ensuring the accuracy of the laser device 21's installation position.

[0073] S203. Use two laser instruments 21 to project laser lines onto the calibration plane to assist in placing the calibration pattern 300.

[0074] After the two lasers 21 are installed within preset ranges at both ends of the crossbeam 41, the two lasers 21 can project laser lines. The operator can then use the laser lines projected onto the calibration plane as a reference to place calibration patterns 300 on the left and right sides of the vehicle. The calibration plane refers to the plane on which the vehicle and calibration main frame 40 are placed; for example, the ground. It should be noted that this embodiment does not require the calibration plane to be absolutely level; for example, a slightly tilted ground can also serve as a calibration plane. The calibration pattern 300 can be an AVM pattern. The calibration of the vehicle panoramic imaging monitoring system can be achieved by placing the calibration pattern 300.

[0075] In this embodiment of the application, by adding two laser instruments 21 to the calibration main frame 40, the laser lines projected by the two laser instruments 21 onto the calibration plane are used to assist in the placement of the calibration pattern 300, thereby achieving high-precision and high-efficiency placement of the calibration pattern 300, which is beneficial to improving the calibration quality.

[0076] In this embodiment, the laser instrument 21 can be a single-line laser instrument 21, a two-line laser instrument 21 (cross laser instrument 21), or a two-line laser level, etc., and the operator can choose according to the actual calibration site and the calibration main frame 40. For example:

[0077] In a calibration scenario, with the calibration plane horizontal, the calibration main frame 40 can be placed horizontally on the calibration plane, and the crossbeam 41 can be set horizontally. At this time, the laser instrument 21 can be a single-line laser instrument 21 or a regular two-line laser instrument 21. After the two laser instruments 21 are installed at the preset ranges at both ends of the crossbeam 41, the laser lines of the two laser instruments 21 are projected onto the calibration plane. The two laser lines are located on the left and right sides of the vehicle, respectively. These two laser lines can be used as reference lines. The operator only needs to place the calibration pattern 300 on the left and right sides of the vehicle along the reference lines.

[0078] In another calibration scenario, when the calibration plane is tilted, the crossbeam 41 will be tilted after the calibration main frame 40 is placed on the calibration plane, for example, the left side of the crossbeam 41 is higher than the right side. In this case, the laser instrument 21 can select a two-line laser level, using the laser lines projected by the two-line laser instrument 21 onto the left and right sides of the vehicle as reference lines to assist in placing the calibration pattern 300. In this embodiment, the two-line laser level can avoid laser projection errors, solve the laser projection errors when the calibration main frame 40 is on uneven ground, improve the placement accuracy of the calibration pattern 300, expand the applicability of calibration scenarios, and reduce dependence on the calibration site.

[0079] In some calibration scenarios, the laser instrument 21 is a two-line laser instrument 21. In step S203, the laser lines projected onto the calibration plane by the two laser instruments 21 are used to assist in placing the calibration pattern 300, including the following steps:

[0080] A1. Turn on the two-line laser instrument 21 so that each two-line laser instrument 21 projects the calibration line 214 and the reference line onto the calibration plane, wherein the calibration line 214 and the reference line are perpendicular to each other, and the two reference lines are located on the lateral sides of the vehicle respectively.

[0081] Specifically, the two-line laser instrument 21 can be a regular two-line laser instrument 21 or a two-line laser level. After the two-line laser instrument 21 is turned on, the laser beam emitted by the two-line laser instrument 21 can be projected onto the calibration plane and form a cross laser line. One of the cross laser lines is a calibration line 214, and the other is a reference line. The calibration line 214 is roughly parallel to the crossbeam 41, and the reference line is roughly perpendicular to the crossbeam 41 and located on the lateral side of the vehicle.

[0082] When the operator turns on both lasers 21 at both ends of the crossbeam 41, two reference lines and two calibration lines 214 will be generated on the calibration plane. The two reference lines are located on the left and right sides of the vehicle, respectively.

[0083] A2. Determine whether the two calibration lines 214 coincide. If the two calibration lines 214 coincide, place the calibration pattern 300 along the two reference lines respectively.

[0084] Specifically, the operator can determine whether the two calibration lines 214 coincide by observing the two calibration lines 214. If the two calibration lines 214 coincide, it indicates that the cross beam 41 has good straightness and the installation poses of the two-line laser devices 21 at both ends of the cross beam 41 are precise. At this time, the laser lines projected by the two two-line laser devices 21 onto the calibration plane form a shape like the Chinese character '艹'. The operator can directly place the calibration pattern 300 along the two reference lines on both sides of the vehicle to achieve precise placement of the calibration pattern 300.

[0085] A3. If the two calibration lines 214 do not coincide, the attitude angle of the corresponding two-line laser device 21 is adjusted through the fine adjustment mechanism 11 to make the two calibration lines 214 coincide.

[0086] As shown in FIG. 5, in this embodiment, the calibration device 100 includes two fine adjustment mechanisms 11. The two fine adjustment mechanisms 11 are respectively installed at opposite ends of the cross beam 41, and the two two-line laser devices 21 are respectively installed on the two fine adjustment mechanisms 11. The fine adjustment mechanism 11 can drive the corresponding two-line laser device 21 to rotate, thereby adjusting the attitude angle of the corresponding two-line laser device 21. For example, the yaw angle of the two-line laser device 21 can be adjusted by adjusting the fine adjustment mechanism 11.

[0087] When the operator observes that the two calibration lines 214 do not coincide, the positions of the two reference lines are not precise. At this time, the cross beam 41 has a certain degree of bending, torsion, etc., which affects the precision of the installation pose of the two-line laser device 21 on the cross beam 41. The yaw angle of the two-line laser device 21 can be adjusted by adjusting the fine adjustment mechanism 11 to make the two calibration lines 214 coincide.

[0088] After the two calibration lines 214 coincide, the two reference lines 213 can be used to assist in placing the calibration pattern 300 at this time. In this embodiment, by adding the fine adjustment mechanism 11 to the two-line laser device 21 and adjusting the yaw angle of the laser, the placement error caused by the non-coincidence of the two calibration lines 214 when the cross beam 41 is bent or twisted is solved, and the placement position precision of the calibration pattern 300 is further improved.

[0089] In some embodiments, the operator can manually adjust the fine adjustment mechanism 11 to make the two calibration lines 214 coincide. In other embodiments, the fine adjustment mechanism 11 can also be adjusted by setting a position sensor and a servo motor. For the machine body, the position sensor is responsible for continuously monitoring the actual position of the two-line laser device 21. Through real-time data processing, the current yaw angle deviation of the two-line laser device 21 is accurately calculated. Subsequently, based on this feedback information, the servo motor drives the fine adjustment mechanism 11 to automatically correct the yaw angle and precisely adjust the two-line laser device 21 to the predetermined optimal position. This method greatly reduces manual intervention and improves the adjustment efficiency and precision.

[0090] In some embodiments, the calibration device 100 further includes a calibration panel. After the two two-line lasers 21 are turned on, each two-line laser 21 projects an auxiliary line 215 onto the calibration panel. In step A3, if the two calibration lines 214 do not coincide, the attitude angle of the corresponding two-line laser 21 is adjusted by the fine-tuning mechanism 11 to make the two calibration lines 214 coincide. This includes the following steps: if the two calibration lines 214 do not coincide, the attitude angle of the corresponding two-line laser 21 is adjusted by the fine-tuning mechanism 11 until the two auxiliary lines 215 coincide, and then the two calibration lines 214 coincide.

[0091] Specifically, there can be one or two calibration panels. For example, calibration panels can be mounted on both two two-line lasers 21, or only one of the two-line lasers 21 can have a calibration panel mounted on it. The laser beams emitted by both two two-line lasers 21 can be projected onto the calibration panel to form auxiliary lines 215. It can be understood that when the auxiliary lines 215 on the two calibration panels coincide, the two calibration lines 214 also coincide. Therefore, the operator only needs to use the two auxiliary lines 215 on the standard panel as a reference and adjust them through the fine-tuning mechanism 11 to make the two auxiliary lines 215 coincide, thus ensuring that the two calibration lines 214 coincide.

[0092] In this embodiment, the calibration panel, as a fixed plane, provides a unified reference base for the auxiliary lines 215 projected by the two-line laser instrument 21 onto the calibration panel, thereby enabling the calibration panel to be set up.

[0093] This helps to more quickly determine whether the auxiliary line 215 and the calibration line 214 overlap.

