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WO2018171496A1 - Assemblage de mesure de photographie de voiture, et procédé et système de positionnement tridimensionnel des quatre roues d'une voiture - Google Patents

Assemblage de mesure de photographie de voiture, et procédé et système de positionnement tridimensionnel des quatre roues d'une voiture Download PDF

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Publication number
WO2018171496A1
WO2018171496A1 PCT/CN2018/079100 CN2018079100W WO2018171496A1 WO 2018171496 A1 WO2018171496 A1 WO 2018171496A1 CN 2018079100 W CN2018079100 W CN 2018079100W WO 2018171496 A1 WO2018171496 A1 WO 2018171496A1
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WIPO (PCT)
Prior art keywords
wheel
plane
camera
automobile
angle
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PCT/CN2018/079100
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English (en)
Chinese (zh)
Inventor
丁晓华
伏思华
姜广文
谈潇麟
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深圳市鹰眼在线电子科技有限公司
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Publication of WO2018171496A1 publication Critical patent/WO2018171496A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment

Definitions

  • the invention relates to the technical field of automobile detection, in particular to a vehicle imaging measuring component and a three-dimensional four-wheel positioning method and system for an automobile.
  • the four-wheel alignment parameters mainly include: toe angle Toe (the angle between the wheel centerline and the vehicle's geometric centerline), the camber angle (the angle between the wheel's plane of rotation and the vehicle's longitudinal vertical plane), and the kingpin's camber angle SAI (steering the knot pin axis in the transverse plane of the car) The angle with the lead axis) and the caster caster Caster (the angle between the axis of the kingpin and the vertical line in the vertical plane of the vehicle).
  • the detection of the four wheel alignment parameters is generally performed by installing a clamp on the wheel hub of the automobile, installing a calibration plate on the fixture, then lifting the car to a certain height with a lift, rotating the steering wheel, and testing the calibration plate through the camera.
  • the angle of the angle can be used to measure the positioning parameters. Since the accuracy of the position of the measuring head in the wheel is guaranteed by the clamp, if the positioning of the measuring head is not accurate, the measured value of the four-wheel positioning parameter is not accurate, so the accuracy of the fixture installation will be directly Affect the results of the measurement.
  • the fixture structure design requirements can be applied to rims of different materials and different specifications. It is necessary to be stuck without deformation, and to ensure the coaxiality between the measuring head and the wheel. It is also necessary to compensate for the rim loss and the car needs to be lifted. Therefore, there are technical problems that the detection operation is very complicated, the requirement is high, the rapid measurement cannot be realized, and it is difficult to be promoted on the automobile assembly line.
  • the main object of the present invention is to provide an automobile camera measurement component and a three-dimensional four-wheel alignment method and system for an automobile, which aim to solve the problem that the detection operation process is complicated and the accuracy is easy when the four-wheel positioning parameter detection is performed on the vehicle in the prior art. Impact, unable to achieve rapid measurement, so that it is difficult to get the technical problems of promotion on the automobile assembly line.
  • the present invention provides an automotive camera measurement assembly including front and rear wheel measuring devices and control devices communicatively coupled to each other, the front and rear wheel measuring devices including at least four camera devices,
  • the camera device is divided into a corresponding region of the first lateral facing wheel and the second lateral facing wheel of the automobile in the preset measuring area;
  • the camera device corresponding to the first lateral facing wheel includes a first camera for detecting the stereoscopic mark, and detecting the first a second camera and a first type of line laser facing the wheel;
  • the camera device corresponding to the second lateral pair of wheels includes a stereoscopic mark, and third and second line lasers for detecting the second laterally opposite wheel.
  • the car camera measurement assembly further includes a slide rail, and the camera device corresponding to the second laterally facing wheel is disposed on the slide rail to reciprocate along the slide rail.
