CN102735457B - 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
- Publication number
- CN102735457B CN102735457B CN201210232931.5A CN201210232931A CN102735457B CN 102735457 B CN102735457 B CN 102735457B CN 201210232931 A CN201210232931 A CN 201210232931A CN 102735457 B CN102735457 B CN 102735457B
- Authority
- CN
- China
- Prior art keywords
- main frame
- wheel position
- position finder
- industrial camera
- doughnut
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- 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 on vehicle body must meet certain angle requirement, and wherein topmost angle has toe-in angle, camber angle, kingpin inclination, kingpin castor angle etc.Vehicle is after traveling a period of time, these parameters may change, affect the usability of vehicle, this just needs to remeasure vehicle and adjust, and the instrument measured is exactly vehicle four-wheel position finder, 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, the still image of a vehicle position is first taken with camera, then promote vehicle and move one section of distance determined, take the still image of another position again, set up space coordinates, two vehicle locations are become two spatial point in space coordinates.Because the some movement locus on vehicle tyre is specific cycloid known in theory, simulate theoretic movement locus according to and the angle turned at 2, then go out the tire positional parameter of vehicle according to this trajectory calculation.This metering system, only add an angle to simulate the movement locus that on tire, some is put according to 2, if there is deviation in the angle that any one point in these two points or tire turn over, or go-cart platform is uneven or platform swings the reference plane difference causing two points, even take measurement of an angle not accurate enough, all may affect the movement locus simulated and greatly depart from actual path, thus affect final measuring accuracy.And because needs are taken pictures under the halted state of multiple positions, and need to rotate the angle determined, the position requiring go-cart to stop is accurate as far as possible, makes length of whole measurement running time and operation easier greatly, measures efficiency low.
Summary of the invention
For solving the problems of the technologies described above, the present invention proposes a kind of measuring accuracy is high, measurement efficiency is high, easy and simple to handle 3D four-wheel position finder and measuring method thereof.
Technical scheme of the present invention is: 3D four-wheel position finder, comprises orbital platform; Be arranged on four reflective targets on doughnut; For gather image, two industrial camera being installed on crossbeam both sides respectively; Be positioned at the light compensating lamp in industrial photograph front; Be positioned at the drive plate in the middle of crossbeam and main frame; Crossbeam is vertical with car body vertical central axis, and crossbeam is centrally located on car body vertical central axis; Main frame comprises control system and output system; Industrial camera is connected with main frame by data line.
The measuring method of 3D four-wheel position finder, comprises the following steps:
1, automobile is placed on orbital platform, reflective target is installed on doughnut, start main frame, main frame instruction go-cart, send instruction to drive plate simultaneously; Go-cart distance is about 10-15cm;
2, drive plate is synchronously taken pictures to reflective target according to the frequency control industrial camera of design, starts light compensating lamp according to the time point of design simultaneously;
3, the control system that the image that industrial camera collects is sent to main frame in real time through data line carries out data processing, calculates the positional parameter of doughnut 8;
4, the output system of main frame exports data, instructs operator keep in repair vehicle and adjust.
In step 3, the data processing step of engine control system is as follows: the Survey Software in engine control system sets up space coordinates, image is converted to a series of volume coordinate point, then the plane of movement of vehicle is calculated, the direct of travel vector of vehicle, antero posterior axis vector, filtering process is carried out with cycloid matching, the cycloidal path of matching 4 reflective targets, obtain one close to real tire target motion cycloid, calculate the virtual rotation center vector of tire, by the plane of movement of these vector projections to vehicle, according to the angle between vector, finally solve the positional parameter of doughnut, the wheelbase of doughnut, wheelspan and deviation then can be calculated exactly according to the volume coordinate of 4 reflective targets.
Described industrial camera pixel >=5,000,000, inside is provided with frame memory and outer sync pulse jamming system.
The principle that existing measuring technique is measured as shown in Figure 2.Tire reference position is at 1 point, and the segment distance that rolls arrives 2 points, and the actual angle turned over of tire is θ.
The principle that measuring technique of the present invention is measured as shown in Figure 3.Measure tens points that tire real-world operation produces, then simulate close to real spatial movement curve.
Go-cart mode during measurement is motion continuously, middle without any need for pause.By the target image of industrial camera shooting clear, be sent to control system.
One of gordian technique of the present invention is exactly that drive plate controls two industrial camera and to take pictures and the time point of lighting light compensating lamp wants precise synchronization, what ensure the image reflection of two cameras shooting is the real spatial relation of certain four target in a flash, otherwise just cannot measure positional parameter accurately.Its steering logic relation 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 motion and combines the effective image of shooting; The filtering technique of Survey Software in main frame, eliminates the unexpected deviation that go-cart process produces, simulates the space tracking of target actual motion; Survey Software calculates the rotation center closest to each tire real, obtains the tire positional parameter that precision is higher thus.
