CN103499311B - A kind of automobile camber angle method for real-time measurement in the process of moving - Google Patents
A kind of automobile camber angle method for real-time measurement in the process of moving Download PDFInfo
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- CN103499311B CN103499311B CN201310442691.6A CN201310442691A CN103499311B CN 103499311 B CN103499311 B CN 103499311B CN 201310442691 A CN201310442691 A CN 201310442691A CN 103499311 B CN103499311 B CN 103499311B
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- 238000000034 method Methods 0.000 title claims abstract description 45
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- 238000001514 detection method Methods 0.000 claims abstract description 43
- 210000000078 claw Anatomy 0.000 claims description 19
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 5
- 235000012489 doughnuts Nutrition 0.000 description 3
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- 238000005299 abrasion Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004140 cleaning Methods 0.000 description 1
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Abstract
The invention discloses automobile camber angle method for real-time measurement in the process of moving, it is characterized in that: be fixedly installed a detection dish in the outside of wheel rim by web member, projected outline's camber line at detection dish upper half edge is obtained by shooting, by demarcating the funtcional relationship between chord length and camber angle obtaining line, thus obtain the camber angle in vehicle travel process arbitrarily corresponding to chord length in real time.The present invention can detect in real time and obtain wheel camber angle in the process of moving, and accuracy of detection is high, real-time, easy and simple to handle and cost is low.
Description
Technical field:
The invention belongs to automobile leak control and check field, relate to a kind of automobile camber angle method for real-time measurement in the process of moving in particular.
Background technology:
As shown in Figure 1, the angle of wheel face and pedal line is called camber angle γ.Automobile two front-wheel has camber angle γ, has the trend of rolling around the intersection point O' on respective rotation and ground, if unfettered, will depart from dead ahead and roll respectively towards left and right side.In fact, due to the constraint of front axle, two front-wheels can only move forward together.Therefore, wheel center must act on a side force F
y γ, wheel " is drawn " and is back to same direction rolls forward.Meanwhile, one and F is produced in tyre contact patch
ythe cornering force that direction is contrary, Here it is later force of camber F
y γ.When wheel plane and ground out of plumb, viewed from headstock front, wheel plane and pedal line angulation can be divided into positive camber angle and negative camber angle, if wheel plane is outward-dipping, angulation is positive camber angle, if wheel plane slopes inwardly, angulation is negative camber angle.When wheel plane and ground are completely vertical, now angulation is zero camber.
Keep the camber angle of suitable size to be not only conducive to reducing the abrasion condition of tire, and contribute to improving the maneuverability of automobile and turning to property.Positive camber angle affects the straight motion stability of automobile and the return function of deflecting roller.Due to the effect of positive camber angle, outside is hung with the trend being upwards lifted away from wheel, and in automobile straight line driving process, the tare of automobile is pressed in steering axle, plays and helps wheel to return positive effect.Negative camber angle plays the effect preventing tire from breakking away when turning, but too increases steering drag simultaneously.
Why automobile can advance freely, stops and turn, and is the exercising result that doughnut contacts with road surface.Because tire bears the power acted on automobile, just can form motion, therefore fully understand that the stressing conditions of tire could study motor racing performance.These power acted on wheel comprise camber reacting force, have great significance so measure camber angle to research doughnut acting force.
In existing technology, three kinds of methods are mainly contained to the acquisition of camber angle:
1, based on the measuring method of wheel alignment meter; Wheel alignment meter comprises laser type, infrared-type, level formula, optical profile type and bracing wire displacement-type etc., the method uses comparatively extensive, but the method is due to the limitation of its Cleaning Principle, operating process is more complicated still, quick detection cannot be realized, detect and mainly carry out on stand, can not real vehicle Road Detection be carried out.
2, view-based access control model demarcates the measuring method outside tire; The method mainly utilizes the video camera having demarcated inside and outside parameter to obtain the tire image having signature, and utilizes the two-dimensional coordinate of unique point and 3 d space coordinate to obtain the camber angle of wheel.Although the method realizes non-cpntact measurement, demarcate still loaded down with trivial details, and mostly realize on stand, real-time is not strong.
