CN111537015A

CN111537015A - Vehicle measuring equipment

Info

Publication number: CN111537015A
Application number: CN202010547726.2A
Authority: CN
Inventors: 刘连军
Original assignee: Autel Intelligent Technology Corp Ltd
Current assignee: Autel Intelligent Technology Corp Ltd
Priority date: 2020-06-16
Filing date: 2020-06-16
Publication date: 2020-08-14
Also published as: WO2021254357A1

Abstract

The embodiment of the invention discloses a vehicle measuring device, which comprises: a bracket assembly; the two wheel image acquisition assemblies are transversely arranged at two ends of the bracket assembly at intervals, so that when the bracket assembly is arranged at a position relative to the vehicle, the visual fields of the two wheel image acquisition assemblies respectively cover the areas of the wheels at two sides of the vehicle; a processor connected with the two-wheel image acquisition assemblies to receive data acquired by the two-wheel image acquisition assemblies for measuring wheel states of the vehicle based on the data acquired by the two-wheel image acquisition assemblies when the bracket assembly is positioned relative to the vehicle; and the calibration element is borne on the bracket component and is used for calibrating the driving auxiliary system of the vehicle. By the aid of the mode, the vehicle can be calibrated, the wheel state of the vehicle can be measured, convenience and rapidness are achieved, occupied area of vehicle measuring equipment is small, and measuring accuracy is high.

Description

Vehicle measuring equipment

Technical Field

The embodiment of the invention relates to the technical field of automobile calibration, in particular to a vehicle measuring device.

Background

An Advanced Driver Assistance System (ADAS) is an active safety technology that collects environmental data inside and outside a vehicle at the first time by using various sensors mounted on the vehicle, and performs technical processes such as identification, detection, tracking and the like of static and dynamic objects, so that a Driver can perceive a possible danger at the fastest time to draw attention and improve safety. The ADAS uses sensors such as cameras, radars, lasers, and ultrasonic waves, which detect light, heat, pressure, or other variables used to monitor the state of the vehicle, and are usually located on the front and rear bumpers, side-view mirrors, the inside of the steering column, or the windshield of the vehicle. In the use process of a vehicle, the physical installation state of the sensor can be changed due to vibration, collision, environment temperature and humidity and the like, so that irregular calibration or calibration is required. When calibrating the sensor, the calibration element is usually mounted on the calibration device, and the calibration element is aligned with the vehicle by aligning the calibration device.

In addition, to measure the wheel state (wheel alignment parameters) of the vehicle: camber angle, toe-in angle, thrust angle, left and right wheelbase, wheelbase difference, fore-and-aft axle offset, fore-and-aft axle wheelbase, wheelbase difference, left and right lateral offset are all measured on the wheels of the automobile by a single four-wheel aligner.

When the sensor on the automobile needs to be calibrated and the wheel state of the automobile needs to be measured, two sets of calibration equipment and two sets of four-wheel aligner equipment are needed, and the occupied area is large.

Disclosure of Invention

The embodiment of the invention aims to provide vehicle measuring equipment, which can realize the calibration of a vehicle and the measurement of the wheel state of the vehicle.

The embodiment of the invention adopts the following technical scheme for solving the technical problems: provided is a vehicle measuring device including: a bracket assembly; the two wheel image acquisition assemblies are transversely arranged at two ends of the bracket assembly at intervals, so that when the bracket assembly is arranged at a position relative to the vehicle, the visual fields of the two wheel image acquisition assemblies respectively cover the areas of the wheels at two sides of the vehicle; a processor connected with the two-wheel image acquisition assembly to receive data acquired by the two-wheel image acquisition assembly for measuring a wheel state of the vehicle based on the data acquired by the two-wheel image acquisition assembly when the bracket assembly is positioned relative to the vehicle; and the calibration element is borne on the bracket component and used for calibrating the driving assistance system of the vehicle.

In some embodiments, the bracket assembly includes a base, a riser assembly, and a cross-beam; one end of the vertical frame assembly is mounted on the base, the cross beam is mounted on the vertical frame assembly, and the cross beam is used for mounting the calibration element and the two wheel image acquisition assemblies.

In some embodiments, the two wheel image capturing assemblies are disposed at two ends of the beam, respectively.

In some embodiments, the two wheel image capturing assemblies are fixedly connected to two ends of the cross beam respectively.

In some embodiments, the wheel image capture assembly comprises two cameras, the fields of view of which respectively cover the areas of two wheels on the same side of the vehicle; or

The wheel image acquisition assembly comprises a camera, and the visual field range of the camera covers the area where two wheels on the same side of the vehicle are located.

In some embodiments, the vehicle measurement device further comprises a calibration unit comprising a calibration camera and a calibration target;

the calibration camera is arranged on one of the two wheel image acquisition assemblies, and the calibration target is arranged on the other of the two wheel image acquisition assemblies;

the field of view of the calibration camera covers the calibration target and is electrically connected with the processor;

the processor is further configured to determine a relative position of the two wheel image capture assemblies from image data captured by the calibration camera.

In some embodiments, the vehicle measurement apparatus further comprises a positioning assistance structure mounted to the cross beam;

the positioning auxiliary structure comprises a positioning auxiliary wheel image acquisition assembly, the positioning auxiliary wheel image acquisition assembly is used for acquiring images of the vehicle and is electrically connected with the processor;

the processor is further configured to position the carriage assembly based on the image acquired by the positioning assist wheel image acquisition assembly.

In some embodiments, the positioning assist wheel image capture assembly is mounted to a portion of the cross beam between the ends.

In some embodiments, the vehicle measurement apparatus further comprises a positioning assistance structure;

the positioning auxiliary structure is a laser and is used for transmitting laser to a vehicle or the ground where the vehicle is located so as to position the support assembly.

In some embodiments, the processor is mounted to the stand assembly.

In some embodiments, the rack assembly further comprises a mount;

the mounting piece is mounted on the cross beam, and the cross beam mounts the calibration element through the mounting piece.