Beneficial effect of the present invention is:
1, the spatial point that the measuring method that the present invention adopts gathers is many, effectively ensure that measuring accuracy, and does not require the angle of rotating regulation, and go-cart process is simple, measures efficiency and greatly improves.
2,3D four-wheel position finder structure of the present invention is simple, and the data precision recorded is high.
3, compared to prior art, metering system provided by the invention achieves continuous go-cart and measures, and is not row measurement again after existing measuring technique needs a dynamic segment distance to stop, measuring speed is fast, and simple to operate, precision is high, reproducible, achieve 3D kinetic measurement truly.
Accompanying drawing explanation
Fig. 1 is one-piece construction schematic 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 in the present invention, drive plate controls industrial camera and light compensating lamp.
Wherein, 1, industrial camera, 2, light compensating lamp, 3, crossbeam, 4, drive plate, 5, main frame, 6, four post lifting machine columns, 7, reflective target, 8, doughnut, 9, orbital platform, 10, car body.
Embodiment
The present invention is illustrated below in conjunction with accompanying drawing.
As shown in Figure 1,3D four-wheel position finder of the present invention comprises orbital platform 9; Be arranged on four reflective targets 7 on doughnut 8; For gather image, two industrial camera 1 being installed on crossbeam 3 both sides respectively; Be positioned at the light compensating lamp 2 in industrial photograph front; Be positioned at the drive plate 4 in the middle of crossbeam 3 and main frame 5; Crossbeam 3 is vertical with car body 10 vertical central axis, and crossbeam 3 is centrally located 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 by data line.
Its measuring method, comprises the following steps:
1, be placed in by automobile on orbital platform 9, be installed on doughnut 8 by reflective target 7, start main frame 5, main frame 5 indicates go-cart, sends instruction to drive plate 4 simultaneously; Go-cart distance is about 10-15cm;
2, drive plate 4 is synchronously taken pictures to reflective target 7 according to the frequency control industrial camera 1 of design, starts light compensating lamp 2 according to the time point of design simultaneously;
3, the control system that the image that industrial camera 1 collects is sent to main frame 5 in real time through data line carries out data processing, calculates the positional parameter of doughnut 8;
4, the output system of main frame 5 exports data, instructs operator keep in repair vehicle and adjust.
In step 3, the data processing step of main frame 5 control system is as follows: the Survey Software in main frame 5 control system sets up space coordinates, image is converted to a series of volume coordinate point, then the plane of movement of vehicle is calculated, the direct of travel vector of vehicle, antero posterior axis vector, filtering process is carried out with cycloid matching, the cycloidal path of the reflective target 7 of matching 4, obtain one close to real tire target motion cycloid, calculate the virtual rotation center vector of doughnut 8, by the plane of movement of these vector projections to vehicle, according to the angle between vector, finally solve the positional parameter of doughnut 8, the wheelbase of doughnut 8, wheelspan and deviation then can be calculated exactly according to the volume coordinate of 4 reflective targets 7.
Described industrial camera 1 pixel >=5,000,000, inside is provided with frame memory and outer sync pulse jamming system.
As shown in Figure 3, measuring technique measuring principle of the present invention is as follows:
Go-cart mode during measurement is motion continuously, middle without any need for pause.Target has tens reflective spots, each spot is in the motion of go-cart, and all can move along a cycloid in geometric space, cycloid as shown in Figure 3.And target has tens reflective spots just have the cycloidal path of tens diverse locations.These cycloids illustrate target plane moves formation curved surface in space jointly.This curved surface by camera with a large amount of images intermittently but record thick and fast, image representative target is in the position of geometric space, because spots all in image can calculate coordinate figure, each image just can determine a plane, with a large amount of space plane coordinates, target plane just can describe out by numeral at the movement locus of geometric space in space coordinates.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 actual motion track.Because target is fixed on tire, target and tire have fixing position relationship, the actual movement locus representing tire end face of the movement locus of target plane.See that tire with what kind of attitude is rolling, just can be aware of the parameter of tire location.By the target image of industrial camera 1 shooting clear, be sent to control system, Survey Software in control system sets up space coordinates, image is converted to a series of volume coordinate point, then the plane of movement of vehicle is calculated, the direct of travel vector of vehicle, antero posterior axis vector, filtering process is carried out with cycloid matching, the cycloidal path of matching 4 targets, obtain one close to real tire target motion cycloid, calculate the virtual rotation center vector of tire, by the plane of movement of these vector projections to vehicle, according to the angle between vector, finally solve the positional parameter of tire.Volume coordinate according to 4 targets then can calculate tire wheelbase, wheelspan and deviation exactly.Data are exported, instructs operator keep in repair vehicle and adjust.
Drive plate 4 controls the steering logic relation of two industrial camera 1 and light compensating lamp 2 as shown in Figure 4, drive plate 4 controls two industrial camera 1 and to take pictures and the time point of lighting light compensating lamp 2 wants precise synchronization, what ensure the image reflection of two cameras shooting is the real spatial relation of certain four target in a flash, otherwise just cannot measure positional parameter accurately.
Claims (2)
1. a measuring method for 3D four-wheel position finder, is characterized in that,
Described 3D four-wheel position finder comprises orbital platform (9); Be arranged on four reflective targets (7) on doughnut (8); For gather image, two industrial camera (1) being installed on crossbeam (3) both sides respectively; Be positioned at the light compensating lamp (2) in industrial camera (1) front; Be positioned at the drive plate (4) in the middle of crossbeam (3) and main frame (5), main frame indicates continuous go-cart, go-cart distance is 10-15cm, drive plate (4) controls two industrial camera (1) and takes pictures and start light compensating lamp (2), takes pictures synchronous with starting light compensating lamp (2) time point; Crossbeam (3) is vertical with car body (10) vertical central axis, and crossbeam (3) is centrally located 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) by data line;
Its job step is:
(1) automobile is placed on orbital platform (9), reflective target (7) is clamped on doughnut (8), start main frame (5), main frame (5) indicates continuous go-cart, sends instruction to drive plate (4) simultaneously; Continuous go-cart distance is 10-15cm;
(2) drive plate (4) is synchronously taken pictures to reflective target (7) according to the frequency control industrial camera (1) of design, start light compensating lamp (2) according to the time point of design simultaneously, take pictures synchronous with the time point starting light compensating lamp;
(3) control system that the image that industrial camera (1) collects is sent to main frame (5) in real time through data line carries out data processing, calculates the positional parameter of doughnut (8);
(4) output system of main frame (5) exports data;
In described step (3), the data processing step of main frame (5) control system is as follows: the Survey Software in main frame (5) control system sets up space coordinates, image is converted to a series of volume coordinate point, then the plane of movement of vehicle is calculated, the direct of travel vector of vehicle, antero posterior axis vector, filtering process is carried out with cycloid matching, the cycloidal path of matching 4 reflective targets (7), obtain one close to real tire target motion cycloid, calculate the virtual rotation center vector of doughnut (8), by the plane of movement of these vector projections to vehicle, according to the angle between vector, finally solve the positional parameter of doughnut (8), volume coordinate according to 4 reflective targets (7) then can calculate doughnut (8) wheelbase, wheelspan and deviation accurately.
2. the measuring method of 3D four-wheel position finder according to claim 1, is characterized in that, described industrial camera (1) pixel >=5,000,000, and inside is provided with frame memory and outer sync pulse jamming system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210232931.5A CN102735457B (en) | 2012-07-06 | 2012-07-06 | 3D (three-dimensional) four-wheel position finder and measuring method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210232931.5A CN102735457B (en) | 2012-07-06 | 2012-07-06 | 3D (three-dimensional) four-wheel position finder and measuring method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102735457A CN102735457A (en) | 2012-10-17 |
| CN102735457B true CN102735457B (en) | 2014-12-24 |
Family
ID=46991355
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210232931.5A Expired - Fee Related CN102735457B (en) | 2012-07-06 | 2012-07-06 | 3D (three-dimensional) four-wheel position finder and measuring method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102735457B (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3234502A4 (en) * | 2014-12-17 | 2018-08-15 | Snap-On Incorporated | Live ride height measurement |
| 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 |
| US9982998B2 (en) * | 2015-01-07 | 2018-05-29 | 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 |
| CN104880326B (en) * | 2015-06-15 | 2018-01-19 | 深圳科澳汽车科技有限公司 | A kind of double column automatic tracing four-wheel aligner detection means and its detection method |
| 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 |
| CN208101947U (en) * | 2017-09-12 | 2018-11-16 | 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 |
| 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1656355A (en) * | 2002-06-04 | 2005-08-17 | 本田技研工业株式会社 | Method and device for measuring wheel alignment of car |
| CN1908612A (en) * | 2006-05-29 | 2007-02-07 | 深圳市元征科技股份有限公司 | Vehicle wheel alignment check method and system |
| CN101382471A (en) * | 2008-10-16 | 2009-03-11 | 深圳市元征科技股份有限公司 | Method and system for detecting four-wheel positioning for automobile |
| CN100543441C (en) * | 2007-04-26 | 2009-09-23 | 涂亚庆 | A kind of vehicle four wheel locating parameter detection method based on computer vision |
| CN202158964U (en) * | 2011-04-10 | 2012-03-07 | 郝加刚 | novel positioning device of four wheels of an automobile |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6560883B2 (en) * | 2000-06-28 | 2003-05-13 | Snap-On Technologies, Inc. | Method and system for conducting wheel alignment |
| KR101091032B1 (en) * | 2009-11-10 | 2011-12-09 | 한국타이어 주식회사 | Measurging apparatus for dynamic wheel alignment |
-
2012
- 2012-07-06 CN CN201210232931.5A patent/CN102735457B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1656355A (en) * | 2002-06-04 | 2005-08-17 | 本田技研工业株式会社 | Method and device for measuring wheel alignment of car |
| CN1908612A (en) * | 2006-05-29 | 2007-02-07 | 深圳市元征科技股份有限公司 | Vehicle wheel alignment check method and system |
| CN100543441C (en) * | 2007-04-26 | 2009-09-23 | 涂亚庆 | A kind of vehicle four wheel locating parameter detection method based on computer vision |
| CN101382471A (en) * | 2008-10-16 | 2009-03-11 | 深圳市元征科技股份有限公司 | Method and system for detecting four-wheel positioning for automobile |
| CN202158964U (en) * | 2011-04-10 | 2012-03-07 | 郝加刚 | novel positioning device of four wheels of an automobile |
Non-Patent Citations (3)
| Title |
|---|
| 一成专栏.3D动态工业照相机成像技术定位仪工作原理解析.《汽车维修与保养》.2010,第1-2页. * |
| 于腾飞等.便携式车轮定位参数视觉检测系统研究.《计算机测量与控制》.2010,第1283-1286页. * |
| 常红涛.第三章 四轮定位仪设备知识.《汽车四轮定位仪妙用手册》.机械工业出版社,2010, * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102735457A (en) | 2012-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102735457B (en) | 3D (three-dimensional) four-wheel position finder and measuring method thereof | |
| CN102144144B9 (en) | Device and method for determining and adjusting the chassis geometry of a motor vehicle | |
| US20110052041A1 (en) | Method for determining the rotational axis and the center of rotation of a vehicle wheel | |
| CN102257354B (en) | Method for chassis measurement and a device for measuring the chassis geometry of a vehicle | |
| CN108204879B (en) | A kind of measuring method and system of rotary inertia | |
| US8522609B2 (en) | Method and device for wheel suspension alignment | |
| CN203011704U (en) | 3D fully-automatic four-wheel positioning instrument | |
| CN106995062A (en) | Method and system for the engagement of wing to main body | |
| CN107192343B (en) | Six-degree-of-freedom displacement measuring device and method for suspension characteristic test wheel | |
| CN109483539A (en) | Vision positioning method | |
| CN103307977A (en) | Field measuring device, system and method of inner wall size of large rotary workpiece | |
| CN106291486A (en) | Radar axle offset device for calculating and radar axle offset amount computational methods | |
| EP2205935A1 (en) | A device and a method for checking an attitude of a vehicle | |
| CN103776378A (en) | Non-contact type flexible on-line dimension measurement system | |
| CN102893125B (en) | Method and device for determining axle geometry of vehicle | |
| CN104483144B (en) | A kind of automobile 3D four wheel locating parameter detection methods based on machine vision of robust | |
| CN103616016A (en) | Visual position-pose measurement method based on point-line combination characteristics | |
| CN105277129A (en) | Dynamic noncontact rail gauge measuring system and method thereof | |
| CN102272550A (en) | Method for measuring a chassis and device for measuring the chassis geometry of a motor vehicle | |
| CN104422425A (en) | Irregular-outline object space attitude dynamic measuring method | |
| CN114270136A (en) | Vehicle alignment and sensor calibration system | |
| WO2022148400A1 (en) | Automobile door mounting method and device, and industrial robot and storage medium | |
| KR20210110858A (en) | Robot target alignment for vehicle sensor calibration | |
| WO2022019812A1 (en) | Method and system for determining the position of vehicle wheels | |
| CN107560563B (en) | A kind of calibration of line laser three-dimensional measuring apparatus and error compensating method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141224 Termination date: 20190706 |