3, based on the measuring method extrapolating camber angle outside kinetic model, the method is the mapping relations that the process of data by experiment obtains defective steering stabilizer amount and camber angle, realize the measurement of camber angle, but this measuring method depends on the complexity of mathematical model, error is larger.
Summary of the invention
The present invention is the weak point avoiding above-mentioned prior art to exist, a kind of automobile camber angle method for real-time measurement is in the process of moving provided, can detect in real time and obtain wheel camber angle in the process of moving, accuracy of detection is high, real-time, easy and simple to handle and cost is low.
The present invention is that technical solution problem adopts following technical scheme:
A kind of automobile of the present invention in the process of moving feature of camber angle method for real-time measurement carries out as follows:
Step one, be fixedly installed a detection dish in the outside of wheel rim by web member, the plane of described detection dish and wheel rim central axis upright, the center of described detection dish is on the central axis of described wheel rim;
Step 2, by shooting obtain detection dish upper half edge at the ground projected outline in wheel position camber line, the two-end-point of described projected outline camber line is respectively A and B; The chord length of described projected outline camber line is l, utilizes chord length l and camber angle γ relation one to one, by demarcating the funtcional relationship γ=f (l) obtained between chord length l and camber angle γ;
Step 3, by shooting Real-time Obtaining detection dish upper half edge at the ground projected outline in wheel position camber line, the two ends of described projected outline camber line are respectively A
1and B
1; The chord length of projected outline's camber line is made to be l
1, utilize funtcional relationship γ that step 2 obtains=f (l) to determine to correspond to chord length l
1camber angle γ
1.
The feature of automobile of the present invention camber angle method for real-time measurement in the process of moving is also:
Arrange a camera and obtain described projected outline camber line, described camera vertically downward and the optical axis axis center of coiling through described detection.
The vibrational power flow of described web member is: arrange a ring flange, and the side of institute's ring flange is fixedly connected with by connecting link with detection dish, and keeps ring flange to be parallel with the plane of detection dish; At the opposite side of described ring flange, according to the position distribution of fastening bolt on wheel rim, each clamping catching is set, the clamping catching be made up of claw head and claw handle and gripping sleeve form sleeve structure, described claw head is solidly set on the fastening bolt termination on described wheel rim, the bottom of described claw handle is provided with female thread structure and is fastened by bolts on ring flange, and described web member is that the gripping sleeve be sleeved on described claw handle becomes fastening structure with described bolt to described claw capitiform.
Compared with the prior art, beneficial effect of the present invention is embodied in:
1, measuring method of the present invention according to utilize chord length l and camber angle γ one to one relation demarcate, calibration principle is simple, and process is easy.
2, measuring method of the present invention is not limited to bench test, can run on real vehicle track and measure camber angle, real-time.
3, measuring method of the present invention does not rely on and sets up complicated mathematical model, but carries out tyre toe-out angular measurement based on the method for image procossing, and measurement result can be accurate to 0.01 °.
Accompanying drawing explanation
Fig. 1 is doughnut camber angle definition schematic diagram in prior art;
Fig. 2 is the mounting structure schematic diagram of detection dish and web member in the present invention;
Fig. 3 is the connection cut-open view of claw and ring flange in the present invention;
Fig. 4 a is the integral installation schematic diagram of measured automobiles camber angle system in the present invention;
Fig. 4 b is the side view of tire in the present invention, detection dish and camera;
Fig. 5 be in the present invention detection dish at drop shadow curve's arc schematic diagram on ground;
Fig. 6 is process flow diagram of the present invention;
Number in the figure: 1 ring flange; 2 detection dishes; 3 detect plate edge; 4 bolts; 5 gripping sleeves; 6 clamping catchings; 7 truck-mounted computers; 8 cameras; 9 image pick-up cards; 10 connecting links;
Embodiment
In the present embodiment, adopt the camber angle measuring system based on the image pick-up card of Virtual instrument LabVIEW, camera, truck-mounted computer composition, be based on the method for image procossing carry out as follows automobile in the process of moving camber angle measure in real time:
Step one, be fixedly installed a detection dish 2 in the outside of wheel rim by web member, the plane of detection dish 2 and wheel rim central axis upright, the center of detection dish 2 is on the central axis of wheel rim; Thus make detection dish 2 with wheel rim planar coaxial and parallel.