  • the invention also provides a three-dimensional four-wheel positioning method for an automobile, wherein the automobile camera measurement assembly comprises front and rear wheel measuring devices communicably connected to each other, the front and rear wheel measuring devices comprising at least four camera devices, and the camera corresponding to the first lateral facing wheel
  • the sub-device includes a first camera for detecting a stereoscopic mark, and a second camera and a first type of line laser for detecting the first laterally opposite wheel; the camera device corresponding to the second laterally facing wheel includes a stereoscopic mark, and for detecting The third camera and the second line laser of the second lateral facing wheel, the first camera is used as the first type camera, and the second camera and the third camera are used as the second type camera.
  • the three-dimensional four-wheel positioning method of the automobile includes:
  • the first type of camera is selected to capture and extract the position information of the stereoscopic mark to obtain the wheelbase of the wheel and obtain the position information of each camera and the corresponding line laser based on the wheelbase of the wheel;
  • the location information to establish the measurement plane steps includes:
  • the laser lines are acquired.
  • a measurement plane is established based on the position information of the intersection of each laser line and the wheel hub.
  • the step of acquiring coordinate information of the vehicle wheel plane and the wheel plane rotation kingpin based on the measurement plane includes:
  • the corresponding line laser is projected onto the wheel tire surface and the second type camera and the laser line sent by the corresponding line laser have a preset calibration relationship, and the intersection of each laser line and the wheel tire surface is obtained. location information;
  • the four wheel alignment parameters include a caster caster angle, a kingpin camber angle, a wheel camber angle, and a front wheel toe angle.
  • the wheel plane rotation is obtained based on coordinate information of different wheel planes of the vehicle.
  • the coordinate information of the main pin to obtain the value of the four-wheel positioning parameter includes:
  • the rotating wheel plane is obtained corresponding to the rotating plane normal vector, and the rotated wheel plane provides at least two independent rotating plane normal vectors;
  • the coordinate information of the wheel plane rotation kingpin is obtained based on the initial plane normal vector and each rotation plane normal vector, and the kingpin caster angle, the kingpin camber angle, the wheel camber angle and the front wheel toe angle are obtained according to the coordinate information of the rotating kingpin. .
  • the step of obtaining the four-wheel positioning parameter based on the coordinate information of the different wheel planes and the wheel plane rotating kingpin of the vehicle includes:
  • the corresponding structure of the automobile is adjusted based on the value of the four-wheel positioning parameter acquired by the measurement plane.
  • the present invention further provides an automobile three-dimensional four-wheel positioning system, wherein the automobile camera measurement assembly includes front and rear wheel measuring devices communicably connected to each other, the front and rear wheel measuring devices including at least four camera devices, and a camera device corresponding to a lateral pair of wheels includes a first camera for detecting a stereoscopic mark, and a second camera and a first type of line laser for detecting the first laterally facing wheel; and the camera device corresponding to the second laterally facing wheel includes a stereoscopic mark, and a third camera and a second line laser for detecting the second laterally opposite wheel, the first camera being the first type of camera, and the second camera and the third camera being the second type of camera,
  • the three-dimensional four-wheel alignment system of the automobile includes:
  • a detecting module configured to: when the measurement instruction is detected, select a first type of camera to capture and extract position information of the stereoscopic mark to obtain a wheelbase of the wheel and obtain position information of each camera and the corresponding line laser based on the wheelbase;
  • a first acquiring module configured to acquire position information of a laser line projected by the second type camera corresponding to the line laser to the wheel according to position information of each camera and the corresponding line laser to establish a measurement plane;
  • a second acquiring module configured to acquire coordinate information of a vehicle wheel plane based on the measurement plane, and obtain coordinate information of a wheel plane rotation kingpin based on coordinate information of different wheel planes of the vehicle when the vehicle steering wheel rotates the corresponding angle to obtain four wheels The value of the positioning parameter.
  • the first obtaining module includes:
  • a first acquiring unit configured to preset a position between the position information of the laser line projected to the wheel hub by the corresponding line laser collected by the second type camera and the laser line sent by the second type camera and the corresponding line laser Relationship, obtaining position information of intersections of each laser line and the wheel hub;
  • a establishing unit configured to establish a measurement plane based on the position information of the intersection of each laser line and the wheel hub.
