CN114353727A

CN114353727A - Method and system for calibrating center line of articulated passenger car

Info

Publication number: CN114353727A
Application number: CN202110812143.2A
Authority: CN
Inventors: 刘登明; 郭强; 刘阳; 李续胜; 周鹏
Original assignee: Xiangyang Daan Automobile Test Center Co Ltd
Current assignee: Xiangyang Daan Automobile Test Center Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2022-04-15
Anticipated expiration: 2041-07-19
Also published as: CN114353727B

Abstract

The invention relates to a calibration system of a central line of an articulated bus and a method for calibrating the articulated bus by using the system, wherein the calibration system comprises a laser measuring device, a width calibration device, a width measuring device and a cantilever beam marking device; the laser measuring device is arranged in a license plate frame of the vehicle body to be measured, the width measuring device is arranged on the side end of the vehicle body to be measured, and the width calibrating device corresponds to the width measuring device and is arranged on the other side end of the vehicle body to be measured; the width calibration device comprises a photoelectric sensor and a mounting bracket, and the photoelectric sensor can transversely move along the mounting bracket along with the driving device; the cantilever beam marking device comprises a base capable of translating along the guide track and an upright post standing on the base, wherein a cantilever beam capable of lifting along with the lifting mechanism is arranged on the upright post, the cantilever beam is vertical to the upright post, a abdicating groove is arranged on one side of the upright post, and a three-axis calibration rod capable of transversely moving along with the reciprocating mechanism is arranged on the cantilever beam; the calibration mode is simple, and the calibration precision is high.

Description

Method and system for calibrating center line of articulated passenger car

Technical Field

The invention relates to the technical field of vehicle center line calibration, in particular to a method and a system for calibrating a center line of an articulated bus.

Technical Field

Articulated passenger cars require calibration of the centerline of a stationary horizontally parked car body. The car body is formed by connecting two or more carriages through hinges, and compared with the traditional passenger car and commercial car, the structure of the car body has more than 2 central lines, and the central line of the articulated passenger car cannot be efficiently measured by using a common measuring method.

The patent publication No. CN109358338A discloses a vehicle calibration method and system, in which a vehicle offset angle of a vehicle to be calibrated is obtained, where the vehicle to be calibrated is located in a preset calibration area, an object to be calibrated is arranged on the vehicle to be calibrated, and the vehicle offset angle is an included angle between a vehicle central axis of the vehicle to be calibrated and an area central axis of the calibration area. Based on the vehicle offset angle, the central point of the calibration board on the mobile device is used for calibrating the central point of the object to be calibrated.

In the prior art, objects to be calibrated on a vehicle are calibrated in the process of moving a calibration plate, the center line of the vehicle body cannot be calibrated, and a plurality of center lines of a plurality of carriages cannot be calibrated in the prior art.

Technical scheme

The invention aims to solve the defects of the prior art, thereby providing the calibration system of the center line of the articulated passenger car, which has simple calibration mode and high calibration precision.

The invention also aims to provide a method for calibrating the articulated passenger car by using the calibration system.

A calibration system for a center line of an articulated bus comprises a laser measuring device, a width calibration device, a width measuring device and a cantilever beam marking device for calibrating a center line of a bus body; the laser measuring device is arranged in a license plate frame of the vehicle body to be measured, the width measuring device is arranged on the side end of the vehicle body to be measured, and the width calibrating device corresponds to the width measuring device and is arranged on the other side end of the vehicle body to be measured;

the laser measuring device and the width measuring device both comprise a license plate frame, a three-axis cradle head arranged on the license plate frame, an angle coding disc arranged on the three-axis cradle head, and a telescopic rod, wherein the telescopic rod is erected on the rotation center of the angle coding disc and can coaxially rotate along with the angle coding disc, the angle coding disc is also provided with a laser emitter which can rotate along with the angle coding disc, the telescopic rod is of a hollow structure, two ends of the telescopic rod are provided with windows, the window at the lower end of the telescopic rod is provided with an isosceles right triangular prism, the window at the upper end of the telescopic rod is provided with a plane reflector which can rotate along with a motor, laser emitted by the laser emitter is opposite to the middle point of the bevel edge of the isosceles right triangular prism, and the laser emitted by the laser emitter is reflected by the isosceles right triangular prism and then irradiates on the plane reflector along the central line of the telescopic rod; the central axis of the telescopic rod of the laser measuring device is vertical to and intersected with the central line of the corresponding compartment; the top end of the width measuring device is provided with a photoelectric receiver III which can receive the laser emitted by the laser measuring device;

the width calibration device comprises a photoelectric sensor and a mounting bracket, wherein the photoelectric sensor is used for receiving laser emitted by the width measurement device, and the photoelectric sensor can transversely move along the mounting bracket along with the driving device;

the cantilever beam marking device comprises a base capable of translating along the guide track and an upright post standing on the base, wherein a cantilever beam capable of lifting along with the lifting mechanism is arranged on the upright post, the cantilever beam is vertical to the upright post, a abdicating groove is arranged on one side of the upright post, and a three-axis calibration rod capable of transversely moving along with the reciprocating mechanism is arranged on the cantilever beam; the guide rail is laid on the horizontal working table along the length direction of the vehicle body to be measured.

The two laser measuring devices are respectively arranged in license plate frames at the front end and the rear end of two car bodies of the articulated passenger car, the two width measuring devices are respectively arranged at the side parts of the two car bodies of the articulated passenger car, the two width calibrating devices are in one-to-one correspondence with the width measuring devices, and at least one cantilever beam marking device is arranged;

the controller is used for controlling the laser measuring device, the width calibrating device, the width measuring device and the cantilever beam marking device to act; a wireless receiver is arranged on a three-axis holder of the laser measuring device; the three-axis pan-tilt of the width measuring device is provided with a wireless transmitter, and a wireless receiver, the wireless transmitter and the controller are in signal intercommunication through a wireless communication module.

Two vertical laser transmitters which can rotate along with the angle coding disc are arranged on the angle coding discs of the laser measuring device and the width measuring device, the side wall of the top end of the telescopic rod is connected with a vertical laser receiver which vertically corresponds to the two vertical laser transmitters through a connecting rod, the top end of the telescopic rod is provided with a supporting plate for mounting a motor, and the telescopic rod is made of carbon fiber;

a backup plate is arranged on a telescopic rod of the width measuring device, and two laser range finders which are parallel to each other are arranged on one side of the backup plate close to the vehicle body;

the license plate frame is of a bending structure consisting of a bottom plate and a vertical plate connected to one side of the bottom plate; two through holes for corresponding fixation with bolt mounting holes in a license plate frame are arranged on a vertical plate of a license plate frame of the laser measuring device, two screw holes are respectively arranged on two end parts of a bottom plate, and a foundation fixing bolt is arranