Method and apparatus for assisting in placing calibration tool, device, and storage medium

Abstract

A method for assisting in placing a calibration tool, comprising: acquiring image information of a vehicle (500) collected by a first camera (301) and a second camera (302) (S201); on the basis of the image information of the vehicle (500) and a first preset position of a calibration main frame (100) relative to the vehicle (500), providing a first position offset of the calibration main frame (100) (S202); once the calibration main frame (100) has been adjusted to the first preset position, acquiring image information of an independent support frame (200) collected by the first camera (301) or the second camera (302) (S203); on the basis of the image information of the independent support frame (200), the image information of the vehicle (500), and a second preset position of the independent support frame (200) relative to the vehicle (500), providing a second position offset of the independent support frame (200) (S204); and once the independent support frame (200) has been adjusted to the second preset position, providing operation guidance to assist in placing a calibration tool at a reference placement position (S205). By combining the calibration main frame (100) and the independent support frame (200), the placement efficiency and placement precision of the calibration tool can be greatly improved, the placement range of the calibration tool is effectively expanded, and broader ADAS calibration scenarios are satisfied. Also provided are an apparatus for assisting in placing a calibration tool, a control device, and a computer-readable storage medium.

Description

Method, device, equipment and storage medium for assisting in placing calibration tool

[0001] The present application claims priority from the Chinese patent application No. 202411024537.1 filed on July 29, 2024, and entitled "Method, device, equipment and storage medium for assisting in placing calibration tool", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the technical field of vehicle calibration, in particular to a method, device, equipment and storage medium for assisting in placing calibration tool. BACKGROUND

[0003] With the development of the automobile industry and the progress of technology, people have higher requirements for the safety and comfort of automobile driving. Unmanned driving is an important direction of current automobile technology development, and the advanced driving assistance system (ADAS) is a necessary stage in the early stage of the development of unmanned driving technology. As more and more attention is paid to the safety of the vehicle, more and more vehicles are equipped with ADAS systems. The ADAS system mainly obtains road conditions or environmental information through cameras, radars and other sensors. When the ADAS system fails or abnormals, the ADAS system needs to be recalibrated so that it can be used normally and safely.

[0004] ADAS system calibration mainly calibrates cameras, radars and other sensors through some calibration tools (such as calibration canvas, angle sensor, etc.). In the calibration process, the placement of the calibration tool relative to the position of the vehicle is required. Under the premise of accurate placement of the calibration tool, the ADAS calibration can accurately calibrate the parameters of the cameras, radars and other sensors in the ADAS system.

[0005] In the traditional ADAS system calibration, the placement position is generally positioned by a tape measure, a laser and other tools, so as to realize the placement of the calibration tool. For example, in the Around View Monitor (AVM) calibration, the placement of the calibration pattern is realized by measuring with a tape measure and drawing a line on the ground. The calibration pattern is placed within a specified range from the vehicle. However, this method has the disadvantages of long time-consuming and low placement accuracy, which leads to low ADAS calibration efficiency and calibration accuracy. SUMMARY

[0006] The embodiments of the present application aim to provide a method, device, equipment and storage medium for assisting in placing calibration tool, so as to solve the technical problems of long time-consuming and low placement accuracy of the calibration tool in the prior art.

[0007] The embodiments of the present application adopt the following technical solutions to solve the technical problems:

[0008] In a first aspect, the embodiments of the present application provide a method for assisting in placing a calibration tool, applied to a calibration system, the calibration system comprising a calibration main frame and an independent support, the calibration main frame having a first camera and a second camera arranged at opposite ends thereof, and the method comprising:

[0009] obtaining image information of a vehicle collected by the first camera and the second camera;

[0010] providing a first position offset of the calibration main frame according to the image information of the vehicle and a first preset position of the calibration main frame relative to the vehicle, the first position offset being used to indicate adjustment of the calibration main frame to the first preset position;

[0011] after the calibration main frame is adjusted to the first preset position, obtaining image information of the independent support collected by the first camera or the second camera;

[0012] providing a second position offset of the independent support according to the image information of the independent support, the image information of the vehicle and a second preset position of the independent support relative to the vehicle, the second position offset being used to assist in placing the independent support to the second preset position;

[0013] after the independent support is adjusted to the second preset position, providing operation guidance to assist in placing the calibration tool by using the independent support in the second preset position, so that the calibration tool is placed in a reference placement position.

[0014] In some embodiments, the obtaining of the image information of the vehicle collected by the first camera and the second camera comprises:

[0015] after the calibration main frame is placed on a longitudinal side of the vehicle, obtaining first image information of the vehicle collected by the first camera and the second camera, the first image information comprising first target images attached to wheels on both sides of the vehicle;

[0016] after the calibration main frame is adjusted to a preset placement orientation, obtaining second image information of the vehicle collected by the first camera or the second camera, the second image information comprising at least one first target image attached to one side of the vehicle.

[0017] In some embodiments, the providing of the first position offset of the calibration main frame according to the image information of the vehicle and the first preset position of the calibration main frame relative to the vehicle comprises:

[0018] determining a position of the vehicle according to the first image information and the second image information;

[0019] determining a position of the calibration mainframe according to the second image information;

[0020] determining a position of the calibration mainframe relative to the vehicle according to the position of the vehicle and the position of the calibration mainframe;

[0021] providing a first position offset of the calibration mainframe according to the position of the calibration mainframe relative to the vehicle and the first preset position.

[0022] In some embodiments, the determining the position of the vehicle according to the first image information and the second image information comprises:

[0023] determining relative position relationship of each of the first targets according to the first image information;

[0024] determining a position of at least one of the first targets according to the second image information;

[0025] determining the position of the vehicle according to the position of at least one of the first targets and the relative position relationship of each of the first targets.

[0026] In some embodiments, the providing the second position offset of the independent support according to the image information of the independent support, the image information of the vehicle and the second preset position of the independent support relative to the vehicle, the second position offset being used to assist in placing the independent support to the second preset position, comprises:

[0027] determining a position of the independent support according to the image information of the independent support, the image information of the independent support including second target image attached to the independent support;

[0028] determining a position of the independent support relative to the vehicle according to the position of the independent support and the image information of the vehicle;

[0029] providing a second position offset of the independent support according to the position of the independent support relative to the vehicle and the second preset position.

[0030] In some embodiments, the calibration tool is a corner reflector, and the providing operation guide to assist in placing the calibration tool to the reference placement position comprises:

[0031] providing first operation guide for indicating to replace the second target with a corner reflector so that the corner reflector can be placed to the reference placement position.

[0032] In some embodiments, after the corner reflector is placed in the reference placement position, the method further comprises:

[0033] providing a second operation instruction, the second operation instruction being used to instruct to move away the calibration main frame.

