CN106352817A - Non-contact four-wheel positioner and positioning method thereof - Google Patents
Non-contact four-wheel positioner and positioning method thereof Download PDFInfo
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- CN106352817A CN106352817A CN201610777985.8A CN201610777985A CN106352817A CN 106352817 A CN106352817 A CN 106352817A CN 201610777985 A CN201610777985 A CN 201610777985A CN 106352817 A CN106352817 A CN 106352817A
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- wheel
- noncontact
- main frame
- automobile
- position finder
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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
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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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
- G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
- G01B2210/146—Two or more cameras imaging the same area
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention relates to the technical field of automobile detection equipment, in particular to a non-contact four-wheel positioner and a positioning method thereof. The non-contact four-wheel positioner comprises a non-contact host unit and two reference diagram targets arranged on two sides of an automobile required to be positioned respectively, wherein the non-contact host unit comprises at least one non-contact host, each non-contact host is connected with a four-wheel positioning and analysis processing device and comprises a first shooting device capable of shooting the reference diagram targets and stereoscopic imaging assemblies capable of shooting a wheel of the automobile required to be positioned, and the four-wheel positioning and analysis processing device calculates four-wheel positioning parameters of each wheel according to position information and image information, acquired by the non-contact host unit, of four wheels of the automobile required to be positioned; the stereoscopic imaging assemblies are multiple second shooting devices capable of acquiring stereoscopic images of the wheels. The non-contact four-wheel positioner adopts a stereoscopic imaging technology and has the advantages of rapidness, accuracy, labor and time saving and the like.
Description
Technical field
The present invention relates to automotive inspection equipment technical field, particularly a kind of noncontact four-wheel position finder and its positioning side
Method.
Background technology
The development experience of four-wheel position finder 2d, 3d four-wheel position finder, traditional 2d four-wheel position finder measurement accuracy is low, effect
Rate is low；3d four-wheel position finder precision in recent years increases, but also needs to use the aids such as fixture, target, operation
Trouble, time-consuming.2d with 3d four-wheel position finder requires that equipment is contacted with automobile, and the time installing measurement consumption is longer,
Fixture and the mechanicalness error of detection means, can lead to detect the machine error that additivity in final data, certainty of measurement drops
Low.In addition, the contact with automobile for the instrument also results in tire or the different degrees of damage of wheel hub, the secondary damage causing is unfavorable for
Customer demand.External someone does non-contacting measurement and attempts, but stability is not good enough with precision.
Content of the invention
In order to solve the above problems, the present invention provides a kind of noncontact four-wheel position finder, with stereoscopic imaging technology, in conjunction with
Structural light three-dimensional measurement method, makes equipment have the advantages that quick, accurate, saving working hour.
In order to realize the purpose of the present invention, employ technical scheme below:
A kind of noncontact four-wheel position finder, including four-wheel aligner APU, also include noncontact main computer unit and
It is respectively arranged on two that need to position automobile both sides with reference to figure target, described noncontact main computer unit includes at least one noncontact master
Machine, each noncontact main frame is connected with four-wheel aligner APU respectively, and each noncontact main frame includes shooting ginseng
Examine the first filming apparatus of figure target and the three-dimensional imaging assembly needing to position automotive wheel can be shot, four-wheel aligner analyzes and processes
Device calculates often according to the need positional information of positioning four wheels of automobile and image information that noncontact main computer unit obtains
The four wheel locating parameter of individual wheel；Described three-dimensional imaging assembly is to be obtained in that multiple the second of wheel stereogram shoots dress
Put, you can be a noncontact main frame multiple second filming apparatus simultaneously from need position vehicle outer side to this automobile certain
Individual wheel carries out shooting imaging, obtains the stereogram of this wheel.
Improve as further, described first filming apparatus are first camera, the second filming apparatus are second camera；If
The multiple second cameras being placed in each noncontact main frame are respectively arranged on second camera a and the setting on this noncontact main frame top
Second camera b in this noncontact main frame bottom；Two are arranged on before noncontact main computer unit with reference to figure target.