[0094] Optionally, the calibration panel features a high-contrast surface characteristic that significantly enhances the visibility of the laser line. In bright or complex background environments, the high-contrast panel allows operators to more clearly identify the laser line, avoid visual interference, and improve the accuracy of judgment.

[0095] Please refer to Figure 5. In a second aspect, this application also provides a calibration device 100. The calibration device 100 includes a calibration main frame 40, two fine-tuning mechanisms 11, and two two-line lasers 21. The calibration main frame 40 includes a crossbeam 41. The two fine-tuning mechanisms 11 are respectively installed at both ends of the crossbeam 41, and the two two-line lasers 21 are respectively installed on the corresponding fine-tuning mechanisms 11. Each two-line laser 21 can project mutually perpendicular calibration lines 214 and reference lines to the calibration plane. When the two calibration lines 214 coincide, the two reference lines are used to assist in placing the calibration pattern 300. The fine-tuning mechanism 11 can adjust the position and orientation of the corresponding two-line laser 21 so that the two calibration lines 214 coincide.

[0096] The calibration device 100 includes a calibration main frame 40, a two-line laser instrument 21, and a fine-tuning mechanism 11. The calibration main frame 40 includes a crossbeam 41. The two-line laser instrument 21 can be a two-line horizontal laser instrument 21, but is not limited to this. The two two-line laser instruments 21 are used to project mutually perpendicular calibration lines 214 and reference lines 213 onto the calibration plane, respectively. The fine-tuning mechanism 11 is connected to the crossbeam 41, and the two-line laser instrument 21 can be mounted on the fine-tuning mechanism 11. The fine-tuning mechanism 11 is used to adjust the pose of the two-line laser instrument 21 so that the two calibration lines 214 coincide (as shown in Figure 5), thereby placing the reference line 213 in a preset position, where the specified position indicates the ideal position of the reference line 213. The two-line laser instrument 21 is mounted on a stage 112, and the fine-tuning mechanism 11 is used to rotate the two-line laser instrument 21 to adjust the reference line 213 to the specified position.

[0097] The structural principle of the calibration device 100 in this embodiment is as follows: the fine-tuning mechanism 11 is used to install the two-line laser instrument 21. The calibration main frame 40 and its crossbeam 41 support the fine-tuning mechanism 11 and the two-line laser instrument 21. The two-line laser instrument 21 projects reference lines 213 onto the calibration plane. The fine-tuning mechanism 11 adjusts the position of the two-line laser instrument 21 by adjusting the position of the two-line laser instrument 21, for example by rotating the two-line laser instrument 21. This adjusts the position of the calibration lines 214 so that the two calibration lines 214 coincide, and the two reference lines 213 are adjusted to the specified position.

[0098] In some embodiments, the calibration plane is the ground where the vehicle to be calibrated is located. In other embodiments, the pose of the two-line laser instrument 21 referred to in this application refers to the position and orientation of the two-line laser instrument 21 in a specified coordinate system, which includes rotation around at least one axis by a specified angle, wherein the fine-tuning mechanism 11 can adjust the rotation of the two-line laser instrument 21 around one of the axes by a specified angle.

[0099] It is understood that the embodiments of this application provide two two-line lasers 21, and each two-line laser 21 is mounted on a corresponding fine-tuning mechanism 11. By adjusting at least one of the two fine-tuning mechanisms 11, the two calibration lines 214 projected by the two-line lasers 21 can be made parallel to each other.

[0100] The calibration device 100 of this application uses a two-line laser instrument 21 to project a placement reference line 213 of the calibration pattern 300, and adjusts it through a fine-tuning mechanism 11. Compared with the method of providing the placement reference line 213 by using a tape measure and marking on the ground, the reference line 213 provided by the calibration device 100 of this application is more accurate and easier to operate and adjust, which is beneficial to improving the calibration quality.

[0101] Please refer to Figures 5 and 6. In some embodiments, the calibration device 100 further includes a sliding component 12, which is connected to the crossbeam 41 and the fine-tuning mechanism 11 respectively. The sliding component 12 can drive the fine-tuning mechanism 11 to slide relative to the crossbeam 41 in the length direction of the crossbeam 41.

[0102] Understandably, the sliding component 12 is connected to the crossbeam 41 and the fine-tuning mechanism 11 respectively, and can drive the fine-tuning mechanism 11 to slide relative to the crossbeam 41, thereby realizing the position adjustment of the projection module 20.

[0103] In some embodiments, the crossbeam 41 is provided with a horizontal sliding track, and the sliding assembly 12 includes a slider 121, a first connector 122, and a second connector 123. The slider 121 is disposed on the sliding track and can slide relative to the crossbeam 41 in the length direction of the sliding track. The second connector 123 is connected to the slider 121, and the first connector 122 is connected to the fine-tuning mechanism 11. The first connector 122 is provided with a first positioning part 1221. The second connector 123 is detachably connected to the first connector 122, and the second connector 123 includes a second positioning part 1231 that cooperates with the first positioning part 1221. The first positioning part 1221 and the second positioning part 1231 are connected in cooperation.

[0104] In this embodiment, the slider 121 can be manually adjusted on the crossbeam 41, or it can be adjusted by a motor driven by a control system. Furthermore, the first connecting member 122 and the second connecting member 123 are detachably connected, facilitating the disassembly of the projection module 20. For example, both the first connecting member 122 and the second connecting member 123 are metal parts, and at least one of them is equipped with a magnet 1232, connecting them magnetically. Alternatively, the first connecting member 122 and the second connecting member 123 can be locked together using bolts and nuts to achieve a detachable connection. The first positioning part 1221 consists of at least two positioning pins, and the second positioning part 1231 is a positioning hole that engages with the positioning pins. When the first connecting member 122 and the second connecting member 123 are magnetically connected, they can be quickly positioned and quickly installed and disassembled.

[0105] Please refer to Figures 7 to 9. In some embodiments, the fine-tuning mechanism 11 includes a base 111, a stage 112, and a drive assembly 113. The base 111 is mounted on the crossbeam 41, and the two-line laser instrument 21 is mounted on the stage 112. The stage 112 includes a hinge portion 1122 and a braking portion 1123. The stage 112 is hinged to the base 111 through the hinge portion 1122. The drive assembly 113 is disposed on the base 111 and connected to the braking portion 1123. The drive assembly 113 is used to drive the braking portion 1123 to rotate relative to the base 112 around the hinge axis O of the hinge portion 1122, so as to drive the stage 112 and the two-line laser instrument 21 to rotate, so that the two calibration lines 214 coincide.

[0106] The platform 112 includes a hinge portion 1122 and a braking portion 1123. The platform 112 is hinged to the base 111 via the hinge portion 1122. The drive assembly 113 is disposed on the base 111 and connected to the braking portion 1123. The drive assembly 113 is used to drive the braking portion 1123 to rotate relative to the base 111 around the hinge axis O of the hinge portion 1122, thereby driving the platform 112 to rotate.

[0107] The structural principle of the fine-tuning mechanism 11 in this embodiment is as follows: The platform 112 is used to install the connecting parts of any of the above-mentioned two-line laser instruments 21. The platform 112 is hinged to the base 111 and can rotate relative to the base 111 about the hinge axis O, thus driving the two-line laser instruments 21 to rotate about the hinge axis O. The platform 112 includes a hinge part 1122 and a braking part 1123. The platform 112 is hinged to the base 111 through the hinge part 1122. Furthermore, the braking part 1123 is connected to a driving assembly 113. The driving assembly 113 is mounted on the base 111 and can drive the braking part 1123 to rotate relative to the base 111 about the hinge axis O of the hinge part 1122, so that the platform 112 drives the two-line laser instruments 21 to rotate about the hinge axis O.

[0108] Understandably, this application provides a fine-tuning mechanism 11, which mounts the two-line laser instrument 21 on the platform 112. The driving component 113 drives the braking part 1123 to rotate relative to the base 111 around the hinge axis O of the hinge part 1122, thereby causing the platform 112 to rotate relative to the base 111 around the hinge axis O, and thus causing the two-line laser instrument 21 to rotate at a specific angle. Compared with the adjustment method of manual placement and repeated installation, this avoids potential sources of error, and the rotation adjustment operation is more convenient.

[0109] As shown in Figures 8 and 9, in some embodiments, the platform 112 further includes a platform body 1121, with a hinge portion 1122 and a braking portion 1123 located at two ends along the length of the platform body 1121, and the hinge portion 1122 serving as a hinge shaft. The base 111 includes a hinge hole 1111 and a receiving groove 1112. The hinge hole 1111 is fitted onto the hinge portion 1122, and the braking portion 1123 is received within the receiving groove 1112 and can rotate relative to the base 111 within the receiving groove 1112 about the hinge axis O. The drive assembly 113 is partially located within the receiving groove 1112 and pushes against the braking portion 1123 to drive the braking portion 1123 to rotate within the receiving groove 1112 about the hinge axis O.

[0110] Understandably, in this embodiment, the hinge portion 1122 and the braking portion 1123 are respectively disposed on the two ends of the platform body 1121, so that the braking portion 1123 has a smaller change in rotation angle under the same unit rotation stroke, thereby facilitating more precise adjustment of the rotation angle. Furthermore, the receiving groove 1112 of the base 111 receives the braking portion 1123 to prevent the braking portion 1123 from being affected by driving forces other than the driving assembly 113, which would cause a change in rotation angle.

[0111] In some embodiments, the platform body 1121 includes a mounting portion 11211 and a connecting handle 11212. The bottom end face of the mounting portion 11211 is connected to the hinge portion 1122, and the top end face of the mounting portion 11211 is a mounting surface for mounting the two-line laser instrument 21. In one embodiment, the mounting portion 11211 is a circular structural member, the central axis of which coincides with the hinge axis O of the hinge portion 1122, and the projected area of ​​the mounting portion 11211 is larger than the projected area of ​​the hinge portion 1122 on the normal projection plane of the hinge axis O. The two ends of the connecting handle 11212 are respectively connected to the mounting portion 11211 and the braking portion 1123. The width of the portion of the connecting handle 11212 near the mounting portion 11211 is larger than the width of the portion near the braking portion 1123. From the middle of the connecting handle 11212 to the portion near the braking portion 1123, the width of the connecting handle 11212 gradually decreases until it is the same as the width of the braking portion 1123.

[0112] First, the connection between the bottom end face of the mounting part 11211 and the hinge part 1122 ensures the stability of the platform 112, while the top end face, as the mounting surface for fixing the two-line laser device 21, provides necessary support for the two-line laser device 21. Second, the circular structure of the mounting part 11211 and the coincidence of its central axis with the hinge axis of the hinge part 1122 enhance the overall symmetry and balance, making the rotation of the two-line laser device 21 by the mounting part 11211 more stable. Furthermore, the projected area of ​​the mounting part 11211 is larger than that of the hinge part 1122 to better support the two-line laser device 21. The design of the connecting handle 11212, with its width gradually decreasing from the middle to the braking part 1123, reduces its own weight. In order to avoid the reduction of the angular displacement of the brake part 1123 due to the volume interference of the brake part 1123 when the space of the receiving groove 1112 is small, the embodiment of this application configures the brake part 1123 with a smaller size, while ensuring that the connecting handle 11212 is well connected to the brake part 1123 in width, so as to maximize the angular displacement of the brake part 1123 within the small space of the receiving groove 1112, thereby obtaining a larger rotation angle range.

[0113] In some embodiments, the fine-tuning mechanism 11 further includes a spring washer 114, a first rotating washer 115, a second rotating washer 116, and an end cap 117. The spring washer 114 is sleeved on the hinge portion 1122, with its top end face abutting against the bottom end face of the platform body 1121. The first rotating washer 115 is sleeved on the hinge portion 1122, with one side end face abutting against the bottom end face of the spring washer 114, and the other side end face abutting against the top end face of the base 111. The second rotating washer 116 is coaxially arranged with the hinge axis O, with one side end face abutting against the bottom end face of the base 111. The top end face of the end cap 117 is provided with an annular flange 1171, which passes through the second rotating washer 116. The top end face of the end cap 117 abuts against the other end face of the second rotating washer 116, and the end cap 117 is fixedly connected to the hinge part 1122.

