CN102735457A - 3D (three-dimensional) four-wheel position finder and measuring method thereof - Google Patents
3D (three-dimensional) four-wheel position finder and measuring method thereof Download PDFInfo
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- CN102735457A CN102735457A CN2012102329315A CN201210232931A CN102735457A CN 102735457 A CN102735457 A CN 102735457A CN 2012102329315 A CN2012102329315 A CN 2012102329315A CN 201210232931 A CN201210232931 A CN 201210232931A CN 102735457 A CN102735457 A CN 102735457A
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- wheel position
- main frame
- position finder
- doughnut
- measuring method
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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
- G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
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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
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
- G01B2210/20—Vehicle in a state of translatory motion
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- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to a 3D (three-dimensional) four-wheel position finder and a measuring method of the 3D four-wheel position finder. The 3D four-wheel position finder comprises a track platform, four light reflecting targets, two industrial cameras, a fill-in lamp, a driving board and a host computer, wherein the four light reflecting targets are installed on automobile tires; the two industrial cameras are used for acquiring images and are respectively installed at the two sides of a transverse beam; the fill-in lamp is arranged in front of the two industrial cameras; the driving board and the host computer are arranged at the middle part of the transverse beam; the transverse beam is perpendicular to the longitudinal central axis of an automobile body; the center of the transverse beam is located at the longitudinal central axis of the automobile body; the host computer comprises a control system and an output system; and the two industrial cameras are connected with the host computer through a data line. The measuring method comprises the following steps that: the four light reflecting targets are installed on the automobile tires; the host computer is started; the automobile is pushed; an instruction is transmitted to the driving board; the driving board controls the two industrial cameras to take pictures for the four light reflecting targets synchronously, and at the same time, the fill-in lamp is started; the acquired images are transmitted to the control system in real time so as to calculate out positioning parameters of the tires; and the output system outputs the data. The 3D four-wheel position finder and the measuring method of the 3D four-wheel position finder are rapid in measuring speed, high in precision and good in repeatability; and the 3D dynamic measurement in the true sense is achieved.
Description
Technical field
The invention belongs to automobile production, maintenance, service field, specifically, relate to a kind of 3D four-wheel position finder and measuring method thereof.
Background technology
Theoretical according to automotive engineering, tire is installed to must meet certain angle requirement on the vehicle body, and wherein topmost angle has toe-in angle, camber angle, kingpin inclination, kingpin castor angle etc.Vehicle is after a period of time of going, and these parameters possibly change, and influences the usability of vehicle; This just need remeasure and adjust vehicle; And the instrument of measuring is exactly a vehicle four-wheel position finder, and the 3D four-wheel position finder is a brand-new measuring technique, and it utilizes computing machine to graphical analysis and calculating; Set up space coordinates, calculate the positional parameter of vehicle tyre.
Existing 3D four-wheel position finder adopts 2 static measurement modes; Take the still image of a position of vehicle earlier with camera; Promote vehicle then and move one section definite distance; Take the still image of another position again, set up space coordinates, two vehicle locations are become two spatial point in the space coordinates.Because the some movement locus on the vehicle tyre is known in theory specific cycloid, simulate theoretic movement locus according to 2 with the angle that turns over, calculate the tire positional parameter of vehicle again according to this track.This metering system; Only add the movement locus that an angle simulates some point on the tire according to 2; If deviation appears in the angle that any one point in these two points or tyre revolution are crossed, perhaps the swing of the uneven perhaps platform of go-cart platform causes the reference plane of two points different, even it is not accurate enough to take measurement of an angle; All may influence the movement locus that simulates and depart from actual path greatly, thereby influence final measuring accuracy.And, owing to need under the halted state of a plurality of positions, take pictures, and need to rotate the angle of confirming, the position that requires go-cart to stop is accurate as far as possible, makes that the whole measurement running time is long and operation easier is big, and efficiency of measurement is low.
Summary of the invention
For solving the problems of the technologies described above, the present invention proposes a kind of measuring accuracy height, efficiency of measurement 3D four-wheel position finder and measuring method thereof high, easy and simple to handle.
Technical scheme of the present invention is: the 3D four-wheel position finder comprises the track platform; Be installed in four reflective targets on the doughnut; Be used for images acquired, be installed on two industrial camera of crossbeam both sides respectively; Be positioned at the light filling lamp in industrial photograph the place ahead; Be positioned at crossbeam middle drive plate and main frame; Crossbeam is vertical with the car body vertical central axis, and crossbeam is centered close on the car body vertical central axis; Main frame comprises control system and output system; Industrial camera is connected with main frame through data line.
The measuring method of 3D four-wheel position finder may further comprise the steps:
1, automobile is placed on the track platform, reflective target is installed on the doughnut, start main frame, main frame indication go-cart is sent instruction simultaneously and is given drive plate; The go-cart distance is about 10-15cm;
2, drive plate is taken pictures to reflective target according to the frequency control industrial camera of design synchronously, and the time point according to design starts the light filling lamp simultaneously;
3, the image that collects of industrial camera carries out data processing through the control system that data line is sent to main frame in real time, calculates the positional parameter of doughnut 8;
4, the output system output data of main frame, guiding operation workman keeps in repair and adjusts vehicle.
The data processing step of engine control system is following in the step 3: the Survey Software in the engine control system is set up space coordinates; With image transitions is a series of volume coordinate point, and the plane of movement, the direct of travel vector of vehicle, the antero posterior axis that calculate vehicle then are vectorial, carry out Filtering Processing with the cycloid match; The cycloidal path of 4 reflective targets of match; Obtain one near real tire target motion cycloid, calculate the virtual rotation center vector of tire, these vectors are projected the plane of movement of vehicle; According to the angle between the vector, finally find the solution the positional parameter of doughnut; Then can calculate wheelbase, wheelspan and the deviation of doughnut exactly according to the volume coordinate of 4 reflective targets.
Said industrial camera pixel >=5,000,000, inside are provided with frame memory and outer camera system synchronously.
The principle that existing measuring technique is measured is as shown in Figure 2.The tire reference position is at 1 point, and the segment distance that rolls arrives 2 points, and the actual angle that turns over of tire is θ.
The principle that measuring technique of the present invention is measured is as shown in Figure 3.Measure tens points that the tire real-world operation is produced, simulate then near real spatial movement curve.
Go-cart mode during measurement is continuous motion, and is middle without any need for pause.Target image by the industrial camera shooting clear is sent to control system.
One of gordian technique of the present invention is exactly that two industrial camera of drive plate control are taken pictures and the time point of lighting the light filling lamp is wanted precise synchronization; What guarantee image reflection that two cameras are taken is certain real spatial relation of four targets in a flash, otherwise just can't measure the accurate in locating parameter.Its steering logic relation is as shown in Figure 4.
The present invention adopts high pixel, has the industrial camera of frame memory and outer synchronizing function, can be implemented in to unite in the motion to take effective image; The filtering technique of Survey Software in the main frame is eliminated the unexpected deviation that the go-cart process produces, and simulates the space tracking of target actual motion; Survey Software calculates the most approaching rotation center of each tire really, obtains the higher tire positional parameter of precision thus.
Beneficial effect of the present invention is:
1, the spatial point of the measuring method collection of the present invention's employing is many, has effectively guaranteed measuring accuracy, and has not required the angle of rotating regulation, and the go-cart process is simple, and efficiency of measurement improves greatly.
2,3D four-wheel position finder of the present invention is simple in structure, and the data precision that records is high.
3, compared to prior art, metering system provided by the invention has realized that continuous go-cart measures, and be not after existing measuring technique needs a moving segment distance to stop again row measure; Measuring speed is fast, and is simple to operate, and precision is high; Good reproducibility has been realized 3D kinetic measurement truly.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present invention;
Fig. 2 is existing measuring technique measuring principle figure;
Fig. 3 is measuring technique measuring principle figure of the present invention;
Fig. 4 is the steering logic graph of a relation that drive plate is controlled industrial camera and light filling lamp among the present invention.
Wherein, 1, industrial camera, 2, the light filling lamp, 3, crossbeam, 4, drive plate, 5, main frame, 6, four post lifting machine columns, 7, reflective target, 8, doughnut, 9, the track platform, 10, car body.
Embodiment
Specify the present invention below in conjunction with accompanying drawing.
As shown in Figure 1,3D four-wheel position finder of the present invention comprises track platform 9; Be installed in four reflective targets 7 on the doughnut 8; Be used for images acquired, be installed on two industrial camera 1 of crossbeam 3 both sides respectively; Be positioned at the light filling lamp 2 in industrial photograph the place ahead; Be positioned at the drive plate 4 and main frame 5 of crossbeam 3 centres; Crossbeam 3 is vertical with car body 10 vertical central axis, and crossbeam 3 is centered close on car body 10 vertical central axis; Main frame 5 comprises control system and output system; Industrial camera 1 is connected with main frame 5 through data line.
Its measuring method may further comprise the steps:
1, automobile is placed on the track platform 9, reflective target 7 is installed on the doughnut 8, start main frame 5, main frame 5 indication go-carts are sent instruction simultaneously and are given drive plate 4; The go-cart distance is about 10-15cm;
2, drive plate 4 is taken pictures to reflective target 7 according to the frequency control industrial camera 1 of design synchronously, and the time point according to design starts light filling lamp 2 simultaneously;
3, the image that collects of industrial camera 1 carries out data processing through the control system that data line is sent to main frame 5 in real time, calculates the positional parameter of doughnut 8;
4, the output system output data of main frame 5, guiding operation workman keeps in repair and adjusts vehicle.
The data processing step of main frame 5 control system is following in the step 3: the Survey Software in main frame 5 control system is set up space coordinates; With image transitions is a series of volume coordinate point, and the plane of movement, the direct of travel vector of vehicle, the antero posterior axis that calculate vehicle then are vectorial, carry out Filtering Processing with the cycloid match; The cycloidal path of 4 reflective targets 7 of match; Obtain one near real tire target motion cycloid, calculate the virtual rotation center vector of doughnut 8, these vectors are projected the plane of movement of vehicle; According to the angle between the vector, finally find the solution the positional parameter of doughnut 8; Then can calculate wheelbase, wheelspan and the deviation of doughnut 8 exactly according to the volume coordinate of 4 reflective targets 7.
Said industrial camera 1 pixel >=5,000,000, inside are provided with frame memory and outer camera system synchronously.
As shown in Figure 3, measuring technique measuring principle of the present invention is following:
Go-cart mode during measurement is continuous motion, and is middle without any need for pause.Tens reflective spots are arranged on the target, and each spot all can move along a cycloid in geometric space in the motion of go-cart, and cycloid is as shown in Figure 3.And have tens reflective spots just to have the cycloidal path of tens diverse locations on the target.These cycloid together exhibit the curved surface that forms in spatial movement of target plane.This curved surface by camera with a large amount of images intermittently but note thick and fast; Image has been represented the position of a target at geometric space; Because spots all in the image can calculate coordinate figure; Each image just can be confirmed a plane, and with a large amount of space plane coordinates, target plane just can be described out with numeral in space coordinates at the movement locus of geometric space.The mode of this description is different from 2 existing static technique, and existing technology adopts theoretical curved surface to pass through two static line to replace the actual motion track.Because target is fixed on the tire, target and tire have fixing position relation, the actual movement locus of representing the tire end face of the movement locus of target plane.See that tire is with what kind of attitude to roll, and just can know the parameter of tire location.Target image by industrial camera 1 shooting clear is sent to control system, and the Survey Software in the control system is set up space coordinates; With image transitions is a series of volume coordinate point, and the plane of movement, the direct of travel vector of vehicle, the antero posterior axis that calculate vehicle then are vectorial, carry out Filtering Processing with the cycloid match; The cycloidal path of 4 targets of match; Obtain one near real tire target motion cycloid, calculate the virtual rotation center vector of tire, these vectors are projected the plane of movement of vehicle; According to the angle between the vector, finally find the solution the positional parameter of tire.Volume coordinate according to 4 targets then can calculate tire wheelbase, wheelspan and deviation exactly.With data output, guiding operation workman keeps in repair and adjusts vehicle.