In some embodiments, the cross beam is provided with transverse slide rails, the payload is mounted to the transverse slide rails, and the payload is movable along the transverse slide rails.

In some embodiments, the cross beam is movable in a vertical direction relative to the riser assembly; and/or

The cross beam can rotate around the vertical direction relative to the stand assembly; and/or

The cross member is movable along its length relative to the riser assembly.

In some embodiments, the vehicle measurement device further comprises an output;

the output device is electrically connected with the processor and used for prompting a user of an output result of the processor.

According to the embodiment of the invention, the vehicle can be calibrated only through the vehicle measuring equipment, the state of the wheels of the vehicle can also be measured, the occupied area of the equipment is reduced, and the method is convenient and quick.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.

Fig. 1 is an application scenario diagram of a vehicle measurement device according to an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a vehicle measuring device provided by an embodiment of the invention;

FIG. 3 is a block diagram of a system for measuring a vehicle by the vehicle measuring device shown in FIG. 1;

FIG. 4 is a schematic view of the installation of a calibration unit in the vehicle measuring device shown in FIG. 2;

FIG. 5 is a schematic view of a base in the vehicle measuring apparatus shown in FIG. 2;

FIG. 6 is a schematic view of a stand assembly in the vehicle measuring apparatus of FIG. 2;

FIG. 7 is a schematic upper structural view of the drive mechanism in the riser assembly shown in FIG. 6;

FIG. 8 is a schematic upper section of the drive mechanism in the riser assembly of FIG. 6;

FIG. 9 is a schematic view of a nut seat assembly of the vehicle measuring device of FIG. 2;

FIG. 10 is a schematic view of the fastening assembly on the nut seat assembly shown in FIG. 9;

FIG. 11 is an exploded view of the cross beam assembly in the vehicle measuring device of FIG. 2;

FIG. 12 is a schematic view of the cross-beam and the components mounted thereon;

FIG. 13 is a schematic view of the mounting of the wheel image capture assembly to the cross-beam;

FIG. 14 is a schematic diagram of a trim assembly in the vehicle measuring device of FIG. 2;

FIG. 15 is an installation schematic of the trim assembly;

FIG. 16 is a schematic view of the installation of the fine adjustment assembly with the nut holder assembly;

FIG. 17 is a schematic view of the installation of the trim assembly with the beam assembly.

Detailed Description

In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "vertical," "lateral," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship as shown in the drawings for convenience in describing the present invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Referring to fig. 1, fig. 2 and fig. 3, a vehicle measuring apparatus for measuring wheel state of a vehicle and calibrating a driving assistance system of the vehicle according to an embodiment of the present invention is provided.

The vehicle measuring device includes a bracket assembly 100, two wheel

image capturing assemblies

200a,200b, a processor 300, and calibration elements (not shown). The stand assembly 100 includes a base 10 and a stand assembly 20 mounted on the base 10.

The stand assembly 20 is used to carry calibration elements and two wheel

image capture assemblies

200a,200b, and in some embodiments, the stand assembly may also be used to carry the processor 300.

The two wheel

image capturing assemblies

200a,200b are transversely disposed at two ends of the bracket assembly 100 at intervals, so that when the bracket assembly is disposed at a position corresponding to the vehicle, the field of view of the two wheel

image capturing assemblies

200a,200b respectively covers the areas where the wheels on two sides of the vehicle are located. Relative to the position of the vehicle, e.g. in front of or behind the vehicle. The wheel can be located in a certain space range including the wheel, if in some scenes, the wheel is provided with a target carrying a pattern, the view range of the wheel image acquisition assembly needs to cover the target, so that the wheel can be positioned by identifying the pattern carried on the target by combining the processor 300, and if in other scenes, the wheel image acquisition assembly only needs to acquire the image of the wheel and can position the wheel by combining the processor 300 to identify the wheel image. The wheel image capture assembly may be static or dynamic with respect to the captured image. For example, when the vehicle is in a static state, i.e. no position movement occurs with respect to the ground, the wheel image acquisition assembly processes the acquired static image of the wheel; for another example, the wheel image capturing assembly processes the captured dynamic images of the wheels of the vehicle in a dynamic state, such as when the vehicle is traveling within a certain range. The transverse interval between the two wheel image acquisition assemblies means that the heights of the two wheel image acquisition assemblies relative to the ground where the vehicle is located are the same or approximately the same, and a straight line passing through the two wheel image acquisition assemblies is horizontal or approximately horizontal to the ground where the vehicle is located. The lateral separation distance between the two wheel image capturing assemblies may be determined based on the width of the vehicle, and in some embodiments, the lateral separation distance between the two wheel image capturing assemblies may be adjustable, or alternatively, the lateral separation distance between the two wheel image capturing assemblies may be fixed. In the embodiment of the application, the mode that the grudging post subassembly is used for realizing two wheel image acquisition subassemblies and transversely spaced can include being provided with the crossbeam on the grudging post subassembly, this crossbeam is adjustable to parallel with vehicle place ground, the wheel image acquisition subassembly sets up in the both ends of crossbeam, or, be provided with two arms of symmetry on the grudging post subassembly, the one end and the grudging post subassembly of each arm are connected in the both arms, the wheel image acquisition subassembly is installed to the other end of each arm, under this kind of condition, the motion of grudging post subassembly both arms is synchronous, can set up the arm length of both arms, or the height-adjustable of both arms, furtherly, can set up both arms and can rotate for the grudging post subassembly is synchronous, in order to adjust the angle of two wheel image acquisition subassemblies for the grudging post subassembly. The implementation manner of the lateral spacing of the two wheel image capturing assemblies in the embodiment of the present application is not limited in the present application.

In some implementation modes, the two wheel image acquisition assemblies are detachably mounted on the stand assembly, namely the two wheel image acquisition assemblies can exist in the form of accessories of the support assembly, when the ADAS calibration function is only needed to be achieved, the two wheel image acquisition assemblies do not need to be mounted, if wheel parameters need to be calculated, or when wheels of a vehicle are detected, the two wheel image acquisition assemblies are mounted on the stand assembly, and the two wheel image acquisition assemblies can be fixedly or movably mounted on the stand assembly. In order to ensure that the mounting precision of the two wheel image acquisition assemblies does not influence the calculation of wheel parameters, the mounting positions of the wheel image acquisition assemblies on the support assembly can be identified, or a special mounting mode is designed, so that the wheel image acquisition assemblies can be mounted on the preset positions of the support assembly.

The wheel image acquisition assembly can be a device only having an image acquisition function, such as an image acquisition sensor, a camera or a video camera, and the like, and can also be a device having an image acquisition function and capable of processing images, and can perform processing such as format conversion, storage, pixel calculation, cutting or assignment and the like on the images. The wheel image acquisition assembly is used for acquiring image data of an object in the area where the wheel is located.

In the embodiments of the present application, the bracket assembly being positioned relative to the vehicle means that the bracket assembly is positioned at a designated or predetermined position relative to the vehicle, or the bracket assembly is positioned at any position within a designated range relative to the vehicle. In order to be able to position the calibration element or the wheel image capturing assembly accurately, and thus not affect the calibration accuracy or the accuracy of the captured image, the carriage assembly carrying the calibration element or the wheel image capturing assembly is usually specified in its position relative to the vehicle, the specification may be recorded on a user operation manual, the user may perform the accurate positioning of the carriage assembly step by step through the recording step, or the specification may be executable by a processor, and the processor may output a control command to drive the carriage assembly to automatically position to a preset position. The calibration element or the wheel image acquisition assembly can be fixedly or movably arranged on the bracket assembly, and if the calibration element or the wheel image acquisition assembly is movably arranged on the bracket assembly, the movable mechanism between the calibration element or the wheel image acquisition assembly and the bracket assembly can be adjusted to accurately position the calibration element or the wheel image acquisition assembly to a preset position. Alternatively, if the calibration algorithm or the wheel detection algorithm allows a certain error, the mount assembly may be placed within a specified range with respect to the vehicle, and if the mount assembly is within the specified range, the positioning error of the mount assembly may be calibrated by a subsequent calibration algorithm or wheel detection algorithm.

The processor 300 is connected, e.g., wired or wirelessly, to the two wheel

image capturing assemblies

200a,200b to receive data captured by the two wheel

image capturing assemblies

200a,200b for measuring wheel attitude of the vehicle based on the data captured by the two wheel

image capturing assemblies

200a,200b when the bracket assembly is positioned relative to the vehicle. The wheel state measurement is specifically to position the wheel, and includes comprehensively measuring various positioning parameters of the wheel, such as camber angle, toe-in angle and the like; or whether the wheel needs to be positioned is detected, and whether the current state of the wheel needs to be comprehensively detected or not can be only judged through a simple algorithm, that is, the positioning of the wheel is further performed.

The calibration element is carried on the bracket component and used for calibrating the driving assistance system of the vehicle. The vehicle driving system can be divided into an adaptive cruise system, a blind spot system, a vehicle deviation warning system and the like according to different functions. The self-adaptive cruise system mainly comprises radars, the radars of the self-adaptive cruise system can be single radars or double radars, the single radars are generally arranged in the middle of the head of the vehicle, and the double radars are generally arranged on two sides of the head of the vehicle. The radar in the adaptive cruise system may be calibrated by an adaptive cruise system calibration element, which may be a radar calibration board (for reflecting waves emitted by the radar), a radar calibration box, a corner reflector, or other radar calibration elements. The blind spot system mainly comprises a radar, the radar of the blind spot system is generally arranged at the tail of the vehicle, the blind spot system can be calibrated through a calibration element of the blind spot detection system, and the calibration element of the blind spot detection system can be a multi-common-thunder generator, namely a blind spot box, a radar calibration box and the like. The vehicle deviation warning system mainly comprises a camera on a vehicle window of the vehicle, and the vehicle deviation warning system can be calibrated through the pattern plate.

Referring again to FIG. 2, in some embodiments of the present application, the carriage assembly further includes a cross-beam assembly 30 and a fine-tuning assembly 40. The stand assembly 20 is mounted on the base 10, and the stand assembly 20 extends in a substantially vertical direction; the cross member assembly 30 is mounted to the riser assembly 20 and is movable in a vertical direction relative to the riser assembly 20. The two wheel

image capture assemblies

200a,200b are disposed at either end of the beam assembly 30, each including one or more cameras having a field of view generally directed toward the vehicle for viewing the wheels of the vehicle as desired.

The wheel image capturing assembly 200a is described as covering the area where the two wheels on the left side of the vehicle are located, and the wheel image capturing assembly 200b is described as covering the area where the two wheels on the right side of the vehicle are located.

The wheel image acquisition assembly 200a is used for acquiring relevant image data of two wheels on the left side of the vehicle; the wheel image capture assembly 200b is used to acquire image data relating to two wheels on the right side of the vehicle.

In this embodiment, each of the two wheel

image capturing assemblies

200a,200b includes two cameras, wherein the field of view of the two cameras on the wheel image capturing assembly 200a covers the area where the two wheels on the left side of the vehicle are located, respectively, that is, one camera is responsible for capturing the related image of the front wheel on the left side of the vehicle, and the other camera is responsible for capturing the related image of the rear wheel on the left side of the vehicle; the field of view of the two cameras on the wheel image capture assembly 200b respectively cover the area where the two wheels on the right side of the vehicle are located. For two cameras arranged in the wheel image acquisition assembly, the relative positions and angles of the two cameras are fixed, so that the position relations of the images acquired respectively can be correspondingly obtained in the calculation process.

In other embodiments, the two wheel

image capturing assemblies

200a,200b each include only one camera, wherein the field of view of one camera on the wheel image capturing assembly 200a covers the area where the two wheels on the left side of the vehicle are located; the field of view of one camera on the wheel image capture assembly 200b covers the area where the two wheels on the right side of the vehicle are located.