[0114] Understandably, the fine-tuning mechanism 11 in this embodiment of the application is fixedly connected by the end cap 117 and the hinge portion 1122 to prevent the platform 112 from separating from the base 111 during rotation. The spring washer 114 is used to distribute the locking pressure between the platform 112 and the base 111. The first rotating washer 115 is located between the platform body 1121, the spring washer 114 and the base 111 to prevent end-face friction between the platform body 1121 and the base 111. The second rotating washer 116 is located between the base 111 and the end cap 117 to prevent end-face friction between the base 111 and the end cap 117. Both the first rotating washer 115 and the second rotating washer 116 are made of plastic structural components, such as Teflon (polytetrafluoroethylene) and polyoxymethylene, which have good self-lubricating properties and help reduce frictional damping during rotation. In some embodiments, the end face of the hinge portion 1122 is provided with a threaded hole, and the end cover 117 is provided with a mounting hole and a screw corresponding to the threaded hole. The screw passes through the mounting hole and the threaded hole in sequence to achieve a fixed connection between the end cover 117 and the hinge portion 1122.

[0115] In some embodiments, the receiving groove 1112 includes a first limiting wall 1113 and a second limiting wall 1114 disposed opposite to each other, the first limiting wall 1113 having a threaded through hole 11131. The braking part 1123 is located between the first limiting wall 1113 and the second limiting wall 1114, and the braking part 1123 includes a first braking surface 11231 facing the threaded through hole 11131 and a second braking surface 11232 facing the second limiting wall 1114.

[0116] The drive assembly 113 includes a braking element 1131 and an elastic element 1132. The braking element 1131 includes a knob 11311 and a threaded rod 11312 that is threaded into a threaded through hole 11131. The knob 11311 is located outside the base 111. One end of the threaded rod 11312 passes through the threaded through hole 11131 and abuts against a first braking surface 11231. The other end of the threaded rod 11312 is connected to the knob 11311. One end of the elastic element 1132 abuts against a second braking surface 11232, and the other end of the elastic element 1132 abuts against a second limiting wall 1114.

[0117] Understandably, the braking unit 1123 includes a first braking surface 11231 and a second braking surface 11232, which are opposite to each other. The first braking surface 11231 is subjected to the thrust of the threaded rod 11312, and the second braking surface 11232 is subjected to the elastic force of the elastic member 1132. The elastic member 1132 is used to push the braking unit 1123 against the end of the threaded rod 11312 when the threaded rod 11312 moves. Therefore, by adjusting the travel of the threaded rod 11312 of the braking unit 1131, the rotational travel of the braking unit 1123 can be adjusted, thereby realizing the adjustment of the rotation angle of the platform 112. After the adjustment operation is completed, the adjusted angle can remain stable without changing.

[0118] In some embodiments, the second limiting wall 1114 is provided with a first recess, the second braking surface 11232 is provided with a second recess, one end of the elastic member 1132 is received in the first recess and abuts against the bottom surface of the first recess, and the other end of the elastic member 1132 is received in the second recess and abuts against the bottom surface of the second recess.

[0119] In some embodiments, the second limiting wall 1114 is provided with a first recess, and the second braking surface 11232 is provided with a second recess. One end of the elastic member 1132 is received in the first recess and abuts against the bottom surface of the first recess, while the other end of the elastic member 1132 is received in the second recess and abuts against the bottom surface of the second recess. This embodiment of the application achieves the guiding function of the elastic member 1132 through the above-described configuration, preventing the elastic member 1132 from dislodging and failing to properly abut against the braking part 1123. Optionally, the elastic member 1132 can be a compression spring.

[0120] In some embodiments, the calibration device 100 further includes a calibration panel 30, which is disposed on a stage 112 or a two-line laser instrument 21. Each two-line laser instrument 21 projects an auxiliary line 215 onto the calibration panel 30. The auxiliary line 215 can move on the calibration panel 30 under the adjustment of the corresponding fine-tuning mechanism 11 so that the two auxiliary lines 215 coincide.

[0121] The calibration panel 30 is disposed on one of the stage 112 and the two-line laser instrument 21. The two-line laser instrument 21 also includes a calibration line 214 output port 212, which is used to project an auxiliary line 215. The auxiliary line 215 projected by any two-line laser instrument 21 is perpendicular to the reference line 213. The auxiliary line 215 of any two-line laser instrument 21 can be projected onto the calibration panel 30 of the corresponding fine-tuning mechanism 11 and the calibration panel 30 of the other fine-tuning mechanism 11, respectively, and can be moved on the calibration panel 30 of the other fine-tuning mechanism 11 under the adjustment of the corresponding fine-tuning mechanism 11.

