CN105091794A - Device and method for detecting vehicle tyre camber angle and toe-in angle - Google Patents
Device and method for detecting vehicle tyre camber angle and toe-in angle Download PDFInfo
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Abstract
The invention provides a device and method for detecting the vehicle tyre camber angle and toe-in angle. The device for detecting the vehicle tyre camber angle and toe-in angle comprises detection platforms symmetrically arranged at the outer sides of two traffic lanes respectively, wherein the surface, facing to the traffic lane, of each detection platform is provided with a structured light emitter and cameras arranged at the two sides of the structured light emitter and for collecting images of the structured light emitter irradiated on a vehicle wheel; and a processing unit which receives the images collected by the cameras on the two detection platforms. The beneficial effects of the detection device are that the device adopts a split-type design, and thus the size of the device is greatly reduced; the device adopts the fixed-type installation, and thus after installation, the cameras cannot be moved; the device can be used repeatedly for a long time with only one-time calibration during installation, thereby improving detection precision and reducing system maintenance; and the vehicle is detected in a manner of non-contact pass-type detection, and conventional accessory devices of reflector panels and the like no longer need to be arranged on the vehicle, thereby greatly improving the detection speed and reducing manual labor intensity.
Description
Technical field
The present invention relates to the technical field of automobile, refer more particularly to a kind of device and method detecting outer inclination angle of vehicle tyre and toe-in angle.
Background technology
At present, usually adopt the kingpin castor angle of four-wheel aligner pick-up unit detection automobile, kingpin inclination, front-wheel camber, toe-in of front wheel, camber angle and trailing wheel prenex, ensure the quality that automobile dispatches from the factory or maintains.But, because four-wheel aligner pick-up unit installs inconvenience, and in use can not calibrate in time, automotive check quality is greatly affected.Therefore need a kind of structure simple, save space, detection method easy to install detects outer inclination angle of vehicle tyre and toe-in angle, is applicable to the four-wheel aligner in automobile making and maintenance.
Summary of the invention
The object of the invention is to overcome the deficiencies in the prior art, providing a kind of device and method detecting outer inclination angle of vehicle tyre and toe-in angle.
The present invention is realized by above technical scheme:
The invention provides a kind of device detecting outer inclination angle of vehicle tyre and toe-in angle, the device of this detection outer inclination angle of vehicle tyre and toe-in angle comprises: be symmetricly set on the monitor station outside two runways, each monitor station is provided with structured light device towards the one side of described runway, and is arranged on described structured light device both sides and gets for shining the camera that described structured light device is irradiated to the image on wheel;
Processing unit, receives the image of the collected by camera on described two monitor stations respectively.
Preferably, described processing unit is PC, panel computer, mobile phone or single-chip microcomputer.
Preferably, described two monitor stations are fixed on the both sides of described two runways respectively by accessory fixture, described accessory fixture is expansion bolt.
Preferably, described structured light device is the transmitter to testee surface projection controllable luminous point, striation or light face structure.
Preferably, described two cameras are obliquely installed towards described structured light device.
Present invention also offers a kind of method detecting outer inclination angle of vehicle tyre and toe-in angle, the method comprises the following steps:
Determine the coordinate conversion relation of the camera in two monitor stations; And the angular field of view of two cameras in each monitor station has overlapping region at detected wheel position place;
Structured light device in each monitor station detects light to the wheel projection detected by this monitor station; And the camera in this monitor station receives the image that described detection illumination is mapped to described detected wheel;
Processing unit receives image in each monitor station, and form binocular vision sequence image according to the image in each monitor station, in binocular vision sequence image recording process, processing unit is evaluated the picture quality generated according to the standard of setting, and filters out at least one group of measured image of matter for calculating and obtaining the toe-in angle of tire and camber angle that are detected.
The invention has the beneficial effects as follows: adopt split-type design, reduce the volume of equipment greatly.Adopt fixed installation, after installing, camera position no longer moves, and only need demarcate once when mounted, can repeatedly use for a long time, improves accuracy of detection and reduces system maintenance.Vehicle is that through type detects, and vehicle does not need install the auxiliary equipments such as traditional reflector, greatly improves detection speed, reduces hand labor intensity.
Accompanying drawing explanation
Fig. 1 is the structural representation of the device of the detection outer inclination angle of vehicle tyre that provides of the embodiment of the present invention and toe-in angle;
Fig. 2 is the structural representation of the monitor station in the device of the detection outer inclination angle of vehicle tyre that provides of the embodiment of the present invention and toe-in angle;
Fig. 3 is the top view of the monitor station in the device of the detection outer inclination angle of vehicle tyre that provides of the embodiment of the present invention and toe-in angle;
Fig. 4 is the structured light schematic diagram of the structured light device transmitting that the embodiment of the present invention provides;
Fig. 5 is the another kind of structured light schematic diagram of the structured light device transmitting that the embodiment of the present invention provides.
Embodiment
In order to make object of the present invention, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, be not intended to limit the present invention.
Embodiments provide a kind of device detecting outer inclination angle of vehicle tyre and toe-in angle, the device of this detection outer inclination angle of vehicle tyre and toe-in angle comprises: be symmetricly set on the monitor station outside two runways, each monitor station is provided with structured light device towards the one side of described runway, and is arranged on described structured light device both sides and gets for shining the camera that described structured light device is irradiated to the image on wheel;
Processing unit, receives the image of the collected by camera on described two monitor stations respectively.
In the above-described embodiments, by adopting split-type design, the volume of equipment is reduced greatly.Adopt fixed installation, after installing, camera position no longer moves, and only need demarcate once when mounted, can repeatedly use for a long time, improves accuracy of detection and reduces system maintenance.Vehicle is that through type detects, and vehicle does not need install the auxiliary equipments such as traditional reflector, greatly improves detection speed, reduces hand labor intensity.
The understanding of the detection outer inclination angle of vehicle tyre conveniently provided the present embodiment and the device of toe-in angle, is described in detail it below in conjunction with accompanying drawing.
In the present embodiment, first several principle is described:
Single structure only refers to that each monitor station contains a structured light device.
Binocular camera refers to that the camera that each monitor station contains two different visual angles forms two CCD camera measure system.This device is also applicable to three order camera vision systems and detects and the detection of many orders camera vision system.
As shown in Figure 1, apparatus structure composition: processing unit 1, left side monitor station 2, right side monitor station 3.
Wherein processing unit 1 is connected with left side monitor station 2 and right side monitor station 3 by data cable or wireless data transmission device.That is: left side monitor station 2, right side monitor station 3 needs and processing unit 1 carries out data transmission, data transfer mode can be netting twine, USB line, bluetooth or other wired or wireless data transfer mode.
Processing unit 1 can be PC, panel computer, mobile phone, single-chip microcomputer or other there is the unit of data operation processing capacity, and possess the function of output detections result, include but not limited to screen, printer, file.
Processing unit 1, left side monitor station 2 and right side monitor station 3 all comprise electronic equipment, need power supply, and power supply can be realized by the power supply mode such as service cable or battery.
Monitor station 2,3 itself should comprise accessory fixture for being arranged on left row track 17 and right side runway 18 both sides, and accessory fixture includes but not limited to bolt hole, spring perch etc.Such as, the plate relative with camera orifice plate at monitor station backboard arranges mounting hole, need in left row track 17 and right side runway 18 both sides the fixture of installation monitor station is holed, settle expansion bolt, and be connected with expansion bolt with the mounting hole that screw connects monitor station backboard, reach the object of fixed installation monitor station to both sides, track.
As shown in Figures 2 and 3, left monitor station 2 mainly comprises a structured light device 5 and two cameras 4,6 and to be rigidly connected formation, and two cameras are obliquely installed towards structured light device.