In one embodiment, to improve the accuracy of the image data collected by the two wheel

image capturing assemblies

200a,200b, a light source may be provided on each of the wheel image capturing assembly 200a and the wheel image capturing assembly 200b to illuminate the wheels on both sides of the vehicle, and the light source may be a Light Emitting Diode (LED), or any light with illumination function.

The cross beam assembly 30 is vertically movable up and down relative to the stand assembly 20 to accommodate variations in the height of different vehicles or different heights of different equipment to be calibrated on the vehicle. Movement of the beam assembly 30 in the vertical direction may be performed by any conventional means, such as a slide, gear drive, screw drive, etc. The mechanism for driving the movement of the beam assembly in the vertical direction may be manually actuated or may be driven by a suitable motor under manual control by an operator or under automatic software control.

The cross beam assembly 30 can rotate relative to the stand assembly 20 in a vertical direction (e.g., a longitudinal axis of the cross beam assembly), and the adjustment of the angle rotation of the cross beam assembly 30 in the vertical direction can make the cross beam assembly substantially parallel to the head of the vehicle, thereby improving the mounting accuracy of the wheel image capturing assemblies mounted on the cross beam assembly 30, or the cross beam assembly 30 can move left and right relative to the stand assembly 20 in a horizontal direction (a length direction of the cross beam assembly) to achieve a desired field of view of the camera or other image capturing assemblies mounted on the cross beam assembly. Rotation of the beam assembly about the vertical may be by any conventional means and the mechanism for driving rotation of the beam assembly about the vertical may be: link-type rotary mechanisms, crank-type rotary mechanisms, and the like. The beam assembly 30 is moved horizontally by a fine adjustment assembly 40, as will be described in more detail below.

It is understood that in other embodiments, the wheel image capturing assembly 200a and the wheel image capturing assembly 200b may include two-axis or three-axis holders, respectively, through which the wheel image capturing assembly is mounted to the beam assembly, and the holders may receive control commands to adjust their capturing angles or may be manually adjusted to change the capturing angles. The embodiment of the application does not limit the realization structure of the holder, and the shooting angle of the camera in the road image acquisition assembly can be adjusted according to the requirement.

The processor 300 is electrically connected to the two wheel

image capturing assemblies

200a,200b, and the processor 300 is configured with suitable logic circuit components and software instructions to receive data captured by the two wheel

image capturing assemblies

200a,200b, evaluate the image data to identify the relative spatial position of the observation wheels and calculate the wheel attitude of the vehicle based on the data captured by the two wheel image capturing assemblies, i.e., measure wheel alignment parameters (e.g., camber angle, toe angle, etc.) of the wheels.

It is understood that the configuration of the processor 300, the wheel image capture assembly 200a and the wheel image capture assembly 200b are generally known in the art of machine vision vehicle wheel alignment and may vary from the specific configuration described herein without departing from the scope of the present invention, so long as the processor 300 is able to determine the wheel state of the vehicle.

The processor 300 in the embodiment of the present application may implement multiple functions, for example, the processor 300 may implement the wheel positioning or wheel detecting manner described above, or the processor 300 may control the positioning of the calibration element in combination with the calibration method, and the like. The processor 300 may comprise a plurality of processing units to implement the above functions, respectively, wherein the plurality of processing units may be integrated in the same apparatus, or the plurality of processing units may be distributed on the rack assembly according to the wiring requirement.

Referring to fig. 4, the vehicle measurement apparatus further includes a calibration unit 400, and the calibration unit 400 includes a calibration camera 410 and a calibration target 420. The calibration camera 410 is disposed in a fixed, invariant relationship to one of the two wheel

image capture assemblies

200a,200b and the calibration target 420 is disposed in a fixed, invariant relationship to the other of the two wheel

image capture assemblies

200a, 200b. The field of view of the calibration camera 410 covers the calibration target 420 for acquiring image data related to the calibration target, the calibration camera 410 is electrically connected to the processor 300, and the processor 300 is further configured to determine the relative spatial positions of the wheel

image capturing assemblies

200a and 200b according to the image data acquired by the calibration camera 410, and then determine the relative spatial positions of four wheels by combining the data acquired by the two wheel image capturing assemblies, thereby calculating the four wheel states of the vehicle.

In one embodiment, to improve the accuracy of the image data collected by the calibration camera 410, a light source may be disposed on the calibration camera 410 to illuminate the calibration target 420, and the light source may be a Light Emitting Diode (LED) or any light emitting body with an illuminating function.

The vehicle measuring device may also calibrate a driving assistance system on the vehicle, and before calibration, the position of the vehicle measuring device may be adjusted to align the vehicle measuring device with the vehicle in a desired position or orientation. Therefore, prior to calibrating the vehicle, the bracket assembly is generally positioned at the geometric centerline or thrust line of the vehicle.

The geometric central line or the thrust line of the vehicle is a straight line formed by connecting a central point between the centers of two rear wheels of the vehicle and a central point between the centers of two front wheels of the vehicle.

Referring back to fig. 2 and 3, in order to conveniently calibrate the driving assistance system of the vehicle, the vehicle measuring apparatus further includes a positioning assistance structure 500, and the positioning assistance structure 500 is mounted to the cross beam assembly 30.

In this embodiment, the positioning assistance structure 500 includes a positioning assistance image capturing assembly installed at a portion between both ends of the beam assembly 30. The positioning auxiliary image acquisition assembly is used for acquiring images of the vehicle and is electrically connected with the processor 300, and the processor 300 is used for calculating the position of the bracket assembly relative to the center line of the vehicle according to the image data acquired by the positioning auxiliary image acquisition assembly, positioning the bracket assembly according to the calculation result (moving the bracket assembly to the position of the center line of the vehicle according to the calculation result), and aligning the vehicle measuring equipment to the vehicle according to the expected position or direction.