Improve as further, each noncontact main frame also include being separately positioned on second camera a and second camera b it
Between led transmitting tube, described led transmitting tube be two rows.
Improve as further, described second camera b is three；Located at every row's led transmitting tube every two LED lamps it
Between spacing be 60 centimetres, every LED lamp is 45 degree with the angle of horizontal direction.
Improve as further, described noncontact four-wheel position finder also includes two guide rails, and this two guide rails set respectively
In needing to position the both sides of automobile, every guide rail slides and is provided with least one noncontact main frame.
Improve as further, under described noncontact main frame, be also fixed with the intelligence control that can move back and forth along guide rail
Device processed, described intelligent controlling device can be realized sliding and stop to slide by the order of four-wheel aligner APU；
Described four-wheel position finder also includes being arranged on to be needed to position the lifting machine under automobile, and two guide rails are distributed in lifting machine both sides.When
So, lifting machine is arranged on noncontact main frame near needing to position the side of automobile, and this lifting machine can need to position with being distributed in
The guide rail composition positioning measurment system of automobile both sides.
Improve as further, described four wheel locating parameter includes toe-in angle, camber angle, propulsion angle, angle of shrinking back, wheel
Away from, wheelbase, wheelspan difference and wheelbase poor；Noncontact main frame lower surface and lifting machine upper surface are substantially flush.
Present invention also offers the localization method of noncontact four-wheel position finder described above, comprise the following steps:
Step one: the three-dimensional imaging assembly of noncontact main computer unit shoots the multiple images obtaining each wheel；Wherein, often
The multiple images of individual wheel are that multiple second filming apparatus of a noncontact main frame obtain from the shooting of this lateral wheel simultaneously；
Step 2: determine the three-dimensional coordinate in each image slices vegetarian refreshments alive boundary coordinate system of each wheel；
Step 3: four-wheel aligner APU according to the first filming apparatus shoot with reference to figure target picture obtain every
The image information of each wheel of the positional information of individual wheel and the shooting of the second filming apparatus, calculates the three-dimensional of four wheels overall situations
Model, and then calculate the four wheel locating parameter needing to position automobile.
Wherein, the threedimensional model calculating four wheel overall situations in step 3 can comprise the following steps: that four-wheel aligner is analyzed
The positional information of each wheel obtaining with reference to figure target picture that processing meanss are shot by reference to the first filming apparatus, in three-dimensional
In world coordinates by the multiple images of each wheel do edge extracting, cut flat with surface analysis, vehicle body plane combination obtains this wheel and stands
Then the simulated wheel parameter of four wheels is combined data analysiss, is needed by body three-dimensional simulated wheel parameter again
The threedimensional model of four wheel overall situations of positioning automobile, and then the four wheel locating parameter needing to position automobile can be calculated.
In step 3, step that an image is done edge extracting, particularly as follows:
1) by row, one image is scanned from the bottom up, obtain the row j meeting requirement for height that row pixel is all 0s；Image
It can be the image of structure fringe projection.
2) then with jsSearch for downwards according to row for initial row, find the side that the point that first gray value is 240 is wheel hub
Edge point, the pixel of other points then arranging this is all set to 0, obtains hub for vehicle wheel marginal point；
3) then, using fringe center algorithm second extraction, obtain isolated optical losses point, and these points are linked to be line
Can get wheel hub edge line.
Improve as further, when the noncontact main frame of noncontact four-wheel position finder includes led transmitting tube, in step
Before one, led transmitting tube works, and the structure fringe launched projects on tire and wheel hub；In step one, three-dimensional imaging group
Part receives the projection that light is structure fringe.
The present invention having the beneficial effect that with respect to prior art
1) it is not necessary to fixture, user does not need installation targets target to wheel to the noncontact four-wheel position finder of the present invention,
Equipment and wheel do not have any physical contact, and measurement is convenient and swift.