[0034] In a second aspect, the embodiments of the present application provide a device for assisting in placing a calibration tool, applied to a calibration system, the calibration system comprising a calibration main frame and a separate support, opposite ends of the calibration main frame being respectively provided with a first camera and a second camera, and the device comprising:

[0035] a first acquisition module, configured to acquire image information of a vehicle collected by the first camera and the second camera;

[0036] a first providing module, configured to provide a first position offset of the calibration main frame according to the image information of the vehicle and a first preset position of the calibration main frame relative to the vehicle, the first position offset being used to instruct to adjust the calibration main frame to the first preset position;

[0037] a second acquisition module, configured to acquire image information of the separate support collected by the first camera or the second camera after the calibration main frame is adjusted to the first preset position;

[0038] a second providing module, configured to provide a second position offset of the separate support according to the image information of the separate support, the image information of the vehicle and a second preset position of the separate support relative to the vehicle, the second position offset being used to assist in placing the separate support to the second preset position;

[0039] an instruction module, configured to provide an operation instruction to assist in placing a calibration tool to a reference placement position by using the separate support in the second preset position after the separate support is adjusted to the first preset position.

[0040] In a third aspect, the embodiments of the present application provide a control device, comprising a processor and a memory, the processor and the memory being connected to each other, wherein the memory is configured to store a computer program, the computer program comprising program instructions, and the processor is configured to invoke the program instructions to execute the method according to any one of the above embodiments.

[0041] In a fourth aspect, the embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program comprising program instructions, and the program instructions being executed by a processor to cause the processor to execute the method according to any one of the above embodiments.

[0042] Compared with the prior art, the method, device, equipment and storage medium for assisting in placing a calibration tool provided by the embodiments of the present application combine a calibration main frame with a separate support, first use the first camera and the second camera on the calibration main frame to identify a vehicle to assist in placing the calibration main frame, so that the calibration main frame is accurately placed at a first preset position, then use the first camera or the second camera to identify the separate support to assist in placing the separate support, so that the separate support is accurately placed at a second preset position, and then use the placed separate support to assist in placing the calibration tool, so that the calibration tool is accurately placed, through the above-mentioned manner, the placing efficiency and placing accuracy of the calibration tool can be greatly improved, the placing range of the calibration tool is effectively expanded, and more extensive ADAS calibration scenarios are met. BRIEF DESCRIPTION OF DRAWINGS

[0043] One or more embodiments are illustrated by way of example in the figures that form a part of this disclosure and which are shown by way of example, not limitation, in the figures of the accompanying drawings and in which like references indicate similar elements and in which:

[0044] FIG. 1 is a structural schematic diagram of a calibration system, a control device and a vehicle in an embodiment of the present application;

[0045] FIG. 2 is a flow schematic diagram of a method for assisting in placing a calibration tool in an embodiment of the present application;

[0046] FIG. 3 is a three-dimensional structural schematic diagram of a separate support in an embodiment of the present application;

[0047] FIG. 4 is a three-dimensional structural schematic diagram of an adjusting assembly in an embodiment of the present application;

[0048] FIG. 5 is a schematic diagram of a calibration main frame placed at a longitudinal side of a vehicle in an embodiment of the present application;

[0049] FIG. 6 is a schematic diagram of the placement positions of a calibration main frame and a separate support when a calibration tool needs to be placed at a far position on a lateral side of a vehicle in an embodiment of the present application;

[0050] FIG. 7 is a schematic diagram of the placement positions of a calibration main frame and a separate support when a calibration tool needs to be placed at a near position on a longitudinal side of a vehicle in an embodiment of the present application;

[0051] FIG. 8 is a schematic diagram of the second target removed from the separate support and the laser installed after that in FIG. 7;

[0052] FIG. 9 is a schematic diagram of the laser line of the laser in FIG. 7 used to assist in completing the placement of a calibration tool;

[0053] FIG. 10 is a schematic block diagram of a device for assisting in placing a calibration tool provided by an embodiment of the present application;

[0054] Fig. 11 is a schematic diagram of a circuit structure of a control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0055] In order to make the personnel in the technical field better understand the scheme of the present application, the technical scheme in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0056] The terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed or can optionally include other steps or units inherent to the process, method, product or device.

[0057] Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, nor is it necessarily referring to a particular alternative embodiment. It will be explicitly understood by one of ordinary skill in the art that the embodiments described herein can be combined with other embodiments.

[0058] When calibrating the ADAS system, the placement of the calibration tool is mainly realized by the following two ways. One is to use a ruler, a laser, a plumb line and other tools to position and place the position, so as to realize the placement of the calibration tool. The main disadvantage of this placement method is that the manual error is large, and the image placement efficiency and placement accuracy are low. The other is to use the ADAS calibration main frame to place the calibration tool, which can reduce the placement time and improve the placement accuracy. Further, the ADAS camera system can be added to the ADAS calibration main frame to calculate the relative relationship between the ADAS calibration main frame and the vehicle position in real time, so as to further improve the placement efficiency.

[0059] However, due to the limited width of the ADAS calibration main frame, the ADAS calibration main frame can only be used to place the calibration tool in the front and rear scenes of the vehicle, and is not suitable for placing the calibration tool in the side, front side and rear side scenes of the vehicle, such as the panoramic image system calibration (the calibration tool needs to be placed on the left and right sides of the vehicle), and the adaptive cruise system calibration (the calibration tool needs to be placed in front of or behind the vehicle). In these calibration scenes, the placement of the calibration tool cannot be completed.

[0060] To solve the above problems, the embodiment of the present application provides a method, device and equipment for assisting in placing a calibration tool and a storage medium, which aims to assist in placing the calibration tool by cooperating the calibration main frame with the independent support. Specifically, the independent support is first placed by the calibration main frame, so that the independent support is accurately placed in the preset position of the vehicle, and then the calibration tool is placed by the placed independent support, so as to accurately and quickly place the calibration tool. Through the above method, the accuracy and efficiency of placing the calibration tool can be ensured, and the placement range of the calibration tool can be expanded to meet the calibration needs of different ADAS systems.

[0061] Please refer to FIG. 1, which is a structural schematic diagram of a calibration system, a control device 400 and a vehicle 500 in the embodiment of the present application. The vehicle 500 can be a car as shown in FIG. 1, but is not limited to this. For example, the vehicle 500 can also be a bus, a truck, an electric vehicle, etc. The calibration system includes a calibration main frame 100 and an independent support 200. The calibration main frame 100 includes a crossbeam, and the two ends of the crossbeam are respectively provided with a first camera 301 and a second camera 302. The control device 400 is in communication connection with the first camera 301 and the second camera 302, and can control the first camera 301 and the second camera 302 to collect images of the vehicle 500 and the independent support 200. These images can include a first target image attached to the vehicle 500 and a second target image attached to the independent support 200, and the images are transmitted to the control device 400.

[0062] The control device 400 can be arranged on the calibration main frame 100. The control device 400 can be a vehicle 500 diagnostic device, and includes a processor, a memory and the like. In addition, the control device 400 can also include a power supply, a display screen and the like.

[0063] The processor in the control device 400 loads one or more executable programs corresponding to the executable files of the processes into the memory according to the instructions, and runs the executable programs stored in the memory by the processor, so as to execute the method described in any embodiment of the present application.

[0064] In the embodiments of the present application, the combination of the main calibration frame 100 and the independent support 200 can assist in placing the calibration tool, and the calibration tool is placed at a preset position relative to the sensors to be calibrated of the vehicle 500, so as to calibrate the sensors to be calibrated of the vehicle 500 by using the calibration tool. The sensors to be calibrated can be cameras, radars and other sensors arranged at different positions of the vehicle 500, and the calibration tools can be angle sensors, calibration patterns and the like.