  • the second obtaining module includes:
  • a second acquiring unit configured to preset a calibration relationship between a laser generated by a corresponding line laser collected by the second type camera and a laser line sent by the second type camera and the corresponding line laser, to obtain each laser Position information of the intersection of the line and the wheel tire surface;
  • a third acquiring unit configured to acquire, according to the measurement plane, the tangent plane information of the corresponding plane of each laser line, and use the tangent plane as a wheel plane.
  • the four-wheel positioning parameter includes a kingpin back-tilt angle, a kingpin camber angle, a wheel camber angle, and a front wheel toe angle.
  • the second acquisition module further includes:
  • a fourth acquiring unit configured to obtain an initial plane normal vector of the automobile according to an initial wheel plane equation in an initial state of the automobile
  • a fifth obtaining unit configured to obtain a rotating plane normal vector corresponding to the rotating wheel plane when the steering wheel of the automobile rotates the corresponding angle, and provide a rotating plane normal vector of at least two independent directions after the rotating wheel plane;
  • the obtaining unit is configured to obtain coordinate information of the wheel plane rotation kingpin based on the initial plane normal vector and each rotation plane normal vector, and obtain the kingpin back rake angle, the kingpin camber angle, and the wheel camber angle according to the coordinate information of the rotating kingpin And the front wheel toe angle.
  • the three-dimensional four-wheel alignment system of the automobile further comprises:
  • an adjustment module configured to adjust a corresponding structure of the automobile based on a value of the four-wheel positioning parameter acquired by the measurement plane.
  • the invention selects the first type of camera to capture and extract the position information of the stereoscopic mark when the measurement instruction is detected, to obtain the wheelbase of the wheel and obtain the position information of each camera and the corresponding line laser based on the wheelbase of the wheel; according to each camera, corresponding Position information of the line laser, acquiring position information of the laser line projected by the second type camera corresponding to the line laser to the wheel to establish a measurement plane; acquiring coordinate information of the vehicle wheel plane based on the measurement plane, when the steering wheel of the automobile rotates the corresponding angle, based on The coordinate information of different wheel planes of the vehicle acquires the coordinate information of the wheel plane rotating kingpin to obtain the value of the four wheel positioning parameters.
  • the computer measurement software directly controls the rotation direction of the steering wheel of the automobile and obtains the four-wheel positioning parameters of the automobile through the corresponding automobile camera measurement component, and the operation is simple and convenient, the accuracy is high, and the realization can be realized. Fast measurement, easy to promote.
  • FIG. 1 is a schematic flow chart of a first embodiment of a three-dimensional four-wheel positioning method for an automobile according to the present invention
  • FIG. 2 is a schematic view of a camera measuring assembly of the present invention
  • FIG. 3 is a perspective view of a three-dimensional four-wheel alignment system (automobile side) of the automobile of the present invention
  • FIG. 4 is a schematic view showing the relationship between the line laser and the camera in the front and rear wheel measuring device of the present invention
  • Figure 5 is a schematic view showing the three-dimensional mark used for the calibration of the first type and the second type of the present invention
  • Figure 6 is a schematic view of a mark used in the fifth type of calibration of the present invention.
  • FIG. 7 is a schematic flow chart of a specific implementation of the system and method of the present invention.
  • Figure 8 is a schematic diagram showing the definition of the caster angle of the main pin
  • Figure 9 is a schematic diagram showing the definition of the main pin inclination angle
  • Figure 10 is a schematic diagram of the main pin direction vector projected on the YZ plane
  • Figure 11 is a schematic view of the main pin direction vector projected on the ZX plane.
  • the invention provides an automobile camera measurement assembly, which comprises front and rear wheel measuring devices and control devices communicably connected to each other, wherein the front and rear wheel measuring devices comprise at least four camera devices, as shown in the figure.
  • the sub-device is divided into a corresponding area of the first lateral facing wheel and the second lateral facing wheel of the automobile in the preset measuring area;
  • the camera device corresponding to the first lateral facing wheel comprises a first camera for detecting the stereoscopic mark, and detecting the first a second camera and a first type of line laser facing the wheel;
  • the camera device corresponding to the second lateral pair of wheels includes a stereoscopic mark, and third and second line lasers for detecting the second laterally opposite wheel.
