CN111998806A

CN111998806A - Four-wheel positioning system

Info

Publication number: CN111998806A
Application number: CN202010997774.1A
Authority: CN
Inventors: 刘连军
Original assignee: Autel Intelligent Technology Corp Ltd
Current assignee: Autel Intelligent Technology Corp Ltd
Priority date: 2020-09-21
Filing date: 2020-09-21
Publication date: 2020-11-27
Anticipated expiration: 2040-09-21
Also published as: WO2022057681A1

Abstract

The embodiment of the invention relates to the technical field of four-wheel positioners, and particularly discloses a four-wheel positioning system which comprises a suspender, wherein one end of the suspender is used for being fixed with a ceiling; the beam is fixed with the other end of the suspender, and is suspended in the air so that a vehicle can pass through the beam from the lower part; the two camera assemblies are respectively arranged at two ends of the cross beam; the number of the wheel targets is at least two, the at least two wheel targets are respectively installed on the wheels on the two sides of the vehicle, each wheel target comprises a target surface, preset patterns are arranged on the target surfaces, the target surfaces face the ceiling when the wheel targets are installed on the wheels, and the visual field ranges of the two camera assemblies respectively cover the target surfaces of the wheel targets on the wheels on the two sides of the vehicle; and the processor is respectively connected with the two camera assemblies and is used for carrying out positioning operation on the wheels of the vehicle according to the images of the wheel targets acquired by the camera assemblies. Through the mode, the embodiment of the invention can efficiently realize the positioning of the vehicle wheels.

Description

Four-wheel positioning system

Technical Field

The embodiment of the invention relates to the technical field of four-wheel positioners, in particular to a four-wheel positioning system.

Background

The four-wheel aligner is mainly used for detecting the wheel alignment parameters of the automobile, comparing the wheel alignment parameters with original factory design parameters and guiding a user to correspondingly adjust the wheel alignment parameters so as to enable the wheel alignment parameters to meet the original design requirements and achieve ideal automobile running performance.

However, in the process of implementing the present invention, the inventors of the present invention found that: the four-wheel aligner is usually installed at the shallow, when carrying out vehicle four-wheel location, needs the manual removal shallow of staff, promotes the place ahead of vehicle with the four-wheel aligner, accomplishes vehicle four-wheel location again, and the mode of staff's manual promotion shallow, efficiency is lower.

Disclosure of Invention

In view of the above, embodiments of the present invention provide a four-wheel positioning system that overcomes or at least partially solves the above-mentioned problems.

According to an aspect of an embodiment of the present invention, there is provided a four-wheel aligner system including: one end of the suspension rod is used for being fixed with a ceiling; the cross beam is fixed with the other end of the suspension rod, and is arranged in a suspended mode so that the vehicle can move below the cross beam; the two camera assemblies are respectively arranged at two ends of the cross beam; the wheel targets are used for being mounted on wheels of the vehicle, the number of the wheel targets is at least two, at least two wheel targets are respectively mounted on the wheels on two sides of the vehicle, each wheel target comprises a target surface, a preset pattern is arranged on each target surface, each target surface faces the ceiling when the wheel targets are mounted on the wheels, and the visual field ranges of the two camera assemblies respectively cover the target surfaces of the wheel targets on the wheels on two sides of the vehicle; and the processor is respectively connected with the two camera assemblies and is used for carrying out positioning operation on the wheels of the vehicle according to the images of the wheel targets acquired by the camera assemblies.

In an alternative mode, the four-wheel positioning system comprises two first clamping devices, two supporting frames and two limiting devices; the first clamping device is clamped on a wheel on one side of the vehicle, the support frame is rotatably connected with the first clamping device, the wheel target is installed on the support frame, and the limiting device is used for limiting the support frame so that the support frame can be kept still when the wheel rotates, and therefore the target surface of the wheel target can be kept towards the ceiling.

In an alternative mode, the limiting device comprises a connecting rod, a sucking disc and an air suction device; the one end of connecting rod with the support frame deviates from a fixed surface of wheel mark target, the other end of connecting rod with the sucking disc is fixed, air exhaust device with the sucking disc is connected, air exhaust device is used for extracting gas in the sucking disc, the sucking disc is used for adsorbing in vehicle or ground, so that when the wheel rotates, the support frame keeps motionless.