[0065] Please refer to FIG. 2, which is a flowchart of a method for assisting in placing a calibration tool according to an embodiment of the present application. The method is applied to a calibration system, which includes a main calibration frame 100 and an independent support 200. The opposite ends of the main calibration frame 100 are respectively provided with a first camera 301 and a second camera 302.

[0066] S201, the control device acquires image information of the vehicle collected by the first camera and the second camera;

[0067] Specifically, the control device 400 is in communication connection with the first camera 301 and the second camera 302 respectively. The control device 400 can control the first camera 301 and the second camera 302 to collect image information of the vehicle, and send the collected image information to the control device 400.

[0068] The image information of the vehicle can represent the position and attitude features of the vehicle 500. The position features of the vehicle can be extracted from the image information of the vehicle to confirm the position information of the vehicle. Optionally, the position and attitude features of the vehicle 500 can include the positions of the wheels of the vehicle 500, the positions of the front or rear of the vehicle 500, or the positions of the rearview mirrors of the vehicle 500, the positions of the radars of the vehicle 500, the centerline or thrust line positions of the vehicle 500, and the like. The centerline of the vehicle 500 passes through the midpoint of the connecting line of the two front wheels and the midpoint of the connecting line of the two rear wheels, and the thrust line of the vehicle 500 passes through the midpoint of the connecting line of the two rear wheels and is perpendicular to the connecting line of the two rear wheels.

[0069] In some embodiments, a plurality of first targets 501 are attached to the vehicle 500. The position and attitude features of the vehicle 500 are obtained by identifying the first target images through the first camera 301 and the second camera 302. Specifically, according to different calibration requirements, the first targets 501 can be attached to the wheels of the vehicle 500, or to the front or rear of the vehicle 500, etc. For example, the four wheels of the vehicle 500 are respectively provided with the first targets 501. At this time, the first camera 301 and the second camera 302 can respectively collect the first targets 501 on the wheels of the vehicle on both sides. The image information of the vehicle 500 includes the first target images attached to the four wheels of the vehicle 500.

[0070] In the embodiments of the present application, each first target image is provided with a preset pattern with high contrast and specific geometric shape, so as to facilitate the accurate identification of the first camera 301 and the second camera 302, thereby accurately obtaining the position characteristics of the vehicle 500.

[0071] In some calibration scenarios, when the calibration mainframe 100 is pre-disposed on one side of the vehicle in the longitudinal direction, for example, pre-disposed in front of the vehicle, the first camera and the second camera are used to respectively collect the first target images on both sides of the vehicle. At this time, the image information of the vehicle includes each first target image captured by the first camera and the second camera when the calibration mainframe 100 is pre-disposed on one side of the vehicle in the longitudinal direction.

[0072] In some calibration scenarios, when the calibration mainframe 100 is pre-disposed on one side of the vehicle in the longitudinal direction, for example, pre-disposed in front of the vehicle, the first camera and the second camera are used to respectively collect the first target images on both sides of the vehicle. Then, after the calibration mainframe 100 is moved to the front side or the rear side of the vehicle, at least one first target image on one side of the vehicle is collected by the first camera or the second camera. At this time, the image information of the vehicle includes each first target image collected when the calibration mainframe 100 is pre-disposed on one side of the vehicle in the longitudinal direction, and at least one first target image collected after the calibration mainframe 100 is moved to the front side or the rear side of the vehicle.

[0073] S202, the control device provides a first position offset of the calibration mainframe according to the image information of the vehicle and the first preset position of the calibration mainframe relative to the vehicle; the first position offset is used to indicate the adjustment of the calibration mainframe to the first preset position.

[0074] The first preset position represents an ideal position where the calibration mainframe 100 needs to be disposed, and the first preset position is determined by factors such as the vehicle type, the ADAS system to be calibrated, and the position of the sensor on the vehicle. Specifically, based on different vehicle types, ADAS systems to be calibrated, and positions of sensors on the vehicle, the second preset position where the calibration mainframe 100 needs to be disposed is different, for example, the first preset position can be a certain position in front of the vehicle, behind the vehicle, or on the side of the vehicle. After the calibration mainframe 100 is located at the first preset position, the first camera 301 or the second camera 302 on the calibration mainframe 100 can accurately identify the image of the independent support 200, ensuring the smooth progress of the calibration process.

[0075] In some embodiments, the control device 400 can provide a selection interface of the vehicle to be calibrated, the ADAS system to be calibrated, and the sensor to be calibrated. After the user determines the information of the vehicle to be calibrated, the ADAS system to be calibrated, and the sensor to be calibrated, the control device 400 can determine the first preset position corresponding to the calibration mainframe 100.

[0076] In some embodiments, the image information of the vehicle 500 can be used to determine the position information of the calibration main frame 100 relative to the vehicle 500. Specifically, the first camera 301 and the second camera 302 at both ends are used to capture the first target image on both sides of the vehicle 500. By determining the relative position between the first camera 301 and the second camera 302 at both ends of the crossbeam, the center line of the crossbeam or the center point of the crossbeam and other position information can be calculated as the position characteristics of the calibration main frame 100. Among them, the coordinates of the first camera 301 can be taken as the origin, and the coordinates of the second camera 302 relative to the origin can be determined. The center line of the crossbeam refers to a straight line passing through the coordinates of the first camera 301 and the second camera 302. Here, the coordinates can not include height data, i.e., the coordinates of the first camera 301 and the second camera 302 are projected vertically on the same plane. The center point of the crossbeam refers to the center point of the coordinates. The center point of the crossbeam represents the center of the crossbeam.

[0077] After the control device 400 obtains the position information of the calibration main frame 100 relative to the vehicle 500, the current position of the calibration main frame 100 relative to the vehicle 500 is compared with the first preset position, and the first position offset of the calibration main frame 100 is calculated. The first position offset represents the position deviation between the current position of the calibration main frame 100 and the first preset position. Specifically, the first position offset includes the position deviation in six aspects, i.e., the front-rear distance offset, the left-right distance offset, the vertical distance offset, the yaw angle offset, the pitch angle offset, and the roll angle offset, to represent the deviation between the current position of the calibration main frame 100 and the first preset position.

[0078] After obtaining the first position offset, the operator can move and adjust the placement position and the placement angle of the calibration main frame 100 to adjust the calibration main frame 100 to the first preset position, so as to ensure that the first camera or the second camera on the calibration main frame 100 can recognize the second target image on the independent support. After the calibration main frame 100 is placed in the first preset position, the independent support 200 can be recognized by the first camera 301 or the second camera 302 on the calibration main frame 100 to assist in placing the independent support 200.

[0079] It should be noted that in the present embodiment, the operator only needs to roughly place the calibration main frame 100 in the first preset position, so as to ensure that the first camera or the second camera on the calibration main frame 100 can recognize the second target image attached to the independent support 200, without the need to accurately place the calibration main frame 100, thereby saving the placement time of the calibration main frame 100.

[0080] S203, after the calibration main frame is adjusted to the first preset position, the control device acquires the image information of the independent support captured by the first camera or the second camera;

[0081] Specifically, after the operator adjusts the calibration main frame to the first preset position, one of the first camera 301 and the second camera 302 can recognize the independent support 200, so as to collect image information of the independent support 200.