  • the camera measurement component of the present invention can be composed of two automobile front wheel measurement devices and two automobiles.
  • the rear wheel measuring sub-device can be installed on the chute to realize the movement back and forth.
  • the first lateral facing wheel and the second lateral facing wheel may be divided according to the vehicle steering wheel, such as two wheels closest to the steering wheel of the vehicle as the first lateral facing wheel, and the other two wheels of the vehicle as the second lateral facing wheel.
  • the front and rear wheel measuring device includes the front and rear wheel measuring device including at least four camera devices, the camera device includes a camera, a stereoscopic mark, a line laser, and the camera device is as shown in FIG. 4, and the camera is shown in FIG. 2, 1, 2, and 3. 4,5,6, the three-dimensional mark is shown as B1, B2 in Figure 2, wherein the front wheel measuring device is mainly composed of one camera, one stereo mark, several sets of line laser projectors, etc., rear wheel measurement The device is mainly composed of two cameras, one mirror, and several sets of line laser projectors.
  • one camera is used to capture the laser line projected on the wheel, the other camera is used to capture the stereoscopic sign of the front wheel measuring device, and the camera for photographing the stereoscopic sign of the front wheel measuring device is the first.
  • Camera as shown in Figure 2, camera 5 captures stereoscopic signs 1, camera 6 captures stereoscopic signs 2, camera 5 and camera 6 are a camera, front and rear wheel measuring device components and functions can be interchanged, such as front wheel measuring sub-devices mainly by Two cameras and several sets of line laser projectors are formed, and the rear wheel measurement sub-device is mainly composed of one camera, one stereo mark, several sets of line laser projectors, etc., and the relationship between the line laser projector and the camera (camera) As shown in Fig.
  • one camera of the front wheel measurement sub-device is used to capture the laser line projected on the wheel, and the other camera is used to photograph the stereoscopic mark of the rear wheel measurement unit, wherein the front and rear wheel measurement device of the car can be set to reflect Mirror, the main purpose of using the mirror is to increase the object distance, increase the focal length of the lens, reduce the lens distortion, and thus improve the system measurement accuracy.
  • the automotive imaging measurement assembly further includes a sliding track, the second lateral pair The camera device corresponding to the wheel is disposed on the sliding track to reciprocate along the sliding track.
  • the image measuring assembly of the present invention further includes a sliding track such as a chute, and the camera device corresponding to the second lateral facing wheel is disposed on the sliding track to reciprocate along the sliding track to be adapted to different
  • the measurement of the length of the vehicle makes the component more widely used.
  • the invention provides a three-dimensional four-wheel positioning method for an automobile.
  • the automobile camera measurement component comprises a front and rear wheel measuring device of the automobile
  • the front and rear wheel measuring device comprises a camera, a three-dimensional mark and a line.
  • the laser and the line laser respectively project a laser line to the corresponding wheel, and the camera extracts the position information of the laser line projected by the line laser to the wheel.
  • the three-dimensional four-wheel positioning method of the automobile includes:
  • Step S10 when detecting the measurement instruction, selecting the first type of camera corresponding to the stereoscopic mark to capture and extract the position information of the stereoscopic mark to obtain the wheelbase of the wheel and obtain the position information of each camera and the corresponding line laser based on the wheelbase of the wheel;
  • the calibration of the system mainly includes: the first type of calibration: the internal parameter calibration of the camera 1 - camera 6, the internal parameters include Main point, equivalent focal length and lens distortion; second type calibration: calibration of camera 1 camera 4 camera coordinate system and corresponding laser line; third type calibration: camera 5 and camera 3, camera 6 and camera 4 The calibration of the coordinate relationship; the calibration of the fourth type: the coordinate relationship calibration of the stereoscopic mark B1 and the camera 1, the stereoscopic mark B2 and the camera 2; the fifth type of calibration: the calibration of the coordinate relationship between the camera 1 and the camera 2.