In an alternative mode, the four-wheel positioning system further comprises two second clamping devices; the second clamping device is used for clamping a wheel on one side of the vehicle, and the wheel target is fixed on the second clamping device.

In an alternative form, the camera assembly includes two cameras, the two cameras being arranged adjacent to each other, a field of view of one camera of each camera assembly covering a target surface of a wheel target on one wheel on one side of the vehicle.

In an alternative, the camera assemblies include one camera, and the field of view of the one camera in each camera assembly covers the target surfaces of the wheel targets on all wheels on the same side of the vehicle.

In an optional mode, the four-wheel positioning system further comprises a first angle adjusting device and a second angle adjusting device, the first angle adjusting device and the second angle adjusting device are fixed on the cross beam, and the first angle adjusting device and the second angle adjusting device are connected with the processor; the first angle adjusting device is connected with a camera assembly and used for adjusting the pitch angle of the camera assembly, the second angle adjusting device is connected with another camera assembly and used for adjusting the pitch angle of the other camera assembly.

In an alternative mode, the number of the suspension rods is two, one suspension rod is fixed to one end of the cross beam, and the other suspension rod is fixed to the other end of the cross beam.

In an alternative form, the boom is a telescoping beam.

In an optional mode, the four-wheel positioning system further comprises a display, and the display is connected with the processor and is used for displaying the positioning parameters output by the processor.

The embodiment of the invention has the beneficial effects that: different from the situation of the prior art, the cross beam is fixed below the ceiling through the hanging rod, the two camera assemblies are respectively arranged at two ends of the cross beam, the at least two wheel targets are arranged on wheels at two sides of the vehicle, the visual fields of the two camera assemblies respectively cover the target surfaces of the wheel targets on the wheels at two sides of the vehicle, a user only needs to drive the vehicle below the cross beam, the two camera assemblies at two ends of the cross beam collect images of the wheel targets arranged on the wheels, and finally, the processor is used for carrying out positioning operation on the wheels of the vehicle.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.

FIG. 1 is a schematic diagram of an overall structure of a four-wheel positioning system according to an embodiment of the present invention;

FIG. 2 is a block diagram of the connection between the processor and other components of a four-wheel alignment system according to an embodiment of the present invention;

FIG. 3 is a right side view of a four-wheel alignment system in accordance with an embodiment of the present invention;

FIG. 4 is an operational elevation view of a four-wheel aligner system in accordance with an embodiment of the present invention;

FIG. 5 is a schematic diagram of an operating fixed wheel target assembly of a four-wheel alignment system in accordance with an embodiment of the present invention;

FIG. 6 is a top view of a four-wheel aligner system in accordance with an embodiment of the present invention in another operational state;

fig. 7 is a schematic structural diagram of a fixed wheel target assembly in another operating state of the four-wheel alignment system according to the embodiment of the invention.

Reference numerals: 10. a boom; 20. a cross beam; 30. two camera assemblies; 40. at least two wheel targets; 401. target surface; 50. a processor; 60. two angle adjusting devices; 70. a display; 80. two first clamping devices; 90. two support frames; 100. two limiting devices; 1001. a connecting rod; 1002. a suction cup; 1003. an air extraction device; 110. two second clamping devices.

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. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for descriptive purposes only.

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.

Referring to fig. 1 and 2, the four-wheel alignment system 01 includes: boom 10, beam 20, two camera assemblies 30, at least two wheel targets 40, processor 50 (not shown), two angle adjustment devices 60, and display 70 (not shown). At least two wheel targets 40 are respectively mounted on the wheels on both sides of the vehicle. The suspension rod 10 is fixed on the ceiling, the beam 20 is fixed with the suspension rod 10, the two angle adjusting devices 60 are arranged on the beam 20, the angle adjusting device 60 is connected with one camera assembly 30, so that the two camera assemblies 30 are arranged in a suspended mode, and the angle adjusting device 60 can adjust the pitch angle and the deflection angle of the corresponding camera assembly 30. The processor 50 is connected to the angle adjustment device 60 and the display 70, respectively. The processor 50 is used for controlling the camera assembly 30 to acquire images of the wheel targets 40 when the vehicle passes under the camera assembly 30 and positioning the wheels of the vehicle according to the images without requiring a user to manually push the four-wheel positioning system 01, which is very convenient and efficient.

In the embodiment of the present application, the ceiling refers to the top end of a space for accommodating a vehicle.