[0082] The image information of the independent support 200 can represent the position and attitude characteristics of the independent support 200, and the position and attitude characteristics of the independent support 200 can be obtained through an image recognition algorithm. In some embodiments, a second target 201 is attached to the independent support 200, and the position and attitude characteristics of the independent support 200 are determined by recognizing the second target image through the first camera 301 or the second camera 302.

[0083] In the embodiments of the present application, the second target image is provided with a preset pattern of high contrast and specific geometric shape, so as to be accurately recognized by the first camera 301 or the second camera 302, thereby accurately obtaining the position and attitude of the independent support 200 relative to the vehicle 500.

[0084] S204, the control device provides a second position offset of the independent support according to the image information of the independent support, the image information of the vehicle, and the second preset position of the independent support relative to the vehicle, and the second position offset is used to assist in placing the independent support to the second preset position.

[0085] Specifically, the control device 400 can analyze the image information of the independent support and the image information of the vehicle, calculate the three-dimensional position characteristics of the vehicle 500 and the independent support 200 through a computer vision algorithm, and determine the relative position relationship therebetween. By comparing the position characteristics of the vehicle 500 and the independent support 200, the specific position of the independent support 200 relative to the vehicle 500 can be obtained.

[0086] In some embodiments, the image information of the vehicle includes a first target image attached to each wheel of the vehicle 500, and the image information of the independent support includes a second target image attached to the independent support 200, and the position of the independent support 200 relative to the vehicle 500 is the position of the second target 201 on the independent support 200 relative to the vehicle 500.

[0087] The control device 400 uses the preset pattern of high contrast and specific geometric shape in the first target image and the second target image to recognize and locate the target through an image processing algorithm (such as feature point matching, structured light technology or triangulation method). The control device determines the position characteristics of the vehicle 500 according to the first target image, determines the position characteristics of the independent support 200 according to the second target image, and then compares the position characteristics of the vehicle 500 and the independent support 200 to determine the accurate position of the independent support 200 relative to the vehicle 500.

[0088] The second preset position is an ideal placement position based on the to-be-calibrated vehicle model, the to-be-calibrated ADAS system, and the position of the sensor on the vehicle 500. The second preset position can represent the ideal position at which the second target 201 on the independent support 200 is finally required to be placed. After the second target 201 on the independent support is adjusted to the second preset position, the positioning and placement of the independent support 200 are completed.

[0089] In some embodiments, the control device 400 can provide a selection interface for the to-be-calibrated vehicle model, the to-be-calibrated ADAS system, and the to-be-calibrated sensor. After the user selects the to-be-calibrated sensor, the control device determines the corresponding second preset position.

[0090] In this embodiment, after the control device 400 determines the position of the independent support 200 relative to the vehicle 500, the control device compares the current position of the independent support 200 relative to the vehicle 500 with the second preset position, and calculates a six-degree-of-freedom second position offset. The second position offset represents the positional deviation between the current position of the independent support 200 and the second preset position. The second position offset includes a front-rear distance offset (longitudinal deviation), a left-right distance offset (lateral deviation), a vertical distance offset (height deviation), a yaw angle offset (rotation deviation around the Z axis), a pitch angle offset (rotation deviation around the Y axis), and a roll angle offset (rotation deviation around the X axis). These offsets indicate the adjustment direction and amplitude of the independent support 200 from the current position to the second preset position.

[0091] After obtaining the second position offset, the second target 201 on the independent support 200 can be fine-tuned manually by an operator or automatically controlled by a servo motor until the independent support 200 is accurately positioned at the second preset position, thereby completing accurate positioning. The servo motor accurately controls the translation and rotation of the independent support according to the offset instruction issued by the control device, thereby achieving automatic adjustment and improving the efficiency and accuracy of the calibration process. In addition, for a system with automatic adjustment function, the servo motor and other mechanical components can automatically adjust the position and attitude of the independent support according to the position offset provided by the control device in real time.

[0092] In some embodiments, the operator can fine-tune the independent support 200 under the guidance of the control device 400, so that the independent support 200 is gradually adjusted from the current position to the second preset position. The control device 400 can monitor and calculate the second position offset of the independent support 200 relative to the vehicle 500 in real time, and provide dynamic adjustment instructions to ensure that the operator can intuitively and accurately adjust the independent support 200 to the second preset position, thereby avoiding excessive adjustment or insufficient adjustment and ensuring that the adjustment process is both efficient and accurate.

[0093] In some embodiments, the second position offset can also be displayed to the operator through a user interface, so that the operator can quickly understand the adjustment direction and degree and easily complete the adjustment task.

[0094] In some embodiments, referring to FIGS. 3 and 4, in order to improve the placement efficiency of the independent support 200, a fine adjustment mechanism is arranged on the independent support 200, and the second target 201 is mounted on the fine adjustment mechanism. By operating the fine adjustment mechanism, the operator can independently adjust the second target 201 on the independent support 200 in the six degrees of freedom directions of front and back, left and right, up and down, yaw, pitch and roll, avoiding mutual interference in the adjustment process. The structure of the fine adjustment mechanism will be introduced below in combination with FIGS. 3 and 4.

[0095] As shown in FIG. 3, the independent support 200 includes a column 210, a base 220 and a fine adjustment mechanism. The fine adjustment mechanism includes a fixed assembly 231 and an adjustment assembly 232. The fixed assembly 231 is used to fix the second target 201. The column 210 is fixedly connected with the base 220. The adjustment assembly 232 includes a displacement module 2320 and a rotation module 2321 connected with each other. One of the displacement module 2320 and the rotation module 2321 is connected with the column 210, and the other is connected with the fixed assembly 231. The displacement module 2320 is used to drive the fixed assembly 231 to move in at least one linear direction. The rotation module 2321 is used to drive the fixed assembly 231 to rotate around at least one axis.

[0096] The structural principle of the independent support 200 in the embodiments of the present application is that the base 220 and the column 210 are connected to form a structure that can support the adjustment assembly 232 and the fixed assembly 231. The adjustment assembly 232 is connected with the column 210 through one of the displacement module 2320 and the rotation module 2321, and the other is connected with the fixed assembly 231, so that the fixed assembly 231 moves in at least one linear direction and rotates around at least one axis respectively through the displacement module 2320 and the rotation module 2321, thereby adjusting the position of the second target 201 fixed by the fixed assembly 231 relative to the base 220 and the column 210.

[0097] The adjustment assembly 232 is connected with the fixed assembly 231 through the displacement module 2320 or the rotation module 2321, which can realize the movement of the fixed assembly 231 in at least one linear direction and the rotation of the fixed assembly 231 around at least one axis.

[0098] It can be understood that the adjusting assembly 232 of the independent support 200 in the embodiment of the present application adopts the displacement module 2320 and the rotation module 2321, so that the second target 201 can realize displacement and rotation respectively. Compared with the conventional independent support 200 which can only be adjusted in the height direction, the independent support 200 in the embodiment of the present application provides more degrees of freedom for the position adjustment of the second target 201, and the adjustment operation is more convenient.

[0099] As shown in FIG. 4, the rotation module 2321 is connected with the fixing assembly 231, and the displacement module 2320 includes a first displacement unit 23201, a second displacement unit 23202 and a third displacement unit 23203.