As shown in Figure 2, the vibrational power flow of web member is: arrange a ring flange 1, and the side of institute's ring flange 1 is fixedly connected with by connecting link 10 with detection dish 2, and keeps ring flange 1 to be parallel with the plane of detection dish 2; At the opposite side of ring flange 1, each clamping catching 6 is set according to the position distribution of fastening bolt on wheel rim.As shown in Figure 3, the clamping catching 6 and the gripping sleeve 5 that are made up of claw head and claw handle form sleeve structure, claw head is solidly set on the fastening bolt termination on wheel rim, the bottom of claw handle is provided with female thread structure and is fastened on ring flange 1 by bolt 4, and web member is that gripping sleeve 5 and the bolt 4 pairs of claw capitiforms be sleeved on claw handle become fastening structure.
Step 2, by shooting obtain detection coil 2 upper half edges 3 at the ground projected outline in wheel position camber line, as shown in Figure 5, the two-end-point of projected outline's camber line is respectively A and B; The chord length of projected outline's camber line is l, utilizes chord length l and camber angle γ relation one to one, by demarcating the funtcional relationship γ=f (l) obtained between chord length l and camber angle γ; The camber angle γ of different size correspond to the chord length l of different size.Camber angle γ is larger, then chord length l value is larger.Time camber angle is zero, its chord length l value is zero.The matched curve of respective function relation γ=f (l) can be obtained by the method for demarcating, find the regularity of limited random data, provide its approximate expression.In this example, utilize the least square method of data to try to achieve matched curve, namely model of fit and actual measured value minimum at the weighted sum of squares of the residual error of each point.In concrete enforcement, the edge image for the ease of extraction and segmentation detection dish is travelling ground projection, and the upper half edge 3 that detection can be coiled 2 is labeled as redness.
In concrete enforcement, as shown in figures 4 a and 4b, the engine engine utilizing rigid support one end to be fixed on automobile covers, one end fixedly mounts a camera, camera vertically downward and optical axis axis through the center of detection dish, arrange an image pick-up card 9, in the present invention, image pick-up card is selected is the CVS-1456 of National Instruments, the projected outline's camber line utilizing image pick-up card 9 to obtain to be collected by camera 8.Camera 8 and image acquisition 9 are connected by IEEE1394b between blocking, and utilize computing machine 7 display of tyre camber angle in real time.In vehicle traveling process, no matter how automobile steering roller rotates, and camera can both collect the contour images comprising and be marked as red detection dish upper half edge, in the present embodiment, the original image of the image that camera collects is rgb format, and image size is 800 pixel * 600 pixels.
As shown in Figure 6, in the present embodiment, detect projected outline's camber line in real time as follows based on LabVIEW, IMAQVision image processing software:
Step a, detection coiled after 2 upper half edge images carry out pre-service obtain the image after denoising.Pre-service comprises medium filtering and process of convolution, for removing due to the change of bad border, illumination variation and the camera inherently noise introduced in image transmitting process such as attribute;
Step b, to the image zooming-out R component after denoising and G component, and R component and G component subtraction are obtained R-G aberration gray-scale map;
Step c, R-G aberration gray level image carried out to Threshold segmentation and obtain bianry image;
Steps d, bianry image carried out morphology denoising obtain denoising after bianry image, the bianry image after segmentation may include some grain noises of non-detection plate edge and profile, removes noise further by morphology opening and closing operation;
Step e, the bianry image after denoising carried out to the boundary curve that rim detection obtains detection dish, i.e. horizontal projection profiles camber line.Bianry image after denoising is after carrying out rim detection, and horizontal projection profiles camber line is shown as curve arc in the picture.
Step 3, coil 2 upper half edges 3 at the ground projected outline in wheel position camber line by shooting Real-time Obtaining detection, the two ends of projected outline's camber line are respectively A
1and B
1; The chord length of projected outline's camber line is made to be l
1, utilize funtcional relationship γ that step 2 obtains=f (l) to determine to correspond to chord length l
1camber angle γ
1.