Referring to fig. 1, one end of the suspension bar 10 is fixed to the ceiling, and the other end is fixed to the cross beam 20, and the number of the suspension bar 10 may be one or more, and the strength of the suspension bar 10 is enough to support the cross beam 20. The fixing manner between the suspension rod 10 and the cross beam 20 may be screw fixing, welding fixing, etc. Optionally, the boom 10 is telescopic to enable the beam 20 to be raised and lowered, i.e., to adjust the distance of the beam 20 relative to the vehicle support surface.

In some scenarios, if the number of booms 10 is multiple, the same degree of extension and retraction of the booms 10 can be achieved by using a mechanism to ensure that the beam 20 is parallel to the ceiling, or the beam 20 is parallel to the vehicle support surface. The extension and retraction of the boom 10 may be controlled by the processor 50. In the embodiment of the present application, the vehicle supporting surface refers to a surface that contacts at least three wheels of a vehicle, and may be a ground surface in a space for accommodating the vehicle, or a contact surface between a lifting frame for adjusting the height of the vehicle and the wheels.

Referring to fig. 1, the cross beam 20 is in a long strip shape, and the length of the cross beam 20 is greater than or equal to the vehicle width, wherein the vehicle width can cover the vehicle widths of various vehicle types. In some scenarios, the beam 20 may be a hollow arrangement, wherein the cavity may be used to house electronic components such as the processor 50, wiring between the processor 50 and the camera assembly 30, and the like. The cross beam 20 is arranged approximately perpendicular to a middle axial plane of the vehicle, the middle axial plane of the vehicle passes through the head and the tail of the vehicle, and two sides of the vehicle are symmetrical relative to the middle axial plane of the vehicle. The suspended arrangement of the beam 20 means that a certain space distance exists between the beam 20 and a vehicle supporting surface, so that a vehicle to be tested can be accommodated, and further, the vehicle can move below the beam 20. The vehicle can reciprocate within a certain range under the cross beam 20, or can move in a single direction, and in the moving process, the camera assembly 30 can capture the image of the wheel target 40. Wherein, in this embodiment, the crossbeam passes through the jib to be fixed in the ceiling below, but in some embodiments, according to actual need, for example: the four-wheel positioning system is not limited to four-wheel positioning for vehicles entering under the cross beam from the same direction, and the cross beam can rotate relative to the boom.

For the above two camera assemblies, as shown in fig. 1 and 3, the two camera assemblies 30 may be separately disposed at two ends of the beam 20, the visual field thereof may cover the front and rear targets at the same side of the wheel, and one camera assembly 30 is mounted on an angle adjusting device 60, so that the two camera assemblies 30 are suspended for the vehicle to move below. The two camera assemblies 30 and the two angle adjusting devices 60 are connected with the processor 50, the processor 50 is used for enabling a vehicle provided with the wheel target 40 to pass under the camera, firstly, the angle of the camera assembly 30 is adjusted according to the images collected by the camera assembly 30, so that the visual fields of the two camera assemblies 30 respectively cover the target surfaces 401 of the wheel targets 40 on the wheels on the two sides of the vehicle, then, the camera assembly 30 is controlled to collect the images of the target surfaces 401 of the wheel targets 40, and finally, the wheels of the vehicle are subjected to positioning operation according to the images of the target surfaces 401.

In some scenarios, the vehicle may be driven under the camera assembly 30 and then stationary and held with the target surface 401 facing the ceiling, the camera assembly 30 may perform a positioning operation on the wheels of the vehicle based on the captured images of the wheel targets 40 of the vehicle while stationary, and the processor 50 may perform a positioning operation on the wheels of the vehicle based on the images of the target surface 401.

In some embodiments, two cameras may be included in the camera assembly 30, and the relative positional relationship between the two cameras is fixed, and the two cameras are used to capture the wheel target 40 mounted on the front wheel and the wheel target 40 mounted on the rear wheel on the same side of the vehicle, respectively.

In some embodiments, the camera assembly 30 may also include a camera whose field of view may cover one of the front wheel target 40 and the rear wheel target 40, or alternatively, whose field of view may cover both the front wheel target 40 and the rear wheel target 40.

The vehicle can be divided into two modes of static measurement and dynamic measurement under the beam 20, for static measurement, the vehicle does not move in the measurement process, the system can measure and obtain wheel related parameters, for dynamic measurement, the vehicle moves in the measurement process, and the system obtains the wheel related parameters through the movement measurement of the vehicle.

In some embodiments, the angle adjustment device 60 may rotate the camera assembly 30 relative to the beam 20. In one case, the angle adjustment device 60 can rotate the camera assembly 30 about an axis parallel to the length of the cross member 20, i.e., the camera assembly 30 can adjust the field of view along the length of the vehicle body so that the field of view covers the wheel target 40. It is also understood that the angle adjustment device 60 is used to adjust the pitch angle of the camera assembly 30; alternatively, the angle adjustment device 60 may be a camera assembly 30 that rotates about an axis perpendicular to the length of the cross member 20 and substantially parallel to the vehicle bearing surface, i.e., the camera assembly 30 can adjust the field of view along the width of the vehicle so that the field of view covers wheel targets 40 mounted on vehicles of different widths. It can also be understood that the angle adjusting means 60 is used to adjust the deflection angle of the camera assembly 30.

In some embodiments, the four-wheel positioning system 01 includes two angle adjusting devices 60, the two angle adjusting devices 60 are fixed to two ends of the beam 20, and one angle adjusting device 60 is connected to one camera assembly 30 for adjusting the angle of one camera assembly 30. The two angle adjustment devices 60 may communicate with each other or may be controlled by the same controller to achieve synchronized angle adjustment of the two end camera assemblies 30.

In other embodiments, an angle adjustment device 30 may be disposed between the boom 10 and the beam 20 for enabling the beam 20 to rotate relative to the boom 10. Specifically, the beam 20 is rotatable about an axis parallel to the length direction of the beam 20, that is, the beam 20 adjusts the pitch angle with respect to the boom 10, in which case the camera assembly 30 may be fixedly connected to the beam 20, and the adjustment of the pitch angle of the camera assembly 30 and thus the field of view of the camera assembly 30 is achieved by adjusting the rotation angle of the beam 20 with respect to the boom 10.

The angle adjusting device 60 can adjust the pitch angle of the camera assembly 30, and also can adjust the pitch angle and/or yaw angle of the camera assembly 30, for example: the angle adjusting device 60 includes a motor, a housing of the motor is fixed on the beam 20, an output shaft of the motor is fixed with the camera assembly 30, and an output shaft of the motor is used for adjusting a pitch angle of the camera assembly 30, thereby realizing one-axis adjustment of the camera assembly 30, or the angle adjusting device 60 includes two motors, a housing of the motor is fixed on the beam 20, and an output shaft of the motor is fixed with a housing of another motor, an output shaft of the other motor is fixed with the camera assembly 30, the one motor is used for adjusting a deflection angle of the camera assembly 30, the other motor is used for adjusting a pitch angle of the camera assembly 30, thereby realizing two-axis adjustment of the camera assembly.

It can be understood that: in other embodiments, the angle adjusting device 60 may not be provided, and the two camera assemblies 30 may be directly disposed at the two ends of the beam 20, with the view ranges of the two camera assemblies 30 facing downward, so as to capture the image of the vehicle passing under the camera assemblies 30.

As for the at least two wheel targets 40, as shown in fig. 1, the at least two wheel targets 40 are respectively mounted on wheels on both sides of the vehicle. The wheel target 40 includes a target surface 401, and a predetermined pattern (not shown) is disposed on the target surface 401, and the predetermined pattern is used for four-wheel positioning of the vehicle.

In some scenarios, the number of wheel targets 40 is two or four, and if the number of wheel targets 40 is two, two wheel targets 40 are mounted on the front or rear wheels on both sides of the vehicle. If the number of the wheel targets 40 is four, the four wheel targets 40 are respectively mounted on four wheels of the vehicle. The camera assembly 30 captures images of a predetermined pattern, and the positional relationship of the wheel target 40 with respect to the camera assembly 30 can be determined based on the geometric relationship of the pattern layout. The position relation between the wheels on the two sides is determined through the position relation of the wheel targets 40 on the two sides relative to the camera assemblies 30 on the two ends of the beam 20 and the position relation of the camera assemblies 30 on the two ends of the beam 20, and then the positioning parameters of the wheels are obtained.