[0100] The first displacement unit 23201 is connected with the stand column 210, and the first displacement unit 23201 can move in the height direction of the stand column 210. The second displacement unit 23202 is connected with the first displacement unit 23201, and the second displacement unit 23202 is provided with a first moving part 23204, the first moving part 23204 can move in a first linear direction relative to the first displacement unit 23201, the first linear direction is perpendicular to the height direction of the stand column 210, and the second displacement unit 23202 is used for moving in the height direction of the stand column 210 along with the first displacement unit 23201. The third displacement unit 23203 is connected with the first moving part 23204, and the third displacement unit 23203 is provided with a second moving part 23205, the second moving part 23205 is connected with the rotation module 2321, and the second moving part 23205 can drive the rotation module 2321 to move in a second linear direction relative to the second displacement unit 23202, the second linear direction is perpendicular to the height direction of the stand column 210 and the first linear direction respectively, and the third displacement unit 23203 is used for moving in the first linear direction along with the first moving part 23204.

[0101] It can be understood that the displacement module 2320 in the embodiment of the present application is provided with the first displacement unit 23201, the second displacement unit 23202 and the third displacement unit 23203 respectively, the first displacement unit 23201 drives the second displacement unit 23202 to move in the height direction of the stand column 210, the second displacement unit 23202 can drive the third displacement unit 23203 to move relative to the first displacement unit 23201 in the first linear direction, and the third displacement unit 23203 can drive the rotation module 2321 to move relative to the second displacement unit 23202 in the second linear direction, so as to realize the displacement adjustment of the second target 201 in three mutually perpendicular directions respectively.

[0102] The rotation module 2321 includes a first rotation unit 23211, a second rotation unit 23212 and a third rotation unit 23213.

[0103] The first rotating unit 23211 is connected with the second moving part 23205, and is provided with a first rotating part 23214 which is rotatable relative to the second moving part 23205 about a first axis. The first rotating unit 23211 is configured to move along with the second moving part 23205 in the second linear direction. The second rotating unit 23212 is connected with the first rotating part 23214, and is provided with a second rotating part 23215 which is rotatable relative to the first rotating unit 23211 about a second axis. The second axis is perpendicular to the first axis. The second rotating unit 23212 is configured to rotate along with the first rotating part 23214 about the first axis.

[0104] The third rotating unit 23213 is connected with the second rotating part 23215, and is provided with a third rotating part which is connected with the fixed assembly 231. The third rotating part is rotatable relative to the second rotating unit 23212 about a third axis. The third axis is perpendicular to the first axis and the second axis. The third rotating unit 23213 is configured to rotate along with the second moving part 23205 about the second axis.

[0105] It can be understood that the rotating module 2321 is provided with the first rotating unit 23211, the second rotating unit 23212 and the third rotating unit 23213. The first rotating unit 23211 is configured to rotate the second rotating unit 23212 about the first axis. The second rotating unit 23212 is configured to rotate the third rotating unit 23213 about the second axis. The third rotating unit 23213 is configured to rotate the fixed assembly 231 about the third axis. Thus, the second target 201 can be adjusted about the three perpendicular axes.

[0106] Through the above structure, the operator can correct the offsets by using the fine adjustment mechanism, including independent adjustment of six degrees of freedom, i.e., front and back, left and right, up and down, yaw, pitch and roll, to avoid mutual interference in the adjustment process. The second target 201 can be quickly and accurately adjusted to the second preset position, which greatly reduces the placement time and improves the accuracy of placement.

[0107] S205, after the independent support is adjusted to the second preset position, the control device provides operation guidance to place the calibration tool at the reference placement position by using the independent support in the second preset position.

[0108] When the independent support 200 is adjusted to the first preset position, the position of the independent support 200 relative to the position of the vehicle 500 meets the placement requirement, and the independent support 200 provides a clear reference for the placement of the calibration tool. The operator can use the independent support 200 as a reference for the placement of the calibration tool, and under the guidance of the steps provided by the control device 400, the operator places the calibration tool at the reference placement position. It is ensured that the calibration tool and the position of the sensor to be calibrated on the vehicle 500 meet the calibration requirement. It is convenient for subsequent calibration of the ADAS system of the vehicle 500.

[0109] According to different calibration requirements, the calibration tool can be a calibration pattern or a corner reflector, etc. For example, in the panoramic image calibration scene, the calibration tool is a calibration pattern (such as an AVM pattern), and the independent support 200 at the first preset position can be used to assist in placing the calibration pattern, so that the calibration pattern is accurately placed at the reference placement position. For another example, in the adaptive cruise system (Adaptive Cruise Control, ACC) calibration scene, the calibration tool is a corner reflector, and the corner reflector is installed on the independent support 200 to ensure that its position meets the calibration requirement.

[0110] In the embodiment, by combining the calibration main support 100 and the independent support 200, the first camera 301 and the second camera 302 on the calibration main support 100 are used to recognize the vehicle 500 to assist in placing the calibration main support 100, so that the calibration main support 100 is accurately placed at the first preset position. Then, the first camera 301 or the second camera 302 is used to recognize the independent support 200 to assist in placing the independent support 200, so that the independent support 200 is accurately placed at the second preset position. Then, the calibration tool is placed with the aid of the placed independent support 200, so as to realize accurate placement of the calibration tool. Through the above-mentioned manner, the placement efficiency and accuracy of the calibration tool can be greatly improved.

[0111] In addition, in the embodiment, the calibration main support 100 and the independent support 200 can be combined to place the calibration tool at the front side, the rear side, the left side, the right side, the side front, the side rear, etc. of the vehicle 500, not only on the front and rear sides of the vehicle 500, effectively expanding the placement range of the calibration tool, and meeting more extensive ADAS calibration tool placement requirements.

[0112] Please refer to FIG. 5 and FIG. 6. In some calibration scenes, for example, when it is required to place the calibration tool at a far position on the left and right sides of the vehicle 500, or when it is required to place the calibration tool at a position on the side front or the side rear of the vehicle 500, the calibration main support 100 located on one longitudinal side of the vehicle 500 cannot recognize the second target 201 on the independent support 200, and cannot complete the placement of the independent support 200 and the calibration tool.

[0113] In order to realize the placement of the calibration tool at a position far away from the side front, side rear and side of the vehicle, in some embodiments, the control device 400 further performs the following steps in the process of step S201:

[0114] A1, after the calibration main frame is pre-placed on one side of the vehicle in the longitudinal direction, the control device acquires first image information of the vehicle collected by the first camera and the second camera, and the first image information includes first target images attached to each wheel on both sides of the vehicle;

[0115] Specifically, one side of the vehicle in the longitudinal direction refers to the side of the vehicle head or the side of the parking space, and the pre-placement means that the operator only needs to place the calibration main frame 100 at a general position on one side of the vehicle 500 in the longitudinal direction, without the need for accurate placement, that is, in this step, the calibration main frame 100 only needs to be placed at the head or tail of the vehicle 500, and ensure that the first camera 301 and the second camera 302 can respectively identify the first targets 501 on both sides of the vehicle 500. For example, in FIG. 5, the operator can place the calibration main frame 100 at the head of the vehicle 500, so that the first camera 301 and the second camera 302 on the calibration main frame 100 can respectively identify the first targets 501 on both sides of the vehicle 500.

[0116] After the calibration main frame 100 is placed, the control device 400 controls the first camera 301 and the second camera 302 to respectively capture first target images on both sides of the vehicle 500, and analyzes these first target images to determine the mutual positional relationship between the first targets 501. Specifically, the first target image can represent the positional characteristics of the corresponding wheel, and the mutual positional relationship of the four targets can represent the mutual positional relationship of the four vehicles 500.

[0117] A2, after the calibration main frame is adjusted to the preset placement orientation, the control device acquires second image information of the vehicle collected by the first camera or the second camera, and the second image information includes at least one first target image attached to one side of the vehicle.

[0118] Specifically, the preset placement orientation represents the general orientation in which the calibration main frame 100 needs to be placed, wherein the preset placement orientation is related to the vehicle type, the ADAS system to be calibrated and the position of the sensor to be calibrated on the vehicle 500. According to different calibration requirements, the preset placement orientation in which the calibration main frame 100 needs to be placed is different. For example, the preset placement orientation can be a position in the side front or side rear of the vehicle 500, and after the calibration main frame 100 is located at the preset placement orientation, one of the first camera 301 and the second camera 302 can identify at least one first target 501 on the vehicle 500, and the other can identify the second target 201 on the independent support 200.

[0119] When the control device 400 obtains the mutual positional relationship of the four first targets 501, the operator can be instructed to move the calibration main frame 100 to a preset placement position. For example, FIG. 6 shows a schematic diagram after the calibration main frame 100 has been moved to the preset placement position. After the calibration main frame 100 is placed at the preset placement position, the first camera 301 on the left side of the calibration main frame 100 can be used to capture at least one first target image on the right side of the vehicle 500 to obtain the position of the vehicle, and the second camera 302 on the right side of the calibration main frame 100 can be used to capture a second target image on the independent support 200 to obtain the position of the independent support.

[0120] After the calibration main frame is adjusted to the preset placement position, the control device performs the following steps in the process of providing the first positional offset of the calibration main frame according to the image information of the vehicle and the first preset position of the calibration main frame relative to the vehicle in step S202:

[0121] B1, the control device determines the position of the vehicle according to the first image information and the second image information;

[0122] After the control device 400 obtains the first image information and the second image information, the position of the vehicle 500 can be calculated. Specifically, since the first image information includes four first target images on each wheel, the relative positional relationship of the four first targets can be determined according to the first image information. Since the second image information includes the position of at least one first target, the position of at least one first target can be determined according to the second image information. Since the first target image can represent the wheel position feature of the vehicle 500, after the control device 400 obtains the mutual positional relationship of the four targets and the position of at least one first target, the three-dimensional position of each wheel of the vehicle 500 can be calculated using computer vision and geometric positioning technology, and the center line or thrust line of the vehicle 500 and other position features can be determined to obtain the position information of the vehicle.

[0123] B2, the control device determines the position of the calibration main frame according to the second image information;

[0124] Specifically, as shown in FIG. 6, after the first camera on the left side of the calibration main frame captures the second image information, the control device can determine the position information of the calibration main frame 100 relative to the vehicle 500 according to the second image information. The position of the calibration main frame 100 can be the center line of the cross beam or the center point of the cross beam and other position information.

[0125] B3, the control device determines the position of the calibration main frame relative to the vehicle according to the position of the vehicle and the position of the calibration main frame;

[0126] After the control device obtains the position information of the vehicle and the position information of the calibration main frame, the position information of the calibration main frame relative to the vehicle can be determined.

[0127] B4、the control device provides a first position offset of the calibration mainframe according to the position of the calibration mainframe relative to the vehicle and the first preset position.

[0128] In the embodiment, after determining the position of the calibration mainframe 100 relative to the vehicle 500, the control device 400 compares the current position of the calibration mainframe 100 relative to the vehicle 500 with the first preset position, calculates a first position offset of six degrees of freedom, and the first position offset represents the position deviation between the current position of the calibration mainframe 100 and the first preset position. Thus, the operator is instructed to move the calibration mainframe 100 to the first preset position.

[0129] Since the calibration mainframe 100 in the first preset position can recognize the second target 201 on the independent support 200 through the first camera or the second camera, the control device 400 can control the first camera 301 or the second camera 302 to collect the second target image on the independent support 200, thereby assisting the accurate placement of the independent support 200.

[0130] In the embodiment, in the case that the first camera 301 and the second camera 302 on the calibration mainframe 100 cannot directly recognize the second target 201, the first camera 301 and the second camera 302 can first recognize the first targets 501 on the four wheels and record the mutual position relationship, then move the calibration mainframe 100 to a preset placement orientation of the vehicle 500, such as the side front or side rear of the vehicle 500, use one of the first camera 301 and the second camera 302 to recognize the first target 501 on one side wheel of the vehicle 500, and combine the mutual position relationship of the four first targets 501 to obtain the position coordinates of the vehicle 500, and use the other of the first camera 301 and the second camera 302 to recognize the second target 201 on the independent support 200 to assist the accurate placement of the independent support 200. Through the above steps, the placement area of the independent support 200 is effectively expanded, and the placement range of the calibration tool is expanded, which is suitable for placing the calibration tool at a position far away from the side of the vehicle 500 or a position in front of the side of the vehicle 500, and meets the needs of more extensive ADAS calibration scenarios.

[0131] In some embodiments, in the process of providing a second position offset of the independent support 200 by the control device 400 according to the image information of the independent support 200, the image information of the vehicle 500, and the second preset position of the independent support 200 relative to the vehicle, the following steps are performed:

[0132] C1, the control device 400 determines the position of the independent support according to the image information of the independent support, and the image information of the independent support includes the second target image attached to the independent support;

[0133] Specifically, the independent support 200 can be pre-disposed on one lateral side of the vehicle, for example, the left side or the right side of the vehicle, and the second target image can represent the position feature of the independent support. After the independent support is pre-disposed, the control device controls the first camera or the second camera to capture the second target image on the independent support, so as to obtain the position feature of the independent support, and determine the position of the independent support.

[0134] C2, the control device 400 determines the position of the independent support relative to the vehicle according to the position of the independent support and the image information of the vehicle;

[0135] In this embodiment, the image information of the vehicle includes the position feature of each first target, so that the position feature of the vehicle 500 can be obtained. The control device can obtain the specific position of the independent support 200 relative to the vehicle 500 by comparing the position features of the vehicle 500 and the independent support 200.

[0136] C3, the control device provides a second position offset of the independent support according to the position of the independent support relative to the vehicle and the second preset position.

[0137] After the control device 400 determines the position of the independent support 200 relative to the vehicle 500, the control device 400 compares the current position of the independent support 200 relative to the vehicle 500 with the second preset position, and calculates a six-degree-of-freedom second position offset. The second position offset represents the position deviation between the current position of the independent support 200 and the second preset position. These position deviations indicate the adjustment direction and amplitude of the independent support 200 from the current position to the second preset position.

[0138] When the control device 400 calculates the second position offset of the independent support 200, the operator is guided to adjust the second target 201 on the independent support 200 according to the real-time feedback of the control device 400, until the independent support 200 is accurately placed at the second preset position, and the independent support 200 is placed. Then, the independent support 200 can be used to assist in placing the calibration tool, and the calibration tools on the left and right sides of the vehicle 500 can be placed.