  • the so-called three-dimensional mark refers to a mark body composed of non-coplanar easy-to-recognize marks (such as a round mark, a cross-hair mark or a top-angle mark).
  • the three-dimensional mark As shown in FIG. 5 and FIG. 6, the calibration process of the system may be performed at intervals of a preset time (for example, half a year or one year), except that it must be implemented before the first installation and use.
  • the rear wheel measuring device After the car is put in, the rear wheel measuring device is adjusted according to the wheelbase of the vehicle, so that the position of the front and rear wheel measuring device is consistent with the position of the front and rear tires.
  • the 3D (three-dimensional) four-wheel positioning measurement software on the computer runs, before and after.
  • the line laser starts to work, and the first type camera corresponding to the stereoscopic flag firstly captures and extracts the position information of the stereoscopic mark, as shown in FIG.
  • the first type of camera is the camera 5 and the camera 6, and then According to the principle of optical fluoroscopic imaging, the positional relationship between the camera 5 and the stereoscopic mark B1, the camera 6 and the stereoscopic mark B2 is calculated, and the position information of each camera, the corresponding line laser or the related position information of each camera and the corresponding line laser is obtained.
  • Step S20 the other cameras corresponding to the stereoscopic signs in the front and rear wheel measuring devices are used as the second type of cameras, and the positions of the laser lines projected by the second type of cameras corresponding to the line lasers to the wheels are obtained according to the position information of the respective cameras and the corresponding line lasers.
  • the other cameras corresponding to the stereoscopic signs in the front and rear wheel measuring devices are used as the second type of cameras.
  • the camera 5 corresponds to the shooting stereoscopic signs B1
  • the camera 6 corresponds to the shooting stereoscopic signs B2
  • the camera 1 the camera 1
  • the camera 2 Camera 3
  • camera 4 is a second type of camera. Since the camera obtains the position information of each camera and the corresponding line laser in step S10, according to the position information of each camera and the corresponding line laser, the second type camera corresponding line laser can be obtained and projected onto the wheel.
  • the position information of the laser line to establish the measurement plane is as follows, the camera 1 - camera 4 and the corresponding line laser start working, the schematic diagram of the relationship between the line laser and the camera is shown in Figure 5, the line laser projects the laser line to the tire hub After that, the camera collects the tire image, extracts the intersection of each laser line and the hub from the acquired image, and combines the relationship between the camera and the line laser plane calibrated by the second type calibration, that is, a plane, that is, a measurement plane can be established.
  • the axis direction of the car can be easily determined by the axis of the four wheels, that is, the axial direction.
  • the reference coordinate system O-XYZ can be established, and the global coordinate system of the four-wheel positioning system can also be established.
  • O is the center point of the four axes
  • the plane corresponding to XYZ is the measurement plane.
  • Step S30 acquiring coordinate information of the vehicle wheel plane based on the measurement plane, and acquiring coordinate information of the wheel plane rotation kingpin based on coordinate information of different wheel planes of the vehicle when the vehicle steering wheel rotates the corresponding angle to obtain the four-wheel positioning parameter value.
  • the rotating kingpin refers to an axis about which the wheel rotates, and acquires coordinate information of the vehicle wheel plane in an initial state based on the measurement plane, in particular, the steering wheel rotation of the automobile is based on the initial state, and when the steering wheel of the automobile rotates by a corresponding angle, The angle of rotation is the same, but the direction is different. Therefore, each rotation can provide two relatively independent directions according to the plane after rotation. After the rotation, the coordinate information of the wheel plane changes, and the normal vector of the wheel plane changes, based on the initial state.
  • the lower wheel plane equation and the rotated wheel plane and the corresponding normal equation can obtain the coordinate information of the rotating kingpin, and the values of each parameter are obtained based on the definition of the four wheel alignment parameters.
  • the schematic diagram of the specific implementation is shown in FIG. 7 .