Specifically, if the position of the cradle assembly relative to the geometric centerline or thrust line of the vehicle needs to be adjusted, appropriate guidance can be provided to the operator by the processor 300 based on the determined relative position of the cradle assembly. The guidance may be in any of a variety of formats, such as numeric (i.e., 2 inches to the left), symbolic (i.e., an arrow pointing and/or a sliding bar graph), or audible (i.e., a tone or sound when the correct position is reached). The guidance may be static guidance, wherein updates to positional data are not acquired until the carriage assembly is stationary, or alternatively, the guidance may be dynamic, wherein the processor 300 receives images from the positioning assistance image capturing assembly during movement of the carriage assembly and provides sequentially updated or "real-time" instructions to the operator to assist in the precise positioning of the carriage assembly relative to the vehicle.

In one implementation, the positioning assistance structure 500 is a laser for emitting laser to the vehicle or the ground where the vehicle is located so as to position the bracket assembly. Specifically, the positioning assistance structure comprises two laser range finders and two assistance targets. Two laser range finder horizontal interval set up in the both ends of bracket component, and avoid two wheel image acquisition subassemblies, two supplementary targets install respectively in the wheel of vehicle both sides is last, two laser range finder respectively the outgoing laser extremely on two supplementary targets, and the warp two supplementary targets reflect extremely on two laser range finder's the scale, according to the degree adjustment of scale the position of bracket component.

The carriage assembly further includes a mount 50, the mount 50 being slidably mounted to the beam assembly 30. The mount may be used to mount one of the positioning assistance image capturing assembly and the calibration element.

Once the bracket assembly is positioned at a desired location relative to the vehicle, the position and orientation of the indexing elements relative to the stand assembly 20 can be adjusted via the mount 50 so that the indexing elements are properly positioned within the field of view associated with the vehicle driving assistance system.

The precise location of the mounts that place the calibration elements in the desired positions for use may optionally be implemented under the direction of the processor 300 in response to data acquired by the positioning assistance structure. For example, in the case that the bracket assembly is positioned substantially at the center line of the vehicle, a positioning auxiliary image capturing assembly is mounted on the mount 50, the positioning auxiliary image capturing assembly can be used for capturing images of the device to be calibrated on the vehicle, and the processor 300 determines the position of the positioning auxiliary image capturing assembly relative to the device to be calibrated according to the images captured by the positioning auxiliary image capturing assembly, and then moves the positioning auxiliary image capturing assembly to a specific position so as to align the positioning auxiliary image capturing assembly with the device to be calibrated on the vehicle. The position of the positioning auxiliary image capturing assembly represents the installation position of the calibration element on the bracket assembly 100, that is, the positioning auxiliary image capturing assembly is installed on the mount 50, after the position is determined, the positioning auxiliary image capturing assembly is detached from the mount 50, the calibration element is mounted on the mount 50, the alignment of the calibration element is completed, and finally the calibration element, such as a radar standard-reaching part, a pattern plate, a blind spot box and the like, is mounted according to actual requirements, so as to calibrate the advanced driving auxiliary system of the vehicle.

It should be noted that the device to be calibrated may be a sensor of an adaptive cruise system, for example: sensors of night vision systems, sensors of blind spot systems, sensors of vehicle deviation warning systems, etc., whereas the position of the device to be calibrated of different systems on the vehicle is different, for example: the sensor of the blind spot system is generally arranged at the tail of the vehicle, the sensor of the night vision system is generally arranged at the position of the vehicle head deviated from the middle point, and the sensor of the self-adaptive cruise system is generally arranged at the two sides of the vehicle head.

In one embodiment, the vehicle measuring device further comprises an output device 600, wherein the output device 600 is electrically connected with the processor 300 and is used for prompting the user of the output result of the processor 300 and providing proper guidance for the operator, and the output device can comprise a display screen, a sounder and the like.

Wherein the processor 300 is disposed within the stand assembly 20. The stand assembly 20 may also be used to house electrical wires or the like that transmit electrical signals. Of course, the processor 300, the wires, etc. may be accommodated in the base 10, the beam assembly 30 or the fine adjustment assembly 40, or the processor 300, the output device 600, the wires, etc. may be accommodated in external components attached to the outer surfaces of the base 10, the stand assembly 20, the beam assembly 30 or the fine adjustment assembly 40. It is understood that the bracket assembly 100 may further include a power supply device, which includes a battery for supplying power to the wheel image capturing assembly, the calibration camera, the processor, the output device, and the like, wherein the battery may be a zinc-manganese battery, an alkaline battery, a nickel-cadmium battery, a lithium battery, or a rechargeable battery. Alternatively, the power supply unit may be detachably mounted to the bracket assembly, or the power supply unit may be fixedly mounted to the bracket assembly.

The relative connection of the components of the bracket assembly 100 will be described in detail below to ensure the measurement feasibility of the vehicle measuring device.

Referring to fig. 5, the base 10 includes a base body 12, a roller 14 and a height adjusting member 16. The base body 12 is in an i shape and is symmetrically arranged, and includes a main body portion and two side portions extending from the main body portion to two sides. The base body 12 may be made of a metal material, the rollers 14 are mounted on bottom surfaces of two side portions of the base body 12, the number of the rollers 14 may be four, and one roller 14 is mounted at a tail end of each side portion to facilitate movement of the base body 12. In this embodiment, the roller 14 is a universal moving roller, so that the base body 12 can move freely back and forth, left and right.

The height adjuster 16 is mounted to the base body 12 for adjusting the height of the stand assembly. The height adjusting pieces 16 are adjusting knobs, the number of the height adjusting pieces is four, at least one section of screw rod is arranged below each knob, and the screw rods are matched with the threaded through holes in the base body 12, so that height adjustment can be realized. Each of the height adjusting members 16 is installed at both ends of each of the side portions and is adjacent to a corresponding one of the rollers 14. In one implementation, the height adjusting member 16 can be adjusted to make the height adjusting member 16 contact with the ground, so as to jack up the roller 14, and prevent the base 10 from sliding under the driving of the roller 14 during use.