2) three-dimensional imaging assembly is set, with stereoscopic imaging technology, in conjunction with three dimensional analysis method, so that equipment is had faster
Fast, more accurately, more saving working hour the advantages of.
3) each industrial camera (second camera) only receives the knot of the led transmitting tube projection of specific wavelength (infrared light wavelength)
Structure grating, can exclude the impact that ambient projects to wheel, thus improving certainty of measurement so that four-wheel position finder of the present invention
Certainty of measurement reaches 0.01 degree.When a noncontact main frame is provided with four second cameras, main frame can read in the world 95%
Above tire of different shapes.
Brief description
Fig. 1 tests the main structure diagram of vehicle four wheel locating parameter for noncontact four-wheel position finder；
Fig. 2 tests the overlooking the structure diagram of vehicle four wheel locating parameter for noncontact four-wheel position finder；
Fig. 3 is the light conditions figure of noncontact host test vehicle four wheel locating parameter；
Fig. 4 is noncontact main frame and guide rail structure schematic diagram；
Fig. 5 is noncontact main frame side structure schematic view；
Wherein, 1, with reference to figure target；2nd, it is used for placing the support with reference to figure target；3rd, noncontact main frame；31st, front-wheel noncontact master
Machine；32nd, trailing wheel noncontact main frame；4th, automobile；5th, guide rail；6th, second camera a；7th, led transmitting tube；8th, second camera b；9 is
One camera；10 is wheel.
Specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are described in detail.
A kind of noncontact four-wheel position finder, including four-wheel aligner APU, also include noncontact main computer unit and
It is respectively arranged on two that need to position automobile both sides with reference to figure target 1, described noncontact main computer unit includes at least one noncontact
Main frame 3, each noncontact main frame 3 is connected with four-wheel aligner APU respectively, and each noncontact main frame 3 includes clapping
Take the photograph the first filming apparatus with reference to figure target 1 to divide with the three-dimensional imaging assembly needing to position automotive wheel, four-wheel aligner can be shot
The positional information and the image information meter that need to position four wheels of automobile that analysis processing meanss obtain according to noncontact main computer unit
Calculate the four wheel locating parameter of each wheel；Described three-dimensional imaging assembly is the multiple second counts being obtained in that wheel stereogram
Take the photograph device.Can be that four-wheel aligner APU needs positioning four wheels of automobile according to what noncontact main computer unit obtained
Positional information and image information calculate the threedimensional model needing to position four wheels of automobile overall situation, and then calculate each car
Every four wheel locating parameter of wheel.The threedimensional model of the overall situation can comprise four wheel contour shapes and the mutual position of four wheels
Put the stereoscopic model of relation.
When a noncontact main frame is placed on the side (left side or right side) needing to position automobile, and want to obtain certain car
During the image of wheel, multiple second filming apparatus of this noncontact main frame can obtain the stereogram of this wheel.
The present invention uses stereoscopic imaging technology, and the every four wheel locating parameter data not only obtaining is accurate, quick, Er Qieneng
Enough four wheel locating parameters such as test toe-in angle, camber angle, propulsion angle, angle of shrinking back, wheelspan, wheelbase, wheelspan difference and wheelbase difference.When
So, four wheel locating parameter can also be in toe-in angle, camber angle, propulsion angle, angle of shrinking back, wheelspan, wheelbase, wheelspan difference and wheelbase difference
Multiple.
Preferably, described first filming apparatus are first camera 9, and the second filming apparatus are second camera；It is arranged at each
Multiple second cameras of noncontact main frame are respectively arranged on second camera a6 on this noncontact main frame top and to be arranged on this non-
Second camera b8 of contact main frame 3 bottom；Two are arranged on before noncontact main computer unit with reference to figure target 1.Multiple second phases
Machine is the multiple second cameras being obtained in that many stereograms.Certainly, second camera a and second camera b are also obtained in that wheel
Stereo pair images.
Second camera b8 can be set and be three, the stereo-picture of each wheel so obtaining becomes apparent from accurately.One
Individual noncontact main frame arranges four cameras so that this noncontact main frame can read in the world more than 95% wheel of different shapes
Tire.
When some wheel of noncontact host test, in order to preferably observe, it is preferably provided in this noncontact main frame
The height of three-dimensional imaging assembly and width be less than or the height close to this wheel and width.This noncontact master can be disposed on
The second camera a overhead height of machine is close with this hub for vehicle wheel overhead height or flushes, and second camera b bottom level is in this wheel
On bottom level, preferably close to bottom, the right of the left hand edge of second camera b of the leftmost side and second camera b of the rightmost side
The distance between edge and the diameter less than wheel.Certainly, wheel includes tire and wheel hub.
Preferably, each noncontact main frame also includes the led being separately positioned between second camera a6 and second camera b8
Transmitting tube 7, the led transmitting tube that described led transmitting tube 7 is arranged at a noncontact main frame for two rows is divided into upper and lower two
Row.Noncontact main frame second camera only receives the structure fringe (infrared light) of led transmitting tube projection, can exclude ambient pair
The impact of wheel projection, thus improve certainty of measurement.Certainly, when certain noncontact main frame setting led transmitting tube 7, it is arranged at
Second camera a6 of this noncontact main frame and three second cameras b8 can receive the structure fringe that led transmitting tube projects, that is,
It is arranged at second camera a6 of each noncontact main frame and three second cameras b8 are cameras with filtering functions.Led sends out
Penetrating pipe 7 is two rows so that second camera can preferably observe wheel.
Preferably, (be arranged at each noncontact main frame) often row led transmitting tube every two LED lamps between spacing be
60 centimetres, the angle of every LED lamp and horizontal direction is 45 degree.And then second camera can preferably receive led transmitting tube and send out
The projection of the structure fringe going out, and then preferably observe wheel.
Preferably, described noncontact four-wheel position finder also includes two guide rails 5, and it is fixed that this two guide rails 5 are respectively arranged on needs
The both sides of position automobile, every guide rail 5 slide and are provided with least one noncontact main frame 3.Setting guide rail 5, can allow noncontact master
Machine movement is convenient.Each noncontact main frame on each guide rail 5 can shoot and be arranged at one of this guide rail side
With reference to figure target 1.When a noncontact main frame 3 is arranged on every guide rail, can be multiple second cameras of this noncontact main frame
First shoot a wheel 10 being disposed in proximity to this guide rail side, obtain the stereogram of this wheel, more extremely should along guide rail is mobile
Shoot at side another one wheel 10, obtain the stereogram of this wheel, certainly, each shooting all have taken and is arranged at this side
One with reference to figure target 1.Preferably noncontact main frame 3 is four, and each noncontact main frame 3 is matched with a wheel 10, that is, often
Multiple second cameras of one noncontact main frame 3 are used for shooting a wheel 10, carry out three-dimensional imaging to this wheel, are somebody's turn to do
The stereogram of wheel.So test is more convenient.When two noncontact main frames are arranged on every guide rail, during test, often
The three-dimensional imaging assembly of individual noncontact main frame shoots a wheel, obtains the image information of this wheel, each noncontact main frame
First camera shoots one that is arranged at this noncontact main frame side with reference to figure target, obtains the positional information of each wheel 10.Can
It is arranged on the front side of this noncontact main frame with the first camera being each noncontact main frame, and three-dimensional image-forming assembly (multiple second
Camera) it is arranged on this noncontact main frame near the side of wheel.