[0139] Please refer to FIG. 7. In some embodiments, when the independent support 200 needs to be placed on one lateral side of the vehicle and is close to the vehicle 500, the first camera or the second camera on the calibration main support located on one longitudinal side of the vehicle can directly identify the second target on the independent support, so that the position of the vehicle can be obtained. At this time, the control device 400 performs the process of step S201, which includes: after the calibration main support is pre-disposed on one longitudinal side of the vehicle, the control device acquires the first target images on both sides of the vehicle captured by the first camera and the second camera, and then performs the subsequent steps S202-S205, to complete the placement of the independent support 200 and the calibration tool near both sides of the vehicle 500.

[0140] In some embodiments, the calibration tool is a corner reflector, after the independent support 200 is adjusted to the first preset position, the control device 400 performs the operation instruction to assist the process of placing the calibration tool in the reference placement position, and the following steps are performed:

[0141] D1, the control device 400 provides a first operation instruction, and the first operation instruction is used to instruct to replace the second target 201 with a corner reflector, so that the corner reflector can be placed in the reference placement position.

[0142] In this embodiment, the calibration tool is a corner reflector, after the control device 400 determines that the independent support 200 is placed in the second preset position, the control device 400 provides a first operation instruction, specifically, the first operation instruction can be displayed to the operator in the form of a graphical interface, or provided to the operator in the form of video, text or voice, to guide the operator to place the corner reflector.

[0143] After the independent support 200 has been placed in the second preset position, the independent support 200 can serve as a placement reference for the corner reflector, and the operator can remove the second target 201 from the fine adjustment mechanism of the independent support 200 and install the corner reflector on the fine adjustment mechanism. Since the position of the second target 201 on the fine adjustment mechanism is accurate, after the corner reflector is installed on the independent support 200, the accuracy of the installation position of the corner reflector can be ensured.

[0144] In some embodiments, after the control device 400 performs step D1, the following step is further performed:

[0145] D2, the control device 400 provides a second operation instruction, and the second operation instruction is used to instruct to remove the calibration main frame 100, so that the distance between the calibration main frame 100 and the independent support 200 is greater than a preset distance.

[0146] Specifically, the preset distance is a safe distance between the calibration main frame 100 and the independent support 200, after the corner reflector is accurately installed on the independent support 200, the operator can move the calibration main frame 100 to a position that does not interfere with the corner reflector, so that the distance between the calibration main frame 100 and the independent support 200 is greater than the preset distance, to avoid the metal object on the calibration main frame 100 from interfering with the calibration of the corner reflector. Thus, the accuracy of ADAS calibration is further improved.

[0147] When the corner reflector is installed on the independent support 200 by the above-mentioned method, and the calibration main frame 100 is removed, the ACC (adaptive cruise control) system of the vehicle 500 can be calibrated using the corner reflector.

[0148] Referring to FIG. 8 and FIG. 9, in some embodiments, the calibration tool is a calibration pattern 600, after the independent support 200 is adjusted to the second preset position, the control device 400 executes the third operation instruction to assist the process of placing the calibration tool in the reference placement position, the following steps are executed:

[0149] E1, the control device 400 provides a third operation instruction, the third operation instruction is used to instruct to replace the second target 201 with the laser 700.

[0150] After the control device 400 determines that the independent support 200 is accurately placed in the second preset position, the control device 400 can provide the third operation instruction to the operator through a graphical interface, video, text or voice, etc. Specifically, the operator replaces the second target 201 from the fine adjustment mechanism of the independent support 200, and then installs the laser 700 on the fine adjustment mechanism.

[0151] After the independent support 200 has been placed in the second preset position by the visual module 300, the independent support 200 can be used as a placement reference for the calibration pattern 600, and the operator can remove the second target 201 from the fine adjustment mechanism of the independent support 200 and install the laser 700 on the fine adjustment mechanism.

[0152] Since the position of the second target 201 on the fine adjustment mechanism is accurate, after the laser 700 is installed in the same position on the independent support 200, the accuracy of the installation position of the laser 700 can be ensured to meet the placement requirements of the calibration pattern.

[0153] E2, the control device 400 provides a fourth operation instruction, the fourth operation instruction is used to instruct to place the calibration pattern along the laser line 701 projected on the ground by the laser 700, so that the calibration pattern can be placed in the reference placement position.

[0154] After the control device 400 confirms that the laser 700 is installed in place, the control device 400 provides the fourth operation instruction to guide the operator to place the calibration pattern according to the laser line 701 projected by the laser 700.

[0155] Optionally, the laser 700 can be a cross laser 700, after the laser 700 is installed on the independent support 200, the operator starts the laser 700, and the laser 700 projects cross laser lines 701 to the ground, which provides intuitive and accurate guidance for placing the calibration pattern. The operator can quickly and accurately place the calibration pattern in the reference placement position according to the indication of the laser line 701, ensuring that the relative position and angle of the calibration pattern to the vehicle 500 fully meet the calibration standard. Thus, the efficiency and accuracy of placing the calibration pattern are significantly improved.

[0156] It can be understood that in other embodiments, the second target 201 can also not be disassembled, but only used as a positioning reference to assist in installing the calibration tool.

[0157] In addition, the laser 700 can also not be installed to assist in placing the calibration pattern. For example, in other embodiments, after the independent support 200 is placed at the target position, only one or two points on the ground are positioned as a reference based on the independent support 200, for example, two points on the ground can be positioned by a plumb line, and then the operator can assist in placing the calibration pattern based on the two points on the ground.

[0158] When the calibration pattern is accurately placed on the ground by the above-mentioned method, the AVM panoramic image system of the vehicle 500 can be calibrated using the calibration pattern to ensure calibration accuracy.

[0159] Those skilled in the art can understand that in the above-mentioned method of the specific embodiment, the writing order of each step does not mean a strict execution order and does not constitute any limitation on the implementation process. The specific execution order of each step should be determined by its function and possible internal logic.

[0160] In some embodiments, after the calibration main frame 100 is placed, that is, after the calibration main frame 100 is accurately placed at the first preset position, a two-line laser level (which can also be a common two-line laser) can be installed on the calibration main frame, and then the independent support is aligned with the laser line projected on the ground by the two-line laser level, thereby completing the accurate placement of the independent support.

[0161] Please refer to FIG. 10, the embodiment of the application further provides a device for assisting in placing a calibration tool, which is used to execute the method in any of the above-mentioned embodiments. Specifically, the device for assisting in placing a calibration tool in the embodiment of the application comprises a first acquisition module 801, a first providing module 802, a second acquisition module 803, a second providing module 804, and a guiding module 805, wherein:

[0162] The first acquisition module 801 is configured to acquire image information of a vehicle collected by a first camera and a second camera.

[0163] The first providing module 802 is configured to provide a first position offset of the calibration main frame according to the image information of the vehicle and the first preset position of the calibration main frame relative to the vehicle. The first position offset is used to indicate adjustment of the calibration main frame to the first preset position.

[0164] The second acquisition module 803 is configured to acquire image information of an independent support collected by the first camera or the second camera after the calibration main frame is adjusted to the first preset position.

[0165] The second providing module 804 is configured to provide a second position offset of the independent support according to the image information of the independent support, the image information of the vehicle, and the second preset position of the independent support relative to the vehicle, and the second position offset is used to assist in placing the independent support to the second preset position.