Wherein, to being provided with the target face 401 of presetting the pattern, because camera assembly 30 sets up in the vehicle top, for camera assembly 30 can gather the image of presetting the pattern on the target face 401, when wheel target 40 is installed on the wheel, target face 401 can be towards the ceiling. Of course, in other embodiments, when the wheel target 40 is mounted on a wheel, the target surface 401 does not need to face the ceiling, and the target surface 401 rotates through the wheel, or an angle adjusting mechanism between the target surface 401 and the wheel in the wheel target 40, when the image of the camera assembly 30 needs to be captured, the target surface 401 substantially faces the ceiling, so that the visual field of the camera assembly 30 covers the target surface 401. In the embodiment of the present application, the target surface 401 may be a plane or a curved surface.

For the case of static measurement, in one implementation, when the wheel target 40 is mounted on a wheel, the target surface 401 is fixed relative to the wheel, with the target surface 401 facing the ceiling and within the field of view of the camera assembly 30. In the embodiment of the present application, the wheel target 40 faces the ceiling, which means that the wheel target 40 faces substantially parallel to the ceiling and the face provided with the predetermined pattern faces upward. In order to reduce the difficulty of installing the wheel target 40 by the user, the surface of the wheel target 40 may have a certain angle with respect to the ceiling, and the angle may be compensated by using a compensation algorithm to compensate the image operation result, which is not limited herein. In another implementation, when wheel target 40 is mounted on a wheel, target surface 401 is angularly adjustable relative to the wheel, and target surface 401 may be oriented toward the ceiling by angular adjustment of target surface 401.

For the case of dynamic measurement, in one implementation, when the wheel target 40 is mounted on a wheel, the target surface 401 is fixed relative to the wheel, the target surface 401 rotates along with the rotation of the wheel, and the processor 50 obtains an image of a preset pattern when the target surface 401 faces upward according to the calculation program. In another implementation, the orientation of the wheel target 40 is maintained by a particular mechanism when the wheel target 40 is mounted on a wheel, i.e., the orientation of the wheel target 40 does not change with the rotation of the wheel.

As for the above-mentioned processor 50, the processor 50 may include one or more processing units and one or more storage units, and a plurality of processing units or a plurality of storage units may be designed in a distributed or integrated manner. The memory unit may be integrated in the processing unit or may be present separately from the processing unit. The storage unit is used for storing data and executable programs, and the processing unit can calculate the positioning parameters of the wheels according to the images of the wheel targets 40 acquired by the camera assembly 30 by running the executable programs, namely, positioning calculation is carried out on the wheels, and whether the directions of the wheels need to be calibrated or not is judged. The processor 50 may also include a control unit for controlling the direction and angle of rotation of the camera assembly 30 relative to the beam 20. The control unit may also be used to control motorized changes to other components within the system, such as controlling the extension and retraction of the boom 10, etc.

Several ways of cooperating the arithmetic program executed by the processor 50 and the camera assembly 30 to capture the image of the wheel target 40 will be described. It is understood that several cooperation modes can be realized independently or in a mutual fusion mode.

First, the processor 50 implements static measurements through an arithmetic program. Specifically, the processor 50 controls the camera assembly 30 to capture an image of the wheel target 40, the image of the wheel target 40 including a preset pattern therein. The processor 50 determines wheel alignment parameters using the acquired images of the wheel targets 40. In one implementation, the vehicle is required to be static at different positions during the measurement process, the processor 50 controls the camera assembly 30 to capture images of the wheel targets 40 respectively to form a set of images when the vehicle is at different positions, and the processor 50 determines the wheel positioning parameters by using the set of images.

Second, the processor 50 implements dynamic measurement through an arithmetic program. In one implementation, the processor 50 is required to control the camera assembly 30 to capture images of the wheel target 40 in real time, screen out target images from the images of the wheel target 40, and determine wheel positioning parameters according to the target images. For example, for the case where the wheel target 40 rotates with the rotation of the wheel, the processor 50 screens out a target image including a preset pattern from the acquired wheel target 40 image, and then determines the wheel alignment parameters using the target image. Alternatively, in the case where the orientation of the wheel target 40 does not change with the rotation of the wheel, the processor 50 controls the camera assembly 30 to capture images of the wheel target 40 in real time, and to screen a target image from the images of the wheel target 40 according to a preset screening condition from the captured images of the wheel target 40, and then to determine the wheel positioning parameters and the like using the target image. The preset screening condition may include that the quality of the acquired image meets a preset standard, or an image acquired when the vehicle is at a preset position, or the like. In another implementation, the processor 50 controls the camera assembly 30 to capture images of the wheel targets 40 at certain triggering times, or when certain triggering conditions are met, and determine wheel positioning parameters from the captured images. Further, the processor 50 may also screen the captured images for target images and determine wheel positioning parameters based on the target images.