It is understood that in some other embodiments, the shape of the base body 12 may vary according to actual requirements, and is not limited to the "i" shape, for example, the base body 12 may be rectangular or triangular claw-shaped; the number of the rollers 14 and the height adjusting members 16 may be increased or decreased according to actual requirements, for example, for a triangular claw-shaped base body, the base body includes three claws, the three claws extend along three different directions, the number of the rollers may be three, each roller is mounted at the end of a corresponding claw, the number of the height adjusting members is three, each height adjusting member is mounted at a corresponding claw and is close to a corresponding roller, and the three height adjusting members are distributed in a regular triangle.

Dispose the gyro wheel on the base, conveniently place the bracket component in the position for the vehicle, in this embodiment, the bracket component is placed in the position for the vehicle and is referred to: the bracket assembly is moved to the centerline or thrust line of the vehicle, and the field of view of the two wheel

image capturing assemblies

200a,200b respectively cover the area where the wheels on both sides of the vehicle are located.

Referring to fig. 6 and 9, the stand assembly 20 includes a stand body 22, a first slide rail 24, a nut seat assembly 26 and a driving mechanism 28, the stand body 22 is a symmetrical structure, the stand body 22 is vertically fixed to the base body 12, the first slide rail 24 is fixed to a side surface of the stand body 22, and the first slide rail 24 extends from a top end of the stand body 22 to a bottom end of the stand body 22. In this embodiment, the number of the first slide rails 24 is two, and the two first slide rails are respectively disposed at two ends of the same side of the stand body 22. The cross beam assembly 30 is mounted on the nut holder assembly 26, a first sliding block 261 matched with the first sliding rail 24 is fixedly arranged on the nut holder assembly 26, and the first sliding block 261 is matched with the first sliding rail 24, so that the nut holder assembly 26 can move along the length direction of the stand body 22. The drive mechanism 28 is mounted to the stand body 22 for driving the nut seat assembly 26 to move along the stand body 22 to move the cross beam assembly 30 in a vertical direction relative to the stand body 22.

In one embodiment, a limiting device is disposed at each end of the first slide rail 24 to prevent the nut mounting seat 26 from sliding out of the stand body 22.

Referring to fig. 7 and 8, the driving mechanism 28 includes a hand wheel 281, a housing 282, a lead screw 283 and a gear assembly.

The gear assembly includes a first bevel gear 284, a second bevel gear 285, a first drive pulley 286, a second drive pulley 287, a timing belt 288, and a motor assembly.

The housing 281 is fixedly installed at the upper end of the stand body 22, and the motor assembly is installed at the lower end of the stand body 22.

The hand wheel 281 is mounted to the housing 282, and the hand wheel 281 is rotatable about a first rotation axis O1.

The movement of the position of the nut holder assembly 26 can be made more accurate and labor-saving by the gear drive assembly in which the first bevel gear 284 is located within the housing 282 and is fixedly mounted to the hand wheel 281. The rotation axis of the first bevel gear 284 coincides with the rotation axis of the hand wheel 281, and the first bevel gear 284 and the hand wheel 281 are rotatable together about the first rotation axis O1.

The second bevel gear 285 is located in the housing 282, is fixedly attached to a top end of the lead screw 283, and is rotatable about a second rotation axis O2, and a central axis L of the stand body 22 is parallel to the second rotation axis O2. The first bevel gear 284 and the second bevel gear 285 mesh.

The rotation axis of the lead screw 283 coincides with the rotation axis of the second bevel gear 285, and the first rotation axis O1 is perpendicular to the second rotation axis O2.

When the hand wheel 281 rotates around the first rotation axis O1, the first bevel gear 284 is driven to rotate around the first rotation axis O1, and the second bevel gear 285 and the lead screw 283 rotate around the second rotation axis O2.

The motor assembly includes a motor 289, and the motor 289 can be controlled manually or can be rotated by receiving a control command. The first driving pulley 286 is installed in the motor assembly, the first driving pulley 286 is connected with an output shaft of the motor 289, the second driving pulley 287 is fixedly installed at the bottom end of the screw rod 283, and the first driving pulley 286 and the second driving pulley 287 are driven by the synchronous belt 288.

When the rotation axis of the second driving pulley 287 coincides with the rotation axis of the lead screw 283, and the motor 289 rotates the first driving pulley 286, the second driving pulley 287 and the lead screw 283 rotate around the second rotation axis O2 by the timing belt 288.

Referring to fig. 9 and 10, the nut 262 matched with the lead screw 283 is fixedly disposed on the nut seat assembly 26, specifically, the lead screw 283 is in threaded connection with the nut 262, when the lead screw 283 rotates, the nut 262 can ascend or descend along the lead screw 283, that is, when the lead screw 283 rotates, the nut seat assembly 26 is driven to ascend or descend along the length direction of the lead screw 283, so that the beam assembly 30 ascends or descends along the vertical direction relative to the stand body 22.

The rotation of the motor 289 can be controlled by software instructions in the processor to achieve the movement and stopping of the beam assembly 30 in the vertical direction; the rotation of the handwheel 281 can also be manually controlled by an operator through the output device, so as to realize the movement and the stop of the beam assembly 30 in the vertical direction, so as to adapt to the height change of different vehicles or different heights of different equipment to be calibrated on the vehicles.

In one embodiment, the nut holder assembly 26 further comprises a fastening assembly for fixing the nut holder assembly 26 to the stand body 22, and the fastening assembly may comprise a fastening member 263 and a bolt 264, wherein the fastening member 263 is "Z" shaped, one end of the fastening member 263 hooks the stand body 22, and the other end is fixed to the nut holder assembly 26 by the bolt 264.

When the nut holder assembly 26 needs to be moved up and down in the vertical direction relative to the stand body 22, the bolt 264 is loosened, so that the fastening piece 263 loosens the stand body 22, and when the nut holder assembly 26 is moved to a desired position, the bolt 264 is tightened, so that the nut holder assembly 26 is fixed at the desired position, thereby improving the stability of the measurement.