The devices such as referring to connected equipment use screw that is rigidly connected is installed together, and after installing, entirety is fixed as one, and can not produce relative displacement between equipment.
Right monitor station 3 and left monitor station 2 structural symmetry, mainly comprise a structured light device 8 and two cameras 7,9 and to be rigidly connected formation.
Structured light device 5 is for generating structure light, and structured light device projects controllable luminous point, striation or light face structure to testee surface, as shown in Figure 4 and Figure 5, Fig. 4 and Fig. 5 shows two kinds of different structured lights.4,6 points, camera is listed in the front and back position of structured light device 5, and camera perspective and focal length are set to clearly to capture structured light device 5 and project the structure light image be positioned on left row track 17 in left tire 13.
Structured light device 8 is for generating structure light, and structured light device is to the projection of testee surface controllable luminous point, striation or light face structure, and as shown in Figure 4 and Figure 5, Fig. 4 and Fig. 5 shows two kinds of different structured lights.7,9 points, camera is listed in the front and back position of structured light device 8, and camera perspective and focal length are set to clearly to capture structured light device 8 and project the structure light image be positioned on the upper right tire 14 in left row track 18.
Operationally, left side monitor station 2 and right side monitor station 3 be arranged on respectively left row track 17 and and right side runway 18, as shown in Figure 1, camera and structured light device point to direction, track.Processing unit can be separately an equipment, also can be integrated in left side monitor station or right side monitor station inside.
In order to detect four-wheel parameter, first need to determine the coordinate conversion relation between 4 cameras 4,6,7,9.Wherein, camera 4,6 is the installation that is rigidly connected, and the gaze area of camera 4,6 in clear visual range four-wheel aligner detect in, this distance can be arranged between 0.5m-2m overlap, coordinate conversion relation between them can be learnt by binocular vision calibration method measurement in advance, and remains unchanged after mounting; Camera 7,9 is similarly the installation that is rigidly connected, and the gaze area of camera 4,6 in clear visual range four-wheel aligner detect in, this distance can be arranged between 0.5m-2m overlap, coordinate conversion relation between them can be learnt by binocular vision calibration method measurement in advance, and remains unchanged after mounting.Because left monitor station 2 and right monitor station 3 are independent installation, when each installation is measured, the coordinate conversion relation between camera 4,6 and camera 7,9 is change.A kind of method can measured by double-face reflecting panel obtains the change of the coordinate conversion relation between camera 4,6 and camera 7,9.After obtaining the coordinate conversion relation between camera 4,6 and camera 7,9, can set up unified benchmark camera such as camera 4, also can be other any camera coordinates system.
As shown in Figure 1, camera 4,6 be used for detection architecture optical transmitting set 5 project the reflected image of structured light on vehicle left side tire 13, camera 7,9 be used for detection architecture optical transmitting set 8 project the reflected image of structured light on vehicle right side tire 14.
The structured light detected forms the luminous point point set on tire 13,14 surface, left and right, camera 4,6 forms a binocular vision structure, camera 7,9 forms a binocular vision structure, based on Binocular Vision Principle, these point sets can become two-dimentional point set by camera calibration and utilize camera parameter to pass through to calculate the three-dimensional point set of formation.Because camera 4,6 and camera 7,9 are in a benchmark camera coordinates system, build left and right tire 13,14 surface plane under the three-dimensional point set on left and right tire 13,14 surface can be switched to a unified frame of reference.
Left and right tire 13,14 central point obtains by the three-dimensional point set on left and right tire 13,14 surface, the line of left and right tire 13,14 central point can be considered and to overlap with axletree 11 direction, therefore can construct with the ideal plane of the axletree 11 left and right tire 13,14 that is normal direction.
The horizontal component of the angle of the surperficial physical plane of left and right tire 13,14 and tire ideal plane is the toe-in angle of the left and right tire 13,14 needing to detect, and vertical component is the camber angle needing the wheel 1314 detected.