[0166] The guiding module 805 is configured to provide operation guidance to assist in placing the calibration tool to the reference placement position after the independent support is adjusted to the first preset position.

[0167] The device for assisting in placing the calibration tool provided by the embodiments of the present application has the functions or includes the modules described above, which can be used to execute the methods described above, and the specific implementation can refer to the description of the methods above. For brevity, the description will not be repeated here.

[0168] Please refer to FIG. 11, which is a structural schematic diagram of a control device 400 provided by an embodiment of the present application. The control device 400 can include a memory 401 and a processor 402. For example, the memory 401 is configured to store computer programs or instructions, and the processor 402 is configured to execute the computer programs or instructions stored in the memory, so that the control device 400 implements the steps involved in the method for assisting in placing the calibration tool provided by the embodiments of the present application.

[0169] The processor 401 and the memory 402 can be connected through a bus or other means. In FIG. 11, the connection through the bus is taken as an example.

[0170] The memory 402 is a non-volatile computer readable storage medium, which can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the method for assisting in placing the calibration tool in the embodiments of the present application. The processor executes the non-volatile software programs, instructions and modules stored in the memory, so as to execute various function applications and data processing of the control device 400, that is, to implement the method for assisting in placing the calibration tool provided by the method embodiments above and the functions of each module of the system embodiments above.

[0171] The memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory can include a memory remotely arranged relative to the processor, and the remote memory can be connected to the processor through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0172] The program instructions / modules are stored in the memory, and when executed by the one or more processors, perform the method of assisting in placing the calibration tool.

[0173] In addition, the control device 400 can further include a power supply for powering various components. Preferably, the power supply can be connected to the processor logic through a power management system, so as to realize the functions of managing charging, discharging and power consumption management through the power management system. The power supply can also include one or more direct current or alternating current power supplies, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, and any other components.

[0174] Further, the control device 400 can further include a display unit, which can be used to display the first position offset of the independent support, the second position offset of the calibration main frame, and the like.

[0175] The embodiments of the present application also provide a computer readable storage medium, which stores some instructions. When the instructions are invoked and executed, the pre-warning device can perform the functions of the pre-warning device involved in the above method embodiments and any possible design of the method embodiments. In the embodiments of the present application, the readable storage medium is not limited, for example, it can be a RAM (random access memory), a ROM (read-only memory), and the like.

[0176] The device or equipment embodiments described above are only schematic, and the unit modules illustrated as separate components can or can not be physically separated, and the components illustrated as module units can or can not be physical units, i.e., they can be located in one place or distributed on multiple network module units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments of the present application.

[0177] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in detail; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part 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 method for assisting in the placement of calibration tools, characterized in that, The method is applied to a calibration system, which includes a calibration main frame and an independent support. A first camera and a second camera are respectively mounted at opposite ends of the calibration main frame. Acquire vehicle image information captured by the first camera and the second camera; Based on the image information of the vehicle and the first preset position of the calibration main frame relative to the vehicle, a first position offset of the calibration main frame is provided; the first position offset is used to indicate that the calibration main frame is adjusted to the first preset position. After the calibration main frame is adjusted to the first preset position, image information of the independent support captured by the first camera or the second camera is obtained; Based on the image information of the independent bracket, the image information of the vehicle, and the second preset position of the independent bracket relative to the vehicle, a second position offset of the independent bracket is provided, which is used to assist in placing the independent bracket to the second preset position. After the independent support is adjusted to the second preset position, operation instructions are provided to use the independent support at the second preset position to assist in placing the calibration tool so that the calibration tool is placed at the reference placement position.

2. The method according to claim 1, characterized in that, The acquisition of vehicle image information captured by the first camera and the second camera includes: After the calibration frame is pre-placed on one longitudinal side of the vehicle, the first image information of the vehicle captured by the first camera and the second camera is obtained. The first image information includes the first target image attached to each wheel on both sides of the vehicle. After the calibration frame is adjusted to the preset placement position, the second image information of the vehicle captured by the first camera or the second camera is acquired. The second image information includes at least one first target image attached to one side of the vehicle.

3. The method according to claim 2, characterized in that, The step of providing a first position offset of the calibration main frame based on the image information of the vehicle and the first preset position of the calibration main frame relative to the vehicle includes: The position of the vehicle is determined based on the first image information and the second image information; The position of the calibration main frame is determined based on the second image information; The position of the calibration main frame relative to the vehicle is determined based on the position of the vehicle and the position of the calibration main frame; Based on the position of the calibration main frame relative to the vehicle and the first preset position, a first position offset of the calibration main frame is provided.

4. The method according to claim 3, characterized in that, Determining the vehicle's position based on the first image information and the second image information includes: The relative positional relationship of each of the first targets is determined based on the first image information; The location of at least one of the first targets is determined based on the second image information; The position of the vehicle is determined based on the position of at least one of the first targets and the relative positional relationship of each of the first targets.

5. The method according to claim 1, characterized in that, The step of providing a second position offset for the independent bracket based on the image information of the independent bracket, the image information of the vehicle, and the second preset position of the independent bracket relative to the vehicle, the second position offset being used to assist in placing the independent bracket to the second preset position, includes: The position of the independent support is determined based on the image information of the independent support, wherein the image information of the independent support includes a second target image attached to the independent support; The position of the independent bracket relative to the vehicle is determined based on the position of the independent bracket and the image information of the vehicle. Based on the position of the independent bracket relative to the vehicle and the second preset position, a second position offset of the independent bracket is provided.

6. The method according to claim 5, characterized in that, The calibration tool is a corner reflector, and the provision of operating guidelines to assist in placing the calibration tool in the reference placement position includes: A first operation instruction is provided, which instructs the replacement of the second target with a corner reflector so that the corner reflector can be placed in a reference placement position.

7. The method according to claim 6, characterized in that, After the corner reflector is placed in the reference placement position, the method further includes: A second operation instruction is provided, which instructs the removal of the calibration master frame.

8. A device for assisting in the placement of calibration tools, characterized in that, The device is applied to a calibration system, which includes a calibration main frame and an independent support. A first camera and a second camera are respectively mounted at opposite ends of the calibration main frame. The device includes: The first acquisition module is used to acquire image information of the vehicle captured by the first camera and the second camera; A first providing module is configured to provide a first position offset of the calibration main frame based on the image information of the vehicle and a first preset position of the calibration main frame relative to the vehicle; the first position offset is used to indicate that the calibration main frame is adjusted to the first preset position. The second acquisition module is used to acquire image information of the independent support captured by the first camera or the second camera after the calibration main frame is adjusted to the first preset position; The second providing module is used to provide a second position offset of the independent bracket based on the image information of the independent bracket, the image information of the vehicle, and the second preset position of the independent bracket relative to the vehicle. The second position offset is used to assist in placing the independent bracket to the second preset position. The guidance module is used to provide operation guidance after the independent bracket is adjusted to the first preset position, so as to use the independent bracket at the second preset position to assist in placing the calibration tool, so that the calibration tool is placed at the reference placement position.

9. A control device, characterized in that, The device includes a processor and a memory interconnected thereto, wherein the memory is used to store a computer program, the computer program including program instructions, and the processor is configured to invoke the program instructions to perform the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, the computer program including program instructions that, when executed by a processor, cause the processor to perform the method according to any one of claims 1 to 7.

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