  • the first type of camera corresponding to the stereoscopic mark is selected to capture and extract the position information of the stereoscopic mark to obtain the wheelbase of the wheel and obtain each camera based on the wheelbase of the wheel, and the corresponding line laser
  • the position information of the front and rear wheel measuring device is divided into other cameras corresponding to the three-dimensional mark as the second type camera, and according to the position information of each camera and the corresponding line laser, the laser line of the second type camera corresponding to the line laser is projected to the wheel.
  • Position information to establish a measurement plane acquiring coordinate information of a vehicle wheel plane based on the measurement plane, and acquiring coordinate information of a wheel plane rotation kingpin based on coordinate information of different wheel planes of the vehicle when the vehicle steering wheel rotates the corresponding angle to obtain four wheels
  • the value of the positioning parameter Since the application does not need to lift the car after the vehicle enters, the computer measurement software directly controls the rotation direction of the steering wheel of the automobile and obtains the four-wheel positioning parameters of the automobile through the corresponding automobile camera measurement component, and the operation is simple and convenient, the accuracy is high, and the realization can be realized. Rapid measurement and easy to promote, thus solving the problem of detecting four-wheel positioning parameters in the prior art, the detection operation process is complicated, the accuracy is easily affected, and the rapid measurement cannot be realized, so that it is difficult to be promoted on the automobile assembly line. technical problem.
  • step S20 includes:
  • Step S21 according to the position information of the laser line projected to the wheel hub by the corresponding line laser collected by the second type camera, and the preset calibration relationship between the laser signal sent by the second type camera and the corresponding line laser, and acquiring each Position information of the intersection of the laser line and the wheel hub;
  • Step S22 establishing a measurement plane based on the position information of the intersection of each laser line and the wheel hub.
  • the camera collects the wheel hub image and combines with the second type calibration center.
  • the relationship between the calibrated camera and the line laser plane, the wheel hub position information is extracted with high precision from the wheel hub image, and the intersection of each laser line and the hub is extracted from the wheel hub image collected by the camera, and then the intersection is fitted with one of the intersection points.
  • the space circle is defined as the "axis center" of the wheel. The axis of the four tires can establish a plane, that is, the measurement plane.
  • a third embodiment of a three-dimensional four-wheel positioning method for an automobile is provided.
  • the second type of camera and the corresponding line laser are sent.
  • There is a preset calibration relationship between the laser lines, and the step of acquiring coordinate information of the vehicle wheel plane and the wheel plane rotation kingpin based on the measurement plane includes:
  • the corresponding line laser is projected onto the wheel tire surface and the second type camera and the laser line sent by the corresponding line laser have a preset calibration relationship, and the intersection of each laser line and the wheel tire surface is obtained. location information;
  • the camera collects the image of the surface of the wheel tire from the image of the wheel tire.
  • Wheel plane information is obtained by a plurality of tangent planes projected onto the three-dimensional laser line of the tire surface of the wheel.
  • a predetermined calibration relationship exists between the surface of the wheel tire and the laser line sent by the second type of camera and the corresponding line laser according to the corresponding line laser collected by the second type of camera, and each laser is obtained.
  • a fourth embodiment of a three-dimensional four-wheel positioning method for an automobile is provided.
  • the four-wheel positioning parameter includes a caster tilt angle, The main pin inclination angle, the wheel camber angle and the front wheel toe angle, when the steering wheel of the automobile rotates the corresponding angle, the coordinate information of the wheel plane rotation kingpin is obtained based on the coordinate information of the different wheel planes of the vehicle, to obtain the four wheel positioning parameters.
  • the value steps include:
  • the rotating wheel plane is obtained corresponding to the rotating plane normal vector, and the rotated wheel plane provides at least two independent rotating plane normal vectors;
  • the coordinate information of the wheel plane rotation kingpin is obtained based on the initial plane normal vector and each rotation plane normal vector, and the kingpin caster angle, the kingpin camber angle, the wheel camber angle and the front wheel toe angle are obtained according to the coordinate information of the rotating kingpin. .
  • the coordinate information of the main pin that is, the direction vector of the king pin (ie, the wheel plane rotation axis) in the O-XYZ coordinate system is And n z >0.