Referring to fig. 11 and 12, the beam assembly 30 includes a mounting base 31, a rotating mechanism 32, a beam mounting plate 33, and a cover plate 34. The rotating mechanism 32 can adjust the rotating angle of the beam mounting plate 33 relative to the stand assembly 20; the beam mounting plate 33 is used for fixing a beam 35, the beam mounting plate 33 is mounted between the mounting seat 31 and the cover plate 34, the cover plate 34 is fixed at the upper end of the mounting seat 31, and the cover plate 34 is pressed at the top end of the beam mounting plate 33.

The rotating mechanism 32 includes a rotating shaft 321, a first bolt 322, a second bolt 323, and an elastic member 324, the rotating shaft 321 is fixed in the middle of the beam mounting plate 33 and connected between the mounting base 31 and the cover plate 34, and the first bolt 322 and the second bolt 323 are respectively disposed on two sides of the rotating shaft 321.

The rotation axis O3 (equivalent to the longitudinal axis of the beam assembly) of the rotation shaft 321 is parallel to the central axis L of the stand assembly 20, the cover plate 34 and the mounting seat 31 are both provided with holes matched with the rotation shaft 321, and the holes matched with the rotation shaft 321 on the cover plate 34 are blind holes.

The first bolt 322 is sleeved with a nut, and the nut is in threaded connection with the first bolt 322.

The mounting seat 31 is provided with a first through hole 311 through which the first bolt 322 passes, the first bolt 322 passes through the first through hole 311, one end of the first bolt 322 is in threaded connection with the beam mounting plate 33, and the other end of the first bolt 322 is exposed out of the mounting seat 31 together with a nut sleeved on the first bolt 322 for a predetermined distance.

The elastic member 324 is sleeved on the second bolt 323, and the elastic member 324 is connected between the mounting base 31 and the beam mounting plate 33. The mounting seat 31 is provided with a second through hole 312 through which the second bolt 323 passes, the second bolt 323 passes through the second through hole 312, one end of the second bolt 323 is fixed to the beam mounting plate 33, and the other end of the second bolt 323 is exposed out of the mounting seat 31 for a certain distance.

In this embodiment, the elastic body 28 is a spring, and it is understood that in some other embodiments, the elastic body 28 may be other elastic elements, such as an elastic sheet.

When the beam mounting plate 33 needs to rotate relative to the rotating shaft 321, the first bolt 322 is rotated, when the first bolt 322 is rotated rightwards, one end of the beam mounting plate 33, on which the first bolt 322 is mounted, is drawn towards the mounting base 31, the elastic piece 324 is in a stretching state, and the beam mounting plate 33 can rotate anticlockwise around the rotating shaft 321 within a certain range; when the first bolt 322 is rotated to the left, the end of the beam mounting plate 33 on which the first bolt 322 is mounted is far away from the mounting seat 31, the elastic member 324 is in a compressed state, and the beam mounting plate 33 can rotate clockwise in a certain range around the rotating shaft 321.

That is, by adjusting the first bolt 322, the cross beam 35 can be rotated within a certain range around O3 relative to the stand assembly 20, so that the cross beam can be substantially parallel to the head of the vehicle, and the mounting accuracy of the wheel image capturing assembly and the positioning auxiliary structure is improved.

It will be appreciated that to improve the stability of the vehicle measuring apparatus, the cross member may be further maintained in the desired position by an external locking device as the cross member is rotated to the desired position. When the cross beam needs to be rotated, the locking device can be enabled to release the cross beam.

Referring to fig. 12, the wheel image capturing assembly 200a and the wheel image capturing assembly 200b are respectively fixed at two ends of the cross beam 35 at a transverse interval, and the positioning auxiliary image capturing assembly is installed in the middle of the cross beam 35.

Specifically, referring to fig. 13, the wheel image capturing assembly 200a and the wheel image capturing assembly 200b are detachably fixed to both ends of the cross beam 35 by mounting seats 210, respectively. The wheel image acquisition assembly is fixed on the mounting seat, the mounting seat is fixed on the cross beam through a locking piece 220, and the fastening piece can be a bolt or any part with a locking function.

In this embodiment, in order to realize the stable connection of wheel image acquisition component and crossbeam, mount pad 210 can be fixed in the lateral part of wheel image acquisition component, the mount pad constructs into "U" type structure, the one end of crossbeam with the lateral part butt of wheel image acquisition component, accept in of crossbeam in U type structure, the upper end, lower extreme and the back of crossbeam respectively with the three installation face of U type structure contacts when the fastener is the bolt, the mount pad with be equipped with respectively on the crossbeam with bolt matched with screw hole, only need tighten this moment the bolt can with the mount pad is fixed in the crossbeam.

The back of the cross beam is the surface of the cross beam far away from the vehicle.

It is understood that the mounting seat may also be fixed to other portions of the wheel image capturing assembly, and the present application is not limited thereto, and the mounting seat may be fixed to the cross beam only by a fastener.

When the wheel image acquisition assembly is not needed to be used, the mounting seat is detached from the cross beam, so that the wheel image acquisition assembly is stored, and the service life of the wheel image acquisition assembly is prolonged.

In one embodiment, the mounting seat can be omitted, and the wheel image capturing assembly is connected with the cross beam through a housing of the wheel image capturing assembly.

The auxiliary positioning image acquisition assembly can also be detachably fixed on the cross beam through an auxiliary mounting seat, and the mounting mode of the auxiliary positioning image acquisition assembly is similar to that of the wheel image acquisition assembly mounted on the cross beam, and the description is omitted here. The vehicle can be covered by the visual field of the positioning auxiliary image acquisition assembly.

In this embodiment, the middle portion of the cross beam 35 is any portion between two ends of the cross beam 35, and the positioning auxiliary image capturing assembly may be located at any position between the wheel image capturing assembly 200a and the wheel image capturing assembly 200b, for example, the positioning auxiliary image capturing assembly is located between the wheel image capturing assembly 200a and the wheel image capturing assembly 200b, and the positioning auxiliary image capturing assembly is equal to the wheel image capturing assembly 200a and the wheel image capturing assembly 200b in distance.