The processor 50 executes any of the above implementation manners, different implementation manners may be implemented by different operation programs, and the processor 50 may invoke any one of the operation programs to implement the measurement according to different application scenarios.

For dynamic measurement of unidirectional vehicle movement, the processor 50 may control the camera assembly 30 to capture images of the wheel target 40 in real time as the vehicle moves, e.g., the camera assembly 30 may rotate about an axis parallel to the beam 20 to enable the field of view to follow the movement of the wheel target 40 to determine wheel alignment parameters from the captured images. Alternatively, the processor 50 may control the camera assembly 30 to capture images of the wheel targets 40 at certain triggering times or when certain triggering conditions are met during movement of the vehicle, and determine wheel positioning parameters from the captured images. The processor 50 may control the camera assembly 30 to rotate to a certain angle or to a certain position, thereby achieving image acquisition of the wheel target 40.

In the dynamic measurement of the reciprocating movement of the vehicle, the reciprocating movement of the vehicle may be divided into a plurality of movement phases, the movement directions of two adjacent movement phases are opposite, the processor 50 may control the camera assembly 30 to acquire one or more images of a set of wheel targets 40 in each movement phase, and determine the wheel positioning parameters according to the sets of images of the wheel targets 40 acquired in the plurality of movement phases respectively. The way in which the processor 50 acquires the image of the wheel target 40 at each movement phase may be referred to in the above-described implementation, such as controlling the camera assembly 30 to acquire in real time, or controlling the camera assembly 30 to acquire at some triggering time or some triggering condition.

Whether in the static measurement phase or the dynamic measurement phase, the processor 50 may control the field of view of the camera assembly 30 to adapt to the width of the vehicle to be measured during the initial measurement phase, such as adjusting the angle of the camera assembly 30 about an axis perpendicular to the beam 20 and parallel to the load-bearing surface.

Optionally, the four-wheel alignment system 01 described in the embodiment of the present application may further include a display 70, and the display 70 may be disposed on the beam 20, and electrically connected to the processor 50, and configured to display the wheel alignment parameters calculated by the processor 50, or display the images captured by the camera assembly 30, and so on.

In some scenarios, the display 70 may be configured as a handheld display 70, with the handheld display 70 communicatively coupled to the processor 50 via a wireless communication module. Further, the handheld display 70 may further include a user input device, such as a touch device, for receiving a user instruction and sending the user instruction to the processor 50 through the wireless communication module, so that the processor 50 executes the instruction. The user instructions may include controlling the angular adjustment of the camera assembly 30, controlling the shooting time of the camera assembly 30, controlling the boom 10 to telescope, and the like.

In some embodiments, as shown in fig. 4 and 5, the four-wheel positioning system 01 includes two first clamping devices 80, two support brackets 90, and two limiting devices 100. A first clamping device 80 is clamped on a wheel on one side of the vehicle, a support frame 90 is rotatably connected with the first clamping device 80, a wheel target 40 is arranged on the support frame 90, and a limiting device 100 is used for limiting the support frame 90, so that the wheel target 40 still faces the ceiling even if the wheel rotates when the first clamping device 80 is clamped on the wheel.

In some embodiments, the spacing device 100 includes a connecting rod 1001, a suction cup 1002, and an air extractor 1003, wherein one end of the connecting rod 1001 is fixed to a surface of the support 90 away from the wheel target 40, the other end of the connecting rod 1001 is fixed to the suction cup 1002, the air extractor 1003 is connected to the suction cup 1002, the air extractor 1003 is used for extracting air in the suction cup 1002, and the suction cup 1002 is used for being attached to a vehicle or a ground, so that when the wheel rotates, the support 90 remains stationary, and the target surface 401 of the wheel target 40 remains facing the ceiling.

It is to be understood that the stopper device 100 is not limited to the above-described structure, and may have other structures as long as the stopper device 100 can make the target surface 401 of the wheel target 40 always face the ceiling when the wheel is rotated.