  • the initial plane normal vector of the automobile is obtained according to the initial wheel plane equation in the initial state of the automobile; when the steering wheel of the automobile is rotated by the corresponding angle, the rotating plane normal vector corresponding to the rotating wheel plane is obtained, and the rotated wheel plane provides at least two Rotating plane normal vectors in independent directions; obtaining coordinate information of the wheel plane rotation kingpin based on the initial plane normal vector and each rotation plane normal vector, and obtaining the kingpin caster angle, the kingpin tilt angle according to the coordinate information of the rotating kingpin, Wheel camber and front wheel toe angle. Since the values of the four-wheel positioning parameters are accurately and quickly obtained according to the formulas, the structure of the vehicle can be adjusted according to the value of the four-wheel positioning parameter of the vehicle.
  • the step S30 includes:
  • the wheelbase of the front and rear wheels is obtained based on the measurement plane, and the corresponding structure of the vehicle is adjusted according to the wheelbase and the value of the four wheel alignment parameters.
  • the wheelbase of the front and rear wheels is obtained based on the measurement plane, and the corresponding structure of the automobile is adjusted according to the wheelbase and the value of the four wheel alignment parameters, and the corresponding structure of the automobile includes each tire of the automobile.
  • the wheelbase of the front and rear wheels is obtained based on the measurement plane, and the corresponding structure of the vehicle is adjusted according to the wheelbase and the value of the four wheel alignment parameters. Therefore, the structure of the car can be adjusted in time after the detection operation to make the car meet the requirements.
  • the present invention provides a three-dimensional four-wheel alignment system for an automobile.
  • the specific implementation of the three-dimensional four-wheel alignment system of the automobile of the present invention is substantially the same as the embodiment of the three-dimensional four-wheel alignment method of the automobile described above, and details are not described herein again.

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Abstract

La présente invention concerne un assemblage de mesure de photographie de voiture, et un procédé et un système de positionnement tridimensionnel des quatre roues d'une voiture. Le procédé comprend les étapes suivantes consistant à: quand une instruction de mesure est détectée, sélectionner un premier type de caméra correspondant à un repère dimensionnel pour photographier et extraire des informations de position du repère dimensionnel, de manière à acquérir une base de roue et obtenir des informations de position concernant différentes caméras et les lasers linéaires correspondants; prendre les autres caméras, à l'exception des caméras correspondant au repère dimensionnel, d'un dispositif de mesure de roues avant et arrière en tant que second type de caméra, et acquérir, en fonction des informations de position concernant les différentes caméras et les lasers linéaires correspondants, des informations de position concernant les rayons laser projetés par les lasers linéaires correspondants, de manière à établir un plan de mesure; et acquérir, sur la base du plan de mesure, des informations de coordonnées concernant un plan de roue et, quand un volant de direction de voiture tourne d'un angle correspondant, acquérir, sur la base d'informations de coordonnées concernant différents plans de roue, des informations de coordonnées concernant un axe rotatif maître de plan de roue, de manière à acquérir une valeur d'un paramètre de positionnement de quatre roues. La présente invention vise à résoudre le problème technique compliqué d'un processus d'opération de détection de l'état de la technique où la mesure rapide de la détection d'un paramètre de positionnement de quatre roues ne peut pas être réalisée.
PCT/CN2018/079100 2017-03-23 2018-03-15 Assemblage de mesure de photographie de voiture, et procédé et système de positionnement tridimensionnel des quatre roues d'une voiture WO2018171496A1 (fr)

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Application Number Priority Date Filing Date Title
CN201710182059.0 2017-03-23
CN201710182059.0A CN106813599B (zh) 2017-03-23 2017-03-23 汽车摄像测量组件与汽车三维四轮定位方法及系统

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WO2018171496A1 true WO2018171496A1 (fr) 2018-09-27

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CN114778143A (zh) * 2022-05-16 2022-07-22 长安大学 一种无靶标非接触式汽车四轮定位检测装置及检测方法

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