Preferably, also it is fixedly connected with, under described noncontact main frame 3, the intelligent controlling device that can move back and forth along guide rail,
Described intelligent controlling device can be realized sliding and stop to slide by the order of four-wheel aligner APU.Described intelligence
Control device generally comprises the gripper shoe being slidably arranged on guide rail and the intelligent electric machine being fixedly installed on the supporting plate, and intelligence is controlled
Device processed can move back and forth along guide rail, in moving process, when the three-dimensional imaging assembly of noncontact main frame obtains a wheel
The most clearly stereo-picture when, four-wheel aligner APU can send order make intelligent electric machine stop move, and then make
Noncontact main frame stops moving, and when needing measuring setting in the stereo-picture of another wheel of this side, four-wheel aligner is analyzed
Processing meanss can send order and make intelligent controlling device along at mobile another wheel extremely close of guide rail, and then make noncontact master
At mobile another wheel extremely close of machine.I.e. four-wheel aligner APU can send letter according to the positional information of intelligent electric machine
Number order allows intelligent electric machine motion or stop motion.
Preferably, described four-wheel position finder also includes being arranged on needs to position the lifting machine under automobile, and two guide rails 5 are distributed
In lifting machine both sides.Setting lifting machine, test is convenient.
Preferably, noncontact main frame 3 lower surface and lifting machine upper surface are substantially flush.The figure that so second camera photographs
Piece becomes apparent from.
Present invention also offers the localization method of noncontact four-wheel position finder described above, comprise the following steps:
Step one: the three-dimensional imaging assembly of noncontact main computer unit shoots the multiple images obtaining each wheel；Wherein, often
The multiple images of individual wheel are that multiple second filming apparatus of a noncontact main frame obtain from the shooting of this lateral wheel simultaneously；Enter
And the stereogram of this wheel can be obtained；
Step 2: determine three-dimensional coordinate in world coordinate system for the pixel in each image of each wheel；Wherein, really
The three-dimensional coordinate of pixel in each image fixed, including according to the pixel in each image image coordinate system two-dimensional coordinate,
And the transformational relation of the three-dimensional coordinate under two-dimensional coordinate and world coordinate system under predetermined image coordinate system, respectively will be each
In image, the two-dimensional coordinate of pixel is converted to corresponding three-dimensional coordinate.
Step 3: four-wheel aligner APU obtains according to the picture with reference to figure target that the first filming apparatus shoot
The image information of each wheel of the positional information of each wheel and the shooting of the second filming apparatus, calculates the three of four wheels overall situations
Dimension module, and then calculate the four wheel locating parameter needing to position automobile.
Wherein, the threedimensional model calculating four wheel overall situations in step 3 can comprise the following steps: that four-wheel aligner is analyzed
The positional information of each wheel that processing meanss are obtained by reference to the picture with reference to figure target that the first filming apparatus shoot, three
Dimension world coordinates in by the multiple images of each wheel do edge extracting, cut flat with surface analysis, vehicle body plane combination obtains this wheel
Then the simulated wheel parameter of four wheels is combined data analysiss, is needed by the simulated wheel parameter of stereoscopic three-dimensional again
The threedimensional model of four wheel overall situations of automobile to be positioned, and then the every four-wheel aligner ginseng needing to position automobile can be calculated
Number.
As long as in addition, first camera shoot with reference to figure target step be arranged on step 3 before.
Improve as further, when noncontact four-wheel position finder is the noncontact four-wheel position finder being provided with led transmitting tube
When, before step one, led transmitting tube works, and the structure fringe launched projects on tire and wheel hub；In step one,
The light that three-dimensional imaging assembly receives is the projection of structure fringe, is specifically as follows:
Step one: when noncontact main frame is four, respectively two front-wheel noncontact main frames 31 and two trailing wheel noncontact main frames
When 32, this four noncontact main frames can be moved and make each noncontact main frame corresponding with the position of a wheel.For example: can
To find two front wheel positions by two front-wheel noncontact main frames, after determining two front wheel positions, two trailing wheel noncontact main frames find two
Rear wheel position.Certainly, noncontact main frame can also be one or two etc., and this sentences to illustrate as a example four noncontact main frames.
Step 2: two groups of led transmitting tubes 7 on each noncontact main frame work, by specific wavelength (wavelength of infrared light)
One group of structure fringe project on tire and wheel hub.Certainly, specific wavelength refers to infrared light, and wave-length coverage is 760nm-
1mm.
