CN102419261B - Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space - Google Patents
Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space Download PDFInfo
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- CN102419261B CN102419261B CN 201110232285 CN201110232285A CN102419261B CN 102419261 B CN102419261 B CN 102419261B CN 201110232285 CN201110232285 CN 201110232285 CN 201110232285 A CN201110232285 A CN 201110232285A CN 102419261 B CN102419261 B CN 102419261B
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- connection block
- worktable
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- scaling board
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Abstract
The invention discloses an automobile wheel positioner TDOF (three degrees of freedom) calibrating system with an extended wide-area visual field space and aims at solving the problem that a visual detection system cannot perform calibration in a large visual field space determined by the wheel span and axle base of an automobile. The system comprises a bottom plate (1), a longitudinal guide rail (2), a sliding block (3), a transversal connecting plate (4), a transversal guide rail (5), a calibration board (6), a stay wire displacement sensor (7), a sensor mounting rack (8), a workbench connecting seat (9), a calibration board connecting seat (10) and a workbench (11).
Description
Technical field
The present invention relates to a kind of calibration facility of auto industry field, in particular, it relates to a kind of automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation.
Background technology
For guaranteeing the control stability of automobile, the installation between the wheel of automobile, steering knuckle and axletree three has certain relative position, is called wheel alignment.Whether the automotive wheel parameter is accurate, and driving safety, control stability and the fuel economy of automobile had material impact.Wheel alignment meter is the important checkout equipment of check vehicle safety.The national only recoverable amount of wheel alignment meter just reaches more than 30000 at present, and is increasing progressively with annual 30% speed.
Stereoscopic vision is measured wheel alignment parameter can realize non-contact detecting, vision system needs to demarcate before detecting, two dimension or three-dimensional scaling plate are all adopted in the demarcation of existing wheel alignment parameter stereo vision detection system, higher by stated accuracy in the size of scaling board determined space, the stated accuracy of system can't be guaranteed outside the scaling board space.Carrying out wheel alignment parameter when detecting,, can't process with this measure-alike large-scale scaling board and guarantee the relative position size of each unique point of scaling board usually between 1.5 meters to 3 meters due to the wheelbase of automobile and wheelspan.
At present, not yet find relevant report both at home and abroad.
Summary of the invention
The present invention adopts vertically, the structure of cross slide way and rotary table, make scaling board realize the movement of optional position and angle in the space that vehicle wheel base and wheelspan are determined, and pass through sensor gauging calibration plate when each movement position, unique point on scaling board has realized the purpose of little scaling board in the wide view field space continuation with respect to the world coordinates of initial world coordinate system initial point.System has small volume, scaling board position and adjustable angle, easy and simple to handle, dependable performance, highly versatile, is easy to installation, low cost of manufacture, precision high, and a kind of automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation that can satisfy national metering, quality supervised department and manufacturer's calibration request is provided.
Consult Fig. 1 to Fig. 9, for solving the problems of the technologies described above, the present invention adopts following technical scheme to be achieved.Automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation provided by the present invention includes base plate, longitudinal rail, slide block, cross connecting plate, cross slide way, scaling board, stay wire displacement sensor, sensor mount, worktable Connection Block, scaling board Connection Block and worktable.
bolt passes respectively the T-shaped through hole of two identical longitudinal rails and two row's threaded holes of base plate from top to bottom, longitudinal rail is fixedly connected with base thread, the groove of each longitudinal rail and two slider bottoms is slidably matched, bolt passes respectively the T-shaped through hole of two cross slide waies and the threaded hole in the middle part of cross connecting plate from top to bottom, cross slide way is fixedly connected with the cross connecting plate screw thread, cross slide way is vertical with longitudinal rail, bolt passes respectively the T-shaped through hole of the slide block that is slidably matched with longitudinal rail and the threaded hole bottom cross connecting plate from bottom to top, four slide blocks are fixedly connected with the cross connecting plate screw thread, the groove of each cross slide way and two slider bottoms is slidably matched, bolt passes respectively the T-shaped through hole of the slide block that is slidably matched with cross slide way and the threaded hole bottom the worktable Connection Block from bottom to top, four slide blocks on cross slide way are fixedly connected with worktable Connection Block screw thread.