This equipment once can the data parameters of an axletree 11 in measuring vehicle, if need to detect axletree 12, then needs gradation to repeat step and carries out.
When detecting, vehicle slowly moves ahead along track, left and right, and after vehicle tyre enters camera fields of view, camera 4,6 and camera 7,9 start to be recorded in the imaging of left and right tire 13,14 under project structured light respectively, and form binocular vision sequence image.In binocular vision sequence image recording process, system can be evaluated the picture quality generated, and filtering out 1 group or several groups such as 10 groups of measured images of matter for calculating and obtaining toe-in angle and the camber angle of tire, the image of many groups can departure better, improves precision.
Present invention also offers a kind of method according to above-mentioned detection outer inclination angle of vehicle tyre and toe-in angle, the method comprises the following steps:
Determine the coordinate conversion relation of the camera in two monitor stations; And the angular field of view of two cameras in each monitor station has overlapping region at detected wheel position place;
Structured light device in each monitor station detects light to the wheel projection detected by this monitor station; And the camera in this monitor station receives the image that described detection illumination is mapped to described detected wheel;
Processing unit receives image in each monitor station, and form binocular vision sequence image according to the image in each monitor station, in binocular vision sequence image recording process, processing unit is evaluated the picture quality generated according to the standard of setting, and filters out at least one group of measured image of matter for calculating and obtaining the toe-in angle of tire and camber angle that are detected.
In the above-mentioned methods, the pick-up unit of employing adopts split-type design, reduces the volume of equipment greatly.Adopt fixed installation, after installing, camera position no longer moves, and only need demarcate once when mounted, can repeatedly use for a long time, improves accuracy of detection and reduces system maintenance.Vehicle is that through type detects, and vehicle does not need install the auxiliary equipments such as traditional reflector, greatly improves detection speed, reduces hand labor intensity.
These are only preferred embodiment of the present invention, not in order to limit the present invention, all any amendments done within the spirit and principles in the present invention, equivalent replacement and improvement etc., all should be included within protection scope of the present invention.
Claims (6)
1. detect a device for outer inclination angle of vehicle tyre and toe-in angle, it is characterized in that, comprising:
Be symmetricly set on the monitor station outside two runways, each monitor station is provided with structured light device towards the one side of described runway, and is arranged on described structured light device both sides and gets for shining the camera that described structured light device is irradiated to the image on wheel;
Processing unit, receives the image of the collected by camera on described two monitor stations respectively.
2. the device of detection outer inclination angle of vehicle tyre according to claim 1 and toe-in angle, is characterized in that, described processing unit is PC, panel computer, mobile phone or single-chip microcomputer.
3. the device of detection outer inclination angle of vehicle tyre according to claim 2 and toe-in angle, is characterized in that, described two monitor stations are fixed on the both sides of described two runways respectively by accessory fixture, described accessory fixture is expansion bolt.
4. the device of detection outer inclination angle of vehicle tyre according to claim 2 and toe-in angle, is characterized in that, described structured light device is the transmitter to testee surface projection controllable luminous point, striation or light face structure.
5. the device of detection outer inclination angle of vehicle tyre according to claim 1 and toe-in angle, is characterized in that, described two cameras are obliquely installed towards described structured light device.
6. detect a method for outer inclination angle of vehicle tyre and toe-in angle, it is characterized in that, comprise the following steps:
Determine the coordinate conversion relation of the camera in two monitor stations; And the angular field of view of two cameras in each monitor station has overlapping region at detected wheel position place;
Structured light device in each monitor station detects light to the wheel projection detected by this monitor station; And the camera in this monitor station receives the image that described detection illumination is mapped to described detected wheel;
Processing unit receives image in each monitor station, and form binocular vision sequence image according to the image in each monitor station, in binocular vision sequence image recording process, processing unit is evaluated the picture quality generated according to the standard of setting, and filters out at least one group of measured image of matter for calculating and obtaining the toe-in angle of tire and camber angle that are detected.