Step 3: the three-dimensional imaging assembly of four noncontact main frames receives the structure light of specific wavelength (wavelength of infrared light)
The projection of grid, the three-dimensional imaging assembly of noncontact main computer unit shoots the multiple images obtaining each wheel；Wherein, each wheel
Multiple images be a noncontact main frame multiple second cameras simultaneously from this lateral wheel shoot obtain；Certainly, image is
Obtain after the projection of structure fringe of second camera reception specific wavelength (wavelength of infrared light)；
Step 4: the picture with reference to figure target that four-wheel aligner APU is shot by reference to each first camera,
Obtain the positional information of four wheels, then, four-wheel aligner APU is in three-dimensional world coordinate by each wheel
Multiple images do edge extracting, cut flat with surface analysis, vehicle body plane combination obtains the simulated wheel parameter of this wheel stereoscopic three-dimensional；
Step 5: the simulated wheel parameter of four wheels is combined data analysiss, obtains needing to position four, automobile
The threedimensional model of the overall situation of wheel, and then the every four wheel locating parameter needing to position automobile can be calculated.
When setting structure grating, noncontact four-wheel position finder measurement essence of the present invention is recorded using GB jt/t505-2004
Degree reaches 0.01 degree.
Four-wheel aligner APU can be four-wheel aligner analyser computer.
It should be noted that the present invention is multiple refers to two or more.Lateral wheel can be certain side of automobile, example
As: rear wheel is away from the side of another one rear wheel.
Only as described above, only the preferred embodiments of the invention, when can not limit the model of present invention enforcement with this
Enclose, that is, generally according to equivalence changes simple done by the content described in the claims in the present invention and description of the invention and modification,
All it is still covered by the claims of the invention.Additionally, summary part and title are intended merely to assist patent document to search
Seek and being used, be not used for limiting the interest field of the present invention.
Claims (10)
1. a kind of noncontact four-wheel position finder, including four-wheel aligner APU it is characterised in that also including noncontact master
Machine unit and being respectively arranged on needs to position two of automobile both sides with reference to figure target, and described noncontact main computer unit includes at least one
Noncontact main frame, each noncontact main frame is connected with four-wheel aligner APU respectively, and each noncontact main frame includes energy
Reach shooting and with reference to the first filming apparatus of figure target and the three-dimensional imaging assembly needing to position automotive wheel, four-wheel aligner can be shot
The positional information and the image information that need to position four wheels of automobile that APU obtains according to noncontact main computer unit
Calculate the four wheel locating parameter of each wheel；Described three-dimensional imaging assembly is be obtained in that wheel stereogram multiple second
Filming apparatus.
2. noncontact four-wheel position finder as claimed in claim 1 is it is characterised in that described first filming apparatus are the first phase
Machine, the second filming apparatus are second camera；Being arranged at multiple second cameras of each noncontact main frame, to be respectively arranged on this non-
Second camera a on contact main frame top and second camera b being arranged on this noncontact main frame bottom；Two are arranged on reference to figure target
Before noncontact main computer unit.
3. noncontact four-wheel position finder as claimed in claim 1 is it is characterised in that each noncontact main frame also includes setting respectively
Put the led transmitting tube between second camera a and second camera b, described led transmitting tube is two rows.
4. noncontact four-wheel position finder as claimed in claim 3 is it is characterised in that described second camera b is three；Located at every row
Spacing between every two LED lamps of led transmitting tube is 60 centimetres, and the angle of every LED lamp and horizontal direction is 45 degree.
5. noncontact four-wheel position finder as claimed in claim 1 is it is characterised in that described noncontact four-wheel position finder also includes two
Bar guide rail, this two guide rails are respectively arranged on the both sides needing to position automobile, every guide rail slides and is provided with least one noncontact
Main frame.