Two bolts pass two half-round cross holes of worktable bottom sides and two threaded holes of worktable Connection Block top processing from top to bottom, worktable is fixedly connected with worktable Connection Block screw thread, pass the tapped through hole of scaling board Connection Block lower end after the T-shaped groove of bolt insertion bench top, by nut, the scaling board Connection Block is fixedly connected with worktable, bolt passes the manhole of scaling board Connection Block upper end and the tapped blind hole of scaling board bottom from bottom to top, and scaling board is fixedly connected with scaling board Connection Block screw thread.
bolt passes four manholes of sensor mount surface level and base plate from top to bottom along four threaded holes of steel plate than an end processing of length direction, a sensor mount is fixedly connected with base thread, two manholes that two bolts pass the sensor mount vertical plane are fixedly connected with the tapped blind hole screw thread of a stay wire displacement sensor bottom, the screw rod of the bracing wire end of stay wire displacement sensor is fixedly connected with the threaded hole screw thread of cross connecting plate side processing, bolt passes four manholes of sensor mount surface level and cross connecting plate end face from top to bottom along four threaded holes of steel plate than an end processing of length direction, a sensor mount is fixedly connected with the cross connecting plate screw thread, two manholes that two bolts pass the sensor mount vertical plane are fixedly connected with the tapped blind hole screw thread of a stay wire displacement sensor bottom, the screw rod of the bracing wire end of stay wire displacement sensor is fixedly connected with the threaded hole screw thread of worktable Connection Block side processing.
Base plate described in technical scheme is a rectangular steel plates, is processed with two row's threaded holes along steel plate than length direction, is processed with four threaded holes along steel plate than an end of length direction.
Cross connecting plate described in technical scheme is a rectangular steel plates, end face is processed with two row's threaded holes along steel plate than length direction, end face is processed with four threaded holes along steel plate than an end of length direction, and the two ends, bottom surface are processed with respectively eight threaded holes, and the side is processed with a threaded hole.
Worktable Connection Block described in technical scheme is the rectangular parallelepiped part, and worktable Connection Block bottom is processed with threaded hole, and the top is processed with two threaded holes, and the side is processed with a threaded hole.
Scaling board Connection Block described in technical scheme is the ladder column type part that two ends are thick, the middle part is thin, and the lower end is processed with uniform threaded hole, and the upper end is processed with uniform manhole.
Scaling board described in technical scheme is the part of three rectangular steel plates vertical weldings, and the bottom is processed with tapped blind hole.
Sensor mount described in technical scheme is the L-type steel plate, and the surface level of L-type steel plate is processed with four manholes, two manholes of vertical plane processing.
The invention has the beneficial effects as follows:
(1) the present invention adopts vertically, the structure of cross slide way and rotary table, make scaling board realize the movement of optional position and angle in the space that vehicle wheel base and wheelspan are determined, and pass through sensor gauging calibration plate when each movement position, unique point on scaling board is with respect to the world coordinates of initial world coordinate system initial point, realized the purpose of little scaling board in the wide view field space continuation, solved the problem that the vision system measuring accuracy descends outside scaling board determined space that causes because scaling board is too small, technical progress to the Machine Vision Detection field is significant.
(2) part of the present invention adopts the standard steel to process, and at first, standard steel output is large, and the machining operation is few, and production cost is lower; Secondly, as the important accessory of surveying instrument, adopt the standard steel to have certain intensity, can be indeformable in long-term the use, the precision that assurance is measured can satisfy national standard to the requirement of accuracy of detection; At last, part is the hollow-core construction that steel form, and greatly reduces the weight of checkout equipment, has improved the dirigibility that equipment is installed adjusting operation.