[0122] It is understandable that in this embodiment of the application, by using the auxiliary line 215 projected by the two-line laser instrument 21 and the calibration panel 30, since the auxiliary line 215 and the reference line 213 are perpendicular, when the auxiliary lines 215 of the two two-line laser instruments 21 overlap, it is determined that the reference lines 213 of the two two-line laser instruments 21 are parallel to each other. The setting of the calibration panel 30 is conducive to better determining the position of the auxiliary line 215 and judging whether the auxiliary lines 215 overlap. It is understood that after the two auxiliary lines 215 overlap, the two calibration lines 214 also overlap.

[0123] In some embodiments, the calibration panel 30 includes a semi-transparent first region 31 and a non-transparent second region 32. The first region 31 and the second region 32 are adjacent to each other in the vertical direction. The first region 31 is provided with a light-emitting hole 311. The auxiliary line 215 of any two-line laser instrument 21 can be projected onto the first region 31 of the calibration panel 30 of the corresponding fine-tuning mechanism 11, and projected onto the calibration panel 30 of another fine-tuning mechanism 11 through the light-emitting hole 311.

[0124] Understandably, the two two-line lasers 21 are the first two-line laser 21 and the second two-line laser 21, respectively. Taking the first two-line laser 21 as an example, its auxiliary line 215 is projected onto another calibration panel 30 via the light output hole 311 of the calibration panel 30 connected by itself or by the corresponding fine-tuning mechanism 11. The first area 31 of the other calibration panel 30 also displays the auxiliary line 215 of the second two-line laser 21. When the two auxiliary lines 215 are parallel to each other, by adjusting the turning adjustment device 11 corresponding to the first two-line laser 21, the auxiliary line 215 of the first two-line laser 21 is brought closer to the auxiliary line 215 of the second two-line laser 21 on the other calibration panel 30 until they overlap, so that the reference line 213 between the first two-line laser 21 and the second two-line laser 21 is parallel to each other on the calibration plane.

[0125] Furthermore, because the first region 31 is configured to be semi-transparent, some light will pass through it. This results in the auxiliary line 215 projected by the two two-line lasers 21 being less visible on the first region 31 of the calibration panel 30 when the two two-line lasers 21 are far apart. Therefore, this embodiment uses an opaque second region 32, which is vertically adjacent to the first region 31. This means that the auxiliary line 215 projected by the two-line lasers 21 can be better displayed on the second region 32 of the calibration panel, and can also be aligned with the reference line projected by the other two-line laser 21 onto the first region 31 of the calibration panel 30, thereby achieving parallel calibration of the reference line 213.

[0126] In summary, in the embodiment of the present invention, by installing two laser instruments 21 on the calibration main frame 40, and using the laser lines projected by the two laser instruments 21 onto the calibration plane to assist in placing the calibration pattern 300, the placement of the calibration pattern 300 with high precision and high efficiency is achieved, which is beneficial to improving the calibration quality. The laser instrument 21 is a two-line laser instrument 21. Each laser instrument 21 projects perpendicular calibration lines 214 and reference lines onto the calibration plane respectively. When the two calibration lines 214 coincide, the two laser instruments 21 form a "艹"-headed laser, and the two reference lines are used to assist in placing the calibration pattern 300. Further, the laser instrument 21 can adopt a two-line horizontal laser instrument 21, which can solve the laser projection error in the case of an uneven calibration plane and improve the calibration accuracy. Further, a fine-tuning mechanism 11 can be set. By adjusting the attitude angle of the laser instrument 21 through the fine-tuning mechanism 11, the two calibration lines 214 are made to coincide, so as to meet the placement requirements of the calibration pattern 300 in the case of bending, twisting, etc. of the cross beam 41 of the calibration main frame 40.

[0127] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, and the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above. For the sake of brevity, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A calibration pattern placement method, characterized by, The application is applied to a calibration device, the calibration device comprises a calibration main frame and two laser instruments, and the method comprises the following steps: Placing the calibration main frame at a reference placement position on the longitudinal side of a vehicle, and making the crossbeam of the calibration main frame perpendicular to the center axis of the vehicle; Respectively installing the two laser instruments in the preset range on both ends of the crossbeam; Using the laser lines projected by the two laser instruments on the calibration plane to assist in placing the calibration pattern.