Claims (1)
1. an automobile camber angle method for real-time measurement in the process of moving, is characterized in that carrying out as follows:
Step one, be fixedly installed a detection dish (2) in the outside of wheel rim by web member, the plane of described detection dish (2) and wheel rim central axis upright, the center of described detection dish (2) is on the central axis of described wheel rim;
Step 2, by shooting obtain detection dish (2) upper half edge (3) at the ground projected outline in wheel position camber line, the two-end-point of described projected outline camber line is respectively A and B; The chord length of described projected outline camber line is l, utilizes chord length l and camber angle γ relation one to one, by demarcating the funtcional relationship γ=f (l) obtained between chord length l and camber angle γ;
Step 3, by shooting Real-time Obtaining detection dish (2) upper half edge (3) at the ground projected outline in wheel position camber line, the two ends of described projected outline camber line are respectively A
1and B
1; The chord length of projected outline's camber line is made to be l
1, utilize funtcional relationship γ that step 2 obtains=f (l) to determine to correspond to chord length l
1camber angle γ
1;
Arrange a camera and obtain described projected outline camber line, described camera vertically downward and the optical axis axis center of coiling through described detection;
The vibrational power flow of described web member is: arrange a ring flange (1), the side of described ring flange (1) is fixedly connected with by connecting link (10) with detection dish (2), and keeps ring flange (1) to be parallel with the plane of detection dish (2), at the opposite side of described ring flange (1), according to the position distribution of fastening bolt on wheel rim, each clamping catching (6) is set, the clamping catching (6) be made up of claw head and claw handle and gripping sleeve (5) form sleeve structure, described claw head is solidly set on the fastening bolt termination on described wheel rim, the bottom of described claw handle is provided with female thread structure and is fastened on ring flange (1) by bolt (4), described web member is that the gripping sleeve (5) be sleeved on described claw handle becomes fastening structure with described bolt (4) to described claw capitiform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310442691.6A CN103499311B (en) | 2013-09-23 | 2013-09-23 | A kind of automobile camber angle method for real-time measurement in the process of moving |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310442691.6A CN103499311B (en) | 2013-09-23 | 2013-09-23 | A kind of automobile camber angle method for real-time measurement in the process of moving |
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| Publication Number | Publication Date |
|---|---|
| CN103499311A CN103499311A (en) | 2014-01-08 |
| CN103499311B true CN103499311B (en) | 2016-03-02 |
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| CN109211146B (en) * | 2018-10-22 | 2020-08-04 | 成都理工大学 | Automobile toe-in angle measuring method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101178305A (en) * | 2006-10-25 | 2008-05-14 | 弥荣精机株式会社 | Wheel positioning measuring device |
| CN101469983A (en) * | 2007-12-28 | 2009-07-01 | 上海通运汽车科技有限公司 | Method and device for detecting vehicle front wheel angle |
| CN101813466A (en) * | 2010-04-01 | 2010-08-25 | 江苏大学 | Device and method for measuring outer inclination angle of vehicle tyre |
| CN103217129A (en) * | 2007-08-31 | 2013-07-24 | 实耐宝公司 | Wheel alignment system and wheel alignment method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| IT1399988B1 (en) * | 2010-05-05 | 2013-05-09 | Space S R L Con Unico Socio | SYSTEM AND ITS METHOD OF DETERMINING THE WHEEL ALIGNMENT OF A VEHICLE |
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- 2013-09-23 CN CN201310442691.6A patent/CN103499311B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101178305A (en) * | 2006-10-25 | 2008-05-14 | 弥荣精机株式会社 | Wheel positioning measuring device |
| CN103217129A (en) * | 2007-08-31 | 2013-07-24 | 实耐宝公司 | Wheel alignment system and wheel alignment method |
| CN101469983A (en) * | 2007-12-28 | 2009-07-01 | 上海通运汽车科技有限公司 | Method and device for detecting vehicle front wheel angle |
| CN101813466A (en) * | 2010-04-01 | 2010-08-25 | 江苏大学 | Device and method for measuring outer inclination angle of vehicle tyre |
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