Fig. 1 is the axonometric drawing at the automobile wheel position indicator three-freedom-degree calibrating system of wide view field space continuation;
Fig. 2 is the axonometric drawing of base plate 1;
Fig. 3 is the axonometric drawing of cross connecting plate 4;
Fig. 4 is the partial isometric of base plate 1, longitudinal rail 2, slide block 3, cross connecting plate 4, cross slide way 5, stay wire displacement sensor 7, sensor mount 8, worktable Connection Block 9, scaling board Connection Block 10 and worktable 11 link positions;
Fig. 5 is the axonometric drawing of scaling board 6;
Fig. 6 is the axonometric drawing of sensor mount 8;
Fig. 7 is the axonometric drawing of stay wire displacement sensor 7 and sensor installation seat 8;
Fig. 8 is the axonometric drawing of worktable Connection Block 9;
Fig. 9 is the axonometric drawing of scaling board Connection Block 10;
In figure: 1. base plate, 2. longitudinal rail, 3. slide block, 4. cross connecting plate, 5. cross slide way, 6. scaling board, 7. stay wire displacement sensor, 8. sensor mount, 9. worktable Connection Block, 10. scaling board Connection Block, 11. worktable.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
The present invention adopts vertically, the structure of cross slide way and rotary table, make scaling board realize the movement of optional position and angle in the space that vehicle wheel base and wheelspan are determined, and pass through sensor gauging calibration plate when each movement position, unique point on scaling board has realized the purpose of little scaling board in the wide view field space continuation with respect to the world coordinates of initial world coordinate system initial point.System has small volume, scaling board position and adjustable angle, easy and simple to handle, dependable performance, highly versatile, is easy to installation, low cost of manufacture, precision high, and a kind of automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation that can satisfy national metering, quality supervised department and manufacturer's calibration request is provided.
the present invention adopts vertically, the structure of cross slide way and rotary table, make scaling board realize the movement of optional position and angle in the space that vehicle wheel base and wheelspan are determined, and pass through sensor gauging calibration plate when each movement position, unique point on scaling board is with respect to the world coordinates of initial world coordinate system initial point, realized the purpose of little scaling board in the wide view field space continuation, solved the problem that the vision system measuring accuracy descends outside scaling board determined space that causes because scaling board is too small, technical progress to the Machine Vision Detection field is significant.
Part of the present invention adopts the standard steel to process, and at first, standard steel output is large, and the machining operation is few, and production cost is lower; Secondly, as the important accessory of surveying instrument, adopt the standard steel to have certain intensity, can be indeformable in long-term the use, the precision that assurance is measured can satisfy national standard to the requirement of accuracy of detection; At last, part is the hollow-core construction that steel form, and greatly reduces the weight of checkout equipment, has improved the dirigibility that equipment is installed adjusting operation.
Consult Fig. 1 to Fig. 9, include base plate 1, longitudinal rail 2, slide block 3, cross connecting plate 4, cross slide way 5, scaling board 6, stay wire displacement sensor 7, sensor mount 8, worktable Connection Block 9, scaling board Connection Block 10 and worktable 11 at the automobile wheel position indicator three-freedom-degree calibrating system of wide view field space continuation.
cross connecting plate 4 is a rectangular steel plates, end face is processed with two row's threaded holes along steel plate than length direction, end face is processed with four threaded holes along steel plate than an end of length direction, the two ends, bottom surface are processed with respectively eight threaded holes, the side is processed with a threaded hole, be used for connecting stay wire displacement transducer 7, bolt passes respectively the T-shaped through hole of two cross slide waies 5 and the threaded hole at cross connecting plate 4 middle parts from top to bottom, cross slide way 5 is fixedly connected with cross connecting plate 4 screw threads, cross slide way 5 is vertical with longitudinal rail 2, bolt passes respectively the T-shaped through hole of the slide block 3 that is slidably matched with longitudinal rail 2 and the threaded hole of cross connecting plate 4 bottoms from bottom to top, four slide blocks 3 are fixedly connected with cross connecting plate 4 screw threads, the groove of each cross slide way 5 and two slide block 3 bottoms is slidably matched.
Bolt passes respectively the T-shaped through hole of the slide block 3 that is slidably matched with cross slide way 5 and the threaded hole of worktable Connection Block 9 bottoms from bottom to top, and four slide blocks 3 on cross slide way 5 are fixedly connected with worktable Connection Block 9 screw threads.
Scaling board Connection Block 10 is the ladder column type part that two ends are thick, the middle part is thin, the lower end is processed with uniform threaded hole, the upper end is processed with uniform manhole, pass the tapped through hole of scaling board Connection Block 10 lower ends after the T-shaped groove of bolt insertion worktable 11 end faces, by nut, scaling board Connection Block 10 is fixedly connected with worktable 11, bolt passes the manhole of scaling board Connection Block 10 upper ends and the tapped blind hole of scaling board 6 bottoms from bottom to top, and scaling board 6 is fixedly connected with scaling board Connection Block 10 screw threads.
Scaling board 6 is the part of three rectangular steel plates vertical weldings, and the bottom is processed with tapped blind hole.
Using method at the automobile wheel position indicator three-freedom-degree calibrating system of wide view field space continuation:
if the initial position of scaling board 6 is the initial point of world coordinate system, mobile cross connecting plate 4, cross connecting plate 4 is moved a certain distance on longitudinal rail 2, read displacement Δ x from stay wire displacement sensor 7, then the travelling table Connection Block 9, worktable Connection Block 9 is moved a certain distance on cross slide way, read displacement Δ y from stay wire displacement sensor 7, adjust at last worktable 11 and drive scaling board 6 around the vertical axis revolving certain angle, read anglec of rotation Δ θ from the handwheel scale of worktable 11, be (Δ x through the position after adjusting, Δ y, Δ θ).adjust through three times, can obtain the world coordinates of scaling board 6 reposition after motion, therefore the method is equivalent to the point of the characteristic coordinates on scaling board 6 at x, y and θ direction respectively continuation Δ x, Δ y, Δ θ, can utilize the known displacement Δ x of scaling board by camera acquisition scaling board 6 at the multiple image of diverse location, Δ y, Δ θ, set up the more standard calibration point of broad range, reach the demarcation thing of vision system in the purpose of wide view field space continuation, can realize adopting little scaling board to demarcate at the vision system of vehicle wheel base and the determined larger view field space scope of wheelspan, realize the accurate detection of vision formula wheel alignment meter.
Claims (6)
1. automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation, it is characterized in that, described automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation includes base plate (1), longitudinal rail (2), slide block (3), cross connecting plate (4), cross slide way (5), scaling board (6), two stay wire displacement sensors (7), two sensor mounts (8), worktable Connection Block (9), scaling board Connection Block (10) and worktable (11);
Base plate (1) is a rectangular steel plates, and described base plate (1) is processed with two row's threaded holes along steel plate than length direction;
bolt passes respectively the T-shaped through hole of two identical longitudinal rails (2) and described two row's threaded holes of base plate (1) from bottom to top, longitudinal rail (2) is fixedly connected with base plate (1) screw thread, a longitudinal rail (2) is slidably matched with the groove of two slide blocks (3) bottom, another longitudinal rail (2) is slidably matched with the groove of another two slide blocks (3) bottom, bolt passes respectively the T-shaped through hole of two cross slide waies (5) and the threaded hole in the middle part of cross connecting plate (4) from top to bottom, cross slide way (5) is fixedly connected with cross connecting plate (4) screw thread, cross slide way (5) is vertical with longitudinal rail (2), bolt passes respectively the T-shaped through hole of the slide block (3) that is slidably matched with longitudinal rail (2) and the threaded hole bottom cross connecting plate (4) from bottom to top, four are fixedly connected with cross connecting plate (4) screw thread with slide block (3) that longitudinal rail (2) is slidably matched, a cross slide way (5) is slidably matched with the groove of two slide blocks (3) bottom, another cross slide way (5) is slidably matched with the groove of another two slide blocks (3) bottom, bolt passes respectively the T-shaped through hole of the slide block (3) that is slidably matched with cross slide way (5) and the threaded hole bottom worktable Connection Block (9) from bottom to top, four slide blocks (3) on cross slide way (5) are fixedly connected with worktable Connection Block (9) screw thread,
two bolts pass two half-round cross holes of worktable (11) bottom sides and two threaded holes of worktable Connection Block (9) top processing from top to bottom, worktable (11) is fixedly connected with worktable Connection Block (9) screw thread, pass the tapped through hole of scaling board Connection Block (10) lower end after the T-shaped groove of bolt insertion worktable (11) end face, by nut, scaling board Connection Block (10) is fixedly connected with worktable (11), bolt passes the manhole of scaling board Connection Block (10) upper end and the tapped blind hole of scaling board (6) bottom from bottom to top, scaling board (6) is fixedly connected with scaling board Connection Block (10) screw thread,
bolt passes four manholes of first sensor erecting frame (8) surface level and base plate (1) from top to bottom along four threaded holes of steel plate than an end processing of length direction, described first sensor erecting frame (8) is fixedly connected with base plate (1) screw thread, two manholes that two bolts pass first sensor erecting frame (8) vertical plane are fixedly connected with the tapped blind hole screw thread of first stay wire displacement sensor (7) bottom, the screw rod of the bracing wire end of the first stay wire displacement sensor (7) is fixedly connected with the threaded hole screw thread of cross connecting plate (4) side processing, bolt passes four manholes of the second sensor mount (8) surface level and cross connecting plate (4) end face from top to bottom along four threaded holes of steel plate than an end processing of length direction, with described the second sensor mount (8) and four threaded holes of cross connecting plate (4) end face than an end processing of length direction, described the second sensor mount (8) is fixedly connected with cross connecting plate (4) screw thread, two manholes that two bolts pass the second sensor mount (8) vertical plane are fixedly connected with the tapped blind hole screw thread of the second stay wire displacement sensor (7) bottom, the screw rod of the bracing wire end of the second stay wire displacement sensor (7) is fixedly connected with the threaded hole screw thread of worktable Connection Block (9) side processing.
2. according to the automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation claimed in claim 1, it is characterized in that, described cross connecting plate (4) is a rectangular steel plates, end face is processed with two row's threaded holes along steel plate than length direction, end face is processed with four threaded holes along steel plate than an end of length direction, the two ends, bottom surface are processed with respectively eight threaded holes, and the side is processed with a threaded hole.
3. according to the automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation claimed in claim 1, it is characterized in that, described worktable Connection Block (9) is the rectangular parallelepiped part, worktable Connection Block (9) bottom is processed with threaded hole, the top is processed with two threaded holes, and the side is processed with a threaded hole.
4. according to the automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation claimed in claim 1, it is characterized in that, described scaling board Connection Block (10) is the ladder cylindrical component that two ends are thick, the middle part is thin, the lower end is processed with uniform threaded hole, and the upper end is processed with uniform manhole.
5. according to the automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation claimed in claim 1, it is characterized in that, described scaling board (6) is the part of three rectangular steel plates vertical weldings, and the bottom is processed with tapped blind hole.
6. according to the automobile wheel position indicator three-freedom-degree calibrating system in the wide view field space continuation claimed in claim 1, it is characterized in that, described sensor mount (8) is the L-type steel plate, and the surface level of L-type steel plate is processed with four manholes, two manholes of vertical plane processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110232285 CN102419261B (en) | 2011-08-15 | 2011-08-15 | Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110232285 CN102419261B (en) | 2011-08-15 | 2011-08-15 | Automobile wheel positioner TDOF (three degrees of freedom) calibrating system with extended wide-area visual field space |
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| CN102419261A CN102419261A (en) | 2012-04-18 |
| CN102419261B true CN102419261B (en) | 2013-11-06 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103292700B (en) * | 2013-05-28 | 2015-07-15 | 吉林大学 | Space general position and orientation measurement standard of machine vision measurement system |
| CN104359688B (en) * | 2014-12-02 | 2016-08-31 | 吉林大学 | The T-shaped displacement overall situation verification system of vehicle wheel alignment parameter vision detection system |
| CN108981603A (en) * | 2018-05-29 | 2018-12-11 | 北京零壹空间科技有限公司 | Scaling method and device for spatial digitizer |
| CN111307033B (en) * | 2018-12-12 | 2022-01-18 | 成都蒸汽巨人机器人科技有限公司 | Industrial robot depth vision sensor calibration board and calibration method |
| CN109548538A (en) * | 2018-12-31 | 2019-04-02 | 杭州珑亚珀伟科技有限公司 | Apple fast bagging system and method |
| CN109566212B (en) * | 2018-12-31 | 2021-04-02 | 杭州珑亚珀伟科技有限公司 | Automatic apple bagging device and method |
| CN112762819A (en) * | 2020-12-02 | 2021-05-07 | 北京机械工业自动化研究所有限公司 | Detection device and measurement method for precision detection of visual sensor |
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| JP4931867B2 (en) * | 2008-06-27 | 2012-05-16 | 黒田精工株式会社 | Variable terminal |
| CN100575865C (en) * | 2008-07-18 | 2009-12-30 | 西安交通大学 | Space-location method based on double-rotating laser plane transmitter network |
| CN101691995B (en) * | 2009-10-14 | 2011-10-26 | 吉林大学 | Stereovision-based method and stereovision-based device for detecting vehicle wheelbase difference |
| CN202177517U (en) * | 2011-08-15 | 2012-03-28 | 吉林大学 | Automobile wheel position indicator three-freedom-degree calibrating system extending in wide view field space |
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