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Cited By (8)
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| CN107192343A (en) * | 2017-07-04 | 2017-09-22 | 华中科技大学 | A kind of suspension performance test wheel six-degree of freedom displacement measuring device and method |
| CN108152049A (en) * | 2017-12-21 | 2018-06-12 | 力帆实业(集团)股份有限公司 | Toe-in of automobile detects method of adjustment |
| CN109141937A (en) * | 2018-08-03 | 2019-01-04 | 北京逸驰科技有限公司 | A kind of intelligence tire assessment system and its application method |
| CN109781016A (en) * | 2019-03-13 | 2019-05-21 | 江西五十铃汽车有限公司 | A kind of method of the high performances such as real-time measurement automobile |
| CN112200876A (en) * | 2020-12-02 | 2021-01-08 | 深圳市爱夫卡科技股份有限公司 | A 5D four-wheel alignment calibration system and calibration method |
| CN114778143A (en) * | 2022-05-16 | 2022-07-22 | 长安大学 | Non-target non-contact automobile four-wheel positioning detection device and detection method |
| CN115265423A (en) * | 2022-07-18 | 2022-11-01 | 东风汽车集团股份有限公司 | Method and system for measuring camber angle and toe-in angle of wheel |
| CN115808317A (en) * | 2022-11-15 | 2023-03-17 | 东风柳州汽车有限公司 | Automobile toe-in detection method, device, equipment and storage medium |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107192343B (en) * | 2017-07-04 | 2023-08-18 | 华中科技大学 | Six-degree-of-freedom displacement measuring device and method for suspension characteristic test wheel |
| WO2019007259A1 (en) * | 2017-07-04 | 2019-01-10 | 华中科技大学 | Device and method for measuring six-degree-of-freedom displacement of vehicle wheel during suspension characteristic test |
| CN107192343A (en) * | 2017-07-04 | 2017-09-22 | 华中科技大学 | A kind of suspension performance test wheel six-degree of freedom displacement measuring device and method |
| CN108152049A (en) * | 2017-12-21 | 2018-06-12 | 力帆实业(集团)股份有限公司 | Toe-in of automobile detects method of adjustment |
| CN108152049B (en) * | 2017-12-21 | 2019-10-29 | 力帆实业(集团)股份有限公司 | Toe-in of automobile detects method of adjustment |
| CN109141937A (en) * | 2018-08-03 | 2019-01-04 | 北京逸驰科技有限公司 | A kind of intelligence tire assessment system and its application method |
| CN109781016A (en) * | 2019-03-13 | 2019-05-21 | 江西五十铃汽车有限公司 | A kind of method of the high performances such as real-time measurement automobile |
| CN109781016B (en) * | 2019-03-13 | 2024-04-16 | 江西五十铃汽车有限公司 | Method for measuring high performance of automobile and the like in real time |
| CN112200876A (en) * | 2020-12-02 | 2021-01-08 | 深圳市爱夫卡科技股份有限公司 | A 5D four-wheel alignment calibration system and calibration method |
| CN112200876B (en) * | 2020-12-02 | 2021-06-08 | 深圳市爱夫卡科技股份有限公司 | Calibration method of 5D four-wheel positioning calibration system |
| CN114778143A (en) * | 2022-05-16 | 2022-07-22 | 长安大学 | Non-target non-contact automobile four-wheel positioning detection device and detection method |
| CN115265423A (en) * | 2022-07-18 | 2022-11-01 | 东风汽车集团股份有限公司 | Method and system for measuring camber angle and toe-in angle of wheel |
| CN115808317A (en) * | 2022-11-15 | 2023-03-17 | 东风柳州汽车有限公司 | Automobile toe-in detection method, device, equipment and storage medium |
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Application publication date: 20151125 |