2. The method of claim 1, wherein, The laser instrument is a two-line laser instrument, and the step of using the laser lines projected by the two laser instruments on the calibration plane to assist in placing the calibration pattern comprises the following steps: Turning on the two-line laser instrument, and respectively projecting a calibration line and a reference line on the calibration plane by each two-line laser instrument, wherein the calibration line and the reference line are perpendicular to each other, and the two reference lines are respectively located on the lateral sides of the vehicle; Judging whether the two calibration lines coincide, and if the two calibration lines coincide, placing the calibration pattern along the two reference lines respectively.

3. The method of claim 2, wherein, The calibration device further comprises two fine adjustment mechanisms, each laser instrument is installed on both ends of the crossbeam through the fine adjustment mechanism, and the method further comprises the following steps: If the two calibration lines do not coincide, adjusting the attitude angle of the corresponding two-line laser instrument through the fine adjustment mechanism, so that the two calibration lines coincide.

4. The method of claim 3, wherein, The calibration device further comprises a calibration panel, after turning on the two two-line laser instruments, each two-line laser instrument respectively projects an auxiliary line on the calibration panel, and the step of if the two calibration lines do not coincide, adjusting the attitude angle of the corresponding two-line laser instrument through the fine adjustment mechanism, so that the two calibration lines coincide comprises the following steps: If the two calibration lines do not coincide, adjusting the attitude angle of the corresponding two-line laser instrument through the fine adjustment mechanism until the two auxiliary lines coincide, and then the two calibration lines coincide.

5. The method of claim 1, wherein, A visual module is arranged on the calibration main frame, a calibration target is attached to the vehicle, and the step of placing the calibration main frame at a reference placement position on the longitudinal side of the vehicle comprises the following steps: Identifying the calibration target attached to the vehicle through the visual module to provide the position offset of the calibration main frame; Taking the position offset as a placement guide to place the calibration main frame at the reference placement position.

6. A calibration device, characterized by The calibration device comprises: A calibration main frame, the calibration main frame comprises a crossbeam; Two fine adjustment mechanisms, the two fine adjustment mechanisms are respectively installed on both ends of the crossbeam; Two two-line laser instruments, the two two-line laser instruments are respectively installed on the corresponding fine adjustment mechanisms, and each two-line laser instrument can project a calibration line and a reference line perpendicular to each other on a calibration plane; When the two calibration lines coincide, the two reference lines are used to assist in placing the calibration pattern, wherein the fine adjustment mechanism can adjust the pose of the corresponding two-line laser instrument to make the two calibration lines coincide.

7. The calibration device of claim 6, wherein The fine adjustment mechanism comprises: A base, the base is installed on the crossbeam; A carrier, the two-line laser instrument is installed on the carrier, the carrier comprises a hinged part and a brake part, and the carrier is hinged to the base through the hinged part; A driving assembly is arranged on the base and connected with the brake part, and is used to drive the brake part to rotate around the hinge axis of the hinge part relative to the base, so as to drive the platform and the two-line laser instrument to rotate, and make the two calibration lines coincide.

8. The calibration device of claim 7, wherein A calibration panel is further arranged on the platform or the two-line laser instrument. Each of the two-line laser instruments projects an auxiliary line to the calibration panel, and the auxiliary line can move on the calibration panel under the adjustment of the corresponding fine adjustment structure, so as to make the two auxiliary lines coincide.

9. The calibration device of claim 8, wherein, The calibration panel comprises a translucent first region and a non-transparent second region, the first region and the second region are adjacent to each other in the vertical direction, and the first region is provided with a light-emitting hole. The auxiliary line of any one of the two-line laser instruments can be projected on the first region of the calibration panel corresponding to the installed fine adjustment structure, and projected on the calibration panel of the other fine adjustment structure through the light-emitting hole.

10. The calibration device of claim 7, wherein, The platform further comprises a platform body, the hinge part and the brake part are respectively located at two ends of the platform body in the length direction, and the hinge part is a hinge shaft. The base comprises a hinge hole and a receiving groove, the hinge hole is sleeved on the hinge part, and the brake part is received in the receiving groove and can rotate around the hinge axis relative to the base in the receiving groove.

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