6. noncontact four-wheel position finder as claimed in claim 5 is it is characterised in that be also fixed with energy under described noncontact main frame
Enough intelligent controlling devices moving back and forth along guide rail, described intelligent controlling device can pass through four-wheel aligner APU
Order is realized sliding and stop to slide；Described four-wheel position finder also includes being arranged on needs to position the lifting machine under automobile, two
Guide rail is distributed in lifting machine both sides.
7. noncontact four-wheel position finder as claimed in claim 6 it is characterised in that described four wheel locating parameter include toe-in angle,
Camber angle, propulsion angle, angle of shrinking back, wheelspan, wheelbase, wheelspan difference and wheelbase are poor；Noncontact main frame lower surface and lifting machine upper surface
It is substantially flush.
8. the noncontact four-wheel position finder according to any one of claim 1-7 localization method it is characterised in that include with
Lower step:
Step one: the three-dimensional imaging assembly of noncontact main computer unit shoots the multiple images obtaining each wheel；Wherein, each car
The multiple images of wheel are that multiple second filming apparatus of a noncontact main frame obtain from the shooting of this lateral wheel simultaneously；
Step 2: determine the three-dimensional coordinate in each image slices vegetarian refreshments alive boundary coordinate system of each wheel；
Step 3: each car obtaining with reference to figure target picture that four-wheel aligner APU shoots according to the first filming apparatus
The image information of each wheel of the positional information of wheel and the shooting of the second filming apparatus, calculates the three-dimensional mould of four wheels overall situations
Type, and then calculate the four wheel locating parameter needing to position automobile.
9. the localization method of noncontact four-wheel position finder according to claim 8 is it is characterised in that calculate four in step 3
The threedimensional model of the individual wheel overall situation comprises the following steps: that four-wheel aligner APU is shot by reference to the first filming apparatus
Each wheel obtaining with reference to figure target picture positional information, in three-dimensional world coordinate, the multiple images of each wheel are done
Edge extracting, line cut flat with surface analysis, vehicle body plane combination obtains the simulated wheel parameter of this wheel stereoscopic three-dimensional, then again by four
The simulated wheel parameter of individual wheel is combined data analysiss, obtains the threedimensional model needing to position four wheel overall situations of automobile,
And then the four wheel locating parameter needing to position automobile can be calculated.
10. the localization method of noncontact four-wheel position finder according to claim 8 is it is characterised in that described noncontact four
Wheel position finder is the four-wheel position finder described in claim 3 or 4, and before step one, led transmitting tube works, and is launched
Structure fringe projects on tire and wheel hub；In step one, the light that three-dimensional imaging assembly receives is the projection of structure fringe.
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| CN201610777985.8A CN106352817A (en) | 2016-08-31 | 2016-08-31 | Non-contact four-wheel positioner and positioning method thereof |
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| CN201610777985.8A CN106352817A (en) | 2016-08-31 | 2016-08-31 | Non-contact four-wheel positioner and positioning method thereof |
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Cited By (9)
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| CN106813599A (en) * | 2017-03-23 | 2017-06-09 | 深圳市鹰眼在线电子科技有限公司 | Automobile camera shooting measurement assembly and automobile three-dimensional four-wheel aligner method and system |
| CN106949857A (en) * | 2017-03-29 | 2017-07-14 | 鹤山市黑豹电子机械制造有限公司 | A kind of high capacity waggon tire localization method |
| CN107677223A (en) * | 2017-10-25 | 2018-02-09 | 烟台大学 | The wheel shooting measurement apparatus and measuring method of a kind of non-contact four-wheel position finder |
| CN109737895A (en) * | 2019-01-29 | 2019-05-10 | 深圳市鹰眼在线电子科技有限公司 | Positioning device, method and the computer readable storage medium of automotive wheel |
| CN110470490A (en) * | 2019-09-20 | 2019-11-19 | 湖南省鹰眼在线电子科技有限公司 | A kind of automobile four-wheel localization method and device based on three-dimensional sensing |
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| 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 |
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