In one embodiment, the cross beam assembly 30 further comprises a second slide rail 36, the second slide rail 36 is disposed parallel to the cross beam 35, and the mount 50 is mounted to the second slide rail 36 and can move along the second slide rail 36 in a horizontal direction, so that the calibration element can be slidably mounted to the cross beam.

The calibration element is slidably mounted on the cross beam to accommodate different vehicle driving assistance systems.

Referring to fig. 14 and 15, the cross member 35 can be moved horizontally to the left and right relative to the stand assembly 20 by a fine adjustment assembly 40. The fine adjustment assembly 40 is mounted on the nut mounting base 26, the fine adjustment assembly 40 includes a knob 41, a transmission gear 42, a fixing plate 43 and a rack 44, and the fine adjustment assembly 40 is fixed on the nut mounting base 26 through the fixing plate 43.

The knob 41 is mounted on the fixing plate 43, the transmission gear 42 is fixedly mounted at the bottom end of the knob 41, the fixing plate 43 is located between the knob 41 and the transmission gear 42, and the fixing plate 43 is pressed at the upper end of the mounting seat 31. The rack 44 is fixed on the mounting seat 31, and the transmission gear 42 is meshed with the rack 44.

The knob 41 is rotatable about a fourth rotation axis O4, the rotation axis of the transmission gear 42 coincides with the rotation axis of the knob 41, and the knob 41 and the transmission gear 42 are rotatable together about the fourth rotation axis O4.

When the knob 41 is rotated, the mounting seat 31 can move left and right within a certain range relative to the nut mounting seat 26.

The lateral movement and stopping of the beam assembly 30 can be achieved by manually controlling the knob 41.

Referring to fig. 16 and 17, in some embodiments, in order to make the mounting base 31 more stable in moving left and right, a third sliding rail 263 is disposed on the nut mounting base 26, and a third sliding block 313 matched with the third sliding rail 263 is fixedly disposed on the mounting base 31.

The cross beam assembly 30 is connected to the nut base assembly 26 through the cooperation of the third sliding block 313 on the mounting base 31 and the third sliding rail 263.

Optionally, the fine adjustment assembly 40 further comprises a locking mechanism (not shown) for securing the mounting seat 31 to the nut seat assembly 26. The locking mechanism is mounted on the fixing plate 43, the locking mechanism includes a fastening ring 45 and a locking bolt 46, the fastening ring 45 is sleeved on the knob 41, and the locking bolt 46 is mounted at two ends of the fastening ring 45.

When the cross beam assembly 30 needs to be moved left and right relative to the nut holder assembly 26, the locking bolt 46 is rotated to loosen the knob 41 by the fastening ring 45, the knob 41 is rotated to move the cross beam assembly 30 left and right in the horizontal direction relative to the nut holder assembly 26, and when the required position is reached, the locking bolt 46 is rotated to fasten the knob 41, so that the cross beam assembly 30 is fixed at the required position.

The movement and rotation of the cross member is to facilitate the vehicle measurement device to measure the vehicle.

The processor 300 may prompt the user via the output 600 for a desired distance of travel or angle of rotation of the beam 35, and the operator may manually move or rotate the beam assembly 30 according to the desired distance of travel or angle of rotation. The beam movement may also be controlled by software instructions of the processor.

The vehicle measuring equipment provided by the embodiment of the invention can be moved at will, occupies a small space, can realize the calibration of the vehicle and can be used for measuring the wheel state of the vehicle, and has high measuring precision and reliability.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle measuring apparatus, characterized by comprising:

a bracket assembly;

the two wheel image acquisition assemblies are transversely arranged at two ends of the bracket assembly at intervals, so that when the bracket assembly is arranged at a position relative to the vehicle, the visual fields of the two wheel image acquisition assemblies respectively cover the areas of the wheels at two sides of the vehicle;

a processor connected with the two-wheel image acquisition assembly to receive data acquired by the two-wheel image acquisition assembly for measuring a wheel state of the vehicle based on the data acquired by the two-wheel image acquisition assembly when the bracket assembly is positioned relative to the vehicle;

and the calibration element is borne on the bracket component and used for calibrating the driving assistance system of the vehicle.

2. The vehicle measuring apparatus of claim 1, wherein the bracket assembly comprises a base, a riser assembly, and a cross-beam;

one end of the vertical frame assembly is mounted on the base, the cross beam is mounted on the vertical frame assembly, and the cross beam is used for mounting the calibration element and the two wheel image acquisition assemblies.

3. The vehicle measuring apparatus according to claim 2, wherein the two wheel image capturing assemblies are respectively provided at both ends of the cross member.

4. The vehicle measuring apparatus of claim 3, wherein the two wheel image capturing assemblies are fixedly attached to both ends of the cross beam, respectively.

5. The vehicle measuring apparatus according to claim 3 or 4, wherein the wheel image capturing assembly includes two cameras having fields of view covering regions where two wheels on the same side of the vehicle are located, respectively; or alternatively

6. The vehicle measuring apparatus according to any one of claims 2 to 5,

the vehicle measurement device further includes a calibration unit including a calibration camera and a calibration target;

7. The vehicle measuring apparatus of any one of claims 2 to 6, further comprising a positioning assist structure mounted to the cross member;

8. The vehicle measuring apparatus of claim 7, wherein the positioning assist wheel image capturing assembly is mounted to a portion between both ends of the cross member.

9. The vehicle measuring apparatus of any one of claims 2 to 6, further comprising a positioning assistance structure;

10. The vehicle measuring device of any of claims 2 to 9, wherein the processor is mounted to the stand assembly.

11. The vehicle measuring apparatus of any of claims 2 to 10, wherein the carriage assembly further comprises a mount;

12. Vehicle measuring device according to claim 11, characterized in that the cross beam is provided with transverse rails, to which the mount is mounted, along which the mount is movable.

13. The vehicle measuring apparatus of any of claims 2 to 12, wherein the cross-beam is movable in a vertical direction relative to the riser assembly; and/or

The cross member is movable along its length relative to the riser assembly.

14. The vehicular measuring apparatus according to any one of claims 1 to 13, characterized in that the vehicular measuring apparatus further comprises an output device;