The steering logic relation of drive plate two industrial camera 1 of 4 controls and light filling lamp 2 is as shown in Figure 4; Two industrial camera 1 of drive plate 4 control are taken pictures and the time point of lighting light filling lamp 2 is wanted precise synchronization; What guarantee image reflection that two cameras are taken is certain real spatial relation of four targets in a flash, otherwise just can't measure the accurate in locating parameter.
Claims (5)
1.3D four-wheel position finder comprises track platform (9); Be installed in four the reflective targets (7) on the doughnut (8); Be used for images acquired, be installed on two industrial camera (1) of crossbeam (3) both sides respectively; Be positioned at the light filling lamp (2) in industrial photograph the place ahead; Be positioned at crossbeam (3) middle drive plate (4) and main frame (5); Crossbeam (3) is vertical with car body (10) vertical central axis, and crossbeam (3) is centered close on car body (10) vertical central axis; Main frame (5) comprises control system and output system; Industrial camera (1) is connected with main frame (5) through data line.
2. 3D four-wheel position finder according to claim 1 is characterized in that, said industrial camera (1) pixel >=5,000,000, inside are provided with frame memory and outer camera system synchronously.
3. the measuring method of 3D four-wheel position finder according to claim 1 is characterized in that, may further comprise the steps:
(1) automobile is placed on the track platform (9), reflective target (7) is clamped on the doughnut (8), start main frame (5), main frame (5) indication go-cart is sent instruction simultaneously and is given drive plate (4); The go-cart distance is about 10-15cm;
(2) drive plate (4) is taken pictures to reflective target (7) according to the frequency control industrial camera (1) of design synchronously, and the time point according to design starts light filling lamp (2) simultaneously;
(3) image that collects of industrial camera (1) carries out data processing through the control system that data line is sent to main frame (5) in real time, calculates the positional parameter of doughnut (8);
(4) the output system output data of main frame (5).
4. the measuring method of 3D four-wheel position finder according to claim 3; It is characterized in that the data processing step of main frame (5) control system is following in the said step (3): the Survey Software in main frame (5) control system is set up space coordinates, is a series of volume coordinate point with image transitions; The plane of movement, the direct of travel vector of vehicle, the antero posterior axis that calculate vehicle then are vectorial; Carry out Filtering Processing with the cycloid match, the cycloidal path of 4 reflective targets of match (7) obtains one near real tire target motion cycloid; Calculate the virtual rotation center vector of doughnut (8); These vectors are projected the plane of movement of vehicle,, finally find the solution the positional parameter of doughnut (8) according to the angle between the vector; Volume coordinate according to 4 reflective targets (7) then can calculate doughnut (8) wheelbase, wheelspan and deviation exactly.
5. the measuring method of 3D four-wheel position finder according to claim 3 is characterized in that, said industrial camera (1) pixel >=5,000,000, inside are provided with frame memory and outer camera system synchronously.