In some embodiments, as shown in fig. 6 and 7, the four-wheel alignment system 01 includes two second clamping devices 110, one second clamping device 110 is used for clamping a wheel on one side of the vehicle, one wheel target 40 is fixed to one second clamping device 110, the second clamping device 110 fixes the wheel target 40 to the wheel and rotates along with the rotation of the wheel, the camera assembly 30 collects images of the wheel target 40 during rotation, and the collected images are processed by the processor 50 to complete the wheel alignment.

In the embodiment of the invention, the cross beam 20 is fixed below the ceiling through the suspension rod 10, the two camera assemblies 30 are respectively arranged at two ends of the cross beam 20, at least two wheel targets 40 are arranged on wheels at two sides of the vehicle, the visual fields of the two camera assemblies 30 respectively cover the target surfaces 401 of the wheel targets 40 on the wheels at two sides of the vehicle, a user only needs to drive the vehicle below the cross beam or stop the vehicle below the cross beam, the two camera assemblies 30 at two ends of the cross beam 20 collect images of the wheel targets 40 arranged on the wheels, and finally, the processor 50 is used for positioning operation of the wheels of the vehicle, so that the whole vehicle wheel positioning process is very convenient and has high efficiency.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A four-wheel positioning system for a vehicle, comprising:

one end of the suspension rod is used for being fixed with a ceiling;

the cross beam is fixed with the other end of the suspension rod, and is arranged in a suspended mode so that the vehicle can move below the cross beam;

the two camera assemblies are respectively arranged at two ends of the cross beam;

the wheel targets are used for being mounted on wheels of the vehicle, the number of the wheel targets is at least two, at least two wheel targets are respectively mounted on the wheels on two sides of the vehicle, each wheel target comprises a target surface, a preset pattern is arranged on each target surface, each target surface faces the ceiling when the wheel targets are mounted on the wheels, and the visual field ranges of the two camera assemblies respectively cover the target surfaces of the wheel targets on the wheels on two sides of the vehicle;

and the processor is respectively connected with the two camera assemblies and is used for carrying out positioning operation on the wheels of the vehicle according to the images of the wheel targets acquired by the camera assemblies.

2. The four-wheel positioning system of claim 1, comprising two first clamping devices, two support brackets and two limiting devices;

the first clamping device is clamped on a wheel on one side of the vehicle, the support frame is rotatably connected with the first clamping device, the wheel target is installed on the support frame, and the limiting device is used for limiting the support frame so that the support frame can be kept still when the wheel rotates, and therefore the target surface of the wheel target is kept towards the ceiling.

3. A four-wheel aligner system as claimed in claim 2, wherein the position-limiting means comprises a linkage, a suction cup and a suction device;

the one end of connecting rod with the support frame deviates from a fixed surface of wheel mark target, the other end of connecting rod with the sucking disc is fixed, air exhaust device with the sucking disc is connected, air exhaust device is used for extracting gas in the sucking disc, the sucking disc is used for adsorbing in vehicle or ground, so that when the wheel rotates, the support frame keeps motionless.

4. The four-wheel aligner system of claim 1, further comprising two second clamping devices;

the second clamping device is used for clamping a wheel on one side of the vehicle, and the wheel target is fixed on the second clamping device.

5. The four-wheel alignment system of claim 1,

the camera assembly comprises two cameras, the two cameras are arranged adjacently, and the visual field range of one camera in each camera assembly covers the target surface of the wheel target on one wheel on one side of the vehicle.

6. The four-wheel alignment system of claim 1,

the camera assemblies include one camera, the field of view of the one camera in each camera assembly covering target surfaces of wheel targets on all wheels on the same side of the vehicle.

7. The four-wheel alignment system as claimed in claim 1, further comprising two angle adjustment devices, two of the angle adjustment devices being fixed to the cross member, one of the angle adjustment devices being connected to a camera assembly for adjusting an angle of the one camera assembly;

and the two angle adjusting devices are connected with the processor.

8. The four-wheel aligner system of claim 1, wherein the number of booms is two, one of said booms being secured to one end of the cross member and the other of said booms being secured to the other end of the cross member.

9. A four wheel alignment system as claimed in any one of claims 1 to 7, wherein the boom is a telescopic beam.

10. Four-wheel alignment system according to claim 1,

the four-wheel positioning system further comprises a display, and the display is connected with the processor and used for displaying the positioning parameters output by the processor.