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| CN104833532A (en) * | 2014-12-31 | 2015-08-12 | 宁波海泰汽车保养科技有限公司 | 3D four-wheel alignment test method and tester thereof |
| CN104880326A (en) * | 2015-06-15 | 2015-09-02 | 深圳科澳汽车科技有限公司 | Double-vertical-column positioning detection device and method for automatically tracking four wheels |
| CN104897419A (en) * | 2015-07-03 | 2015-09-09 | 上海一成汽车科技有限公司 | 3D-based car four-wheel positioning instrument and system |
| CN105136484A (en) * | 2015-06-02 | 2015-12-09 | 深圳科澳汽车科技有限公司 | Inter-shaft four-wheel positioning detection device and detection method |
| CN107110647A (en) * | 2014-12-17 | 2017-08-29 | 实耐宝公司 | Real-time bodywork height measurement |
| CN108181115A (en) * | 2018-01-11 | 2018-06-19 | 桂林施瑞德科技发展有限公司 | Long wheelbase vehicle 3D wheel alignment meters |
| EP3243037A4 (en) * | 2015-01-07 | 2018-12-05 | Snap-On Incorporated | Rolling virtual wheel spindle calibration |
| CN109501756A (en) * | 2017-09-12 | 2019-03-22 | 上海蔚来汽车有限公司 | Electric car moves electric system certainly |
| CN113933071A (en) * | 2021-12-08 | 2022-01-14 | 南通莱奥电子科技有限公司 | Automobile lifting running platform detection system based on image 3D four-wheel position indicator |
| CN114739301A (en) * | 2022-04-07 | 2022-07-12 | 深圳市道通科技股份有限公司 | Vehicle body height measuring method |
| CN115979121A (en) * | 2022-10-26 | 2023-04-18 | 成都清正公路工程试验检测有限公司 | Method for improving point position measurement precision of automatic measurement system |
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| CN107110647A (en) * | 2014-12-17 | 2017-08-29 | 实耐宝公司 | Real-time bodywork height measurement |
| US11650049B2 (en) | 2014-12-17 | 2023-05-16 | Snap-On Incorporated | Live ride height measurement |
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| EP4257919A3 (en) * | 2015-01-07 | 2023-10-18 | Snap-on Incorporated | Rolling virtual wheel spindle calibration |
| EP3243037A4 (en) * | 2015-01-07 | 2018-12-05 | Snap-On Incorporated | Rolling virtual wheel spindle calibration |
| US10684125B2 (en) | 2015-01-07 | 2020-06-16 | Snap-On Incorporated | Rolling virtual wheel spindle calibration |
| US10976156B2 (en) | 2015-01-07 | 2021-04-13 | Snap-On Incorporated | Rolling virtual wheel spindle calibration |
| CN105136484A (en) * | 2015-06-02 | 2015-12-09 | 深圳科澳汽车科技有限公司 | Inter-shaft four-wheel positioning detection device and detection method |
| CN104880326A (en) * | 2015-06-15 | 2015-09-02 | 深圳科澳汽车科技有限公司 | Double-vertical-column positioning detection device and method for automatically tracking four wheels |
| CN104897419A (en) * | 2015-07-03 | 2015-09-09 | 上海一成汽车科技有限公司 | 3D-based car four-wheel positioning instrument and system |
| CN109501756A (en) * | 2017-09-12 | 2019-03-22 | 上海蔚来汽车有限公司 | Electric car moves electric system certainly |
| CN108181115B (en) * | 2018-01-11 | 2023-08-11 | 桂林施瑞德科技发展有限公司 | Long wheelbase vehicle 3D wheel aligner |
| CN108181115A (en) * | 2018-01-11 | 2018-06-19 | 桂林施瑞德科技发展有限公司 | Long wheelbase vehicle 3D wheel alignment meters |
| CN113933071A (en) * | 2021-12-08 | 2022-01-14 | 南通莱奥电子科技有限公司 | Automobile lifting running platform detection system based on image 3D four-wheel position indicator |
| CN114739301A (en) * | 2022-04-07 | 2022-07-12 | 深圳市道通科技股份有限公司 | Vehicle body height measuring method |
| CN115979121A (en) * | 2022-10-26 | 2023-04-18 | 成都清正公路工程试验检测有限公司 | Method for improving point position measurement precision of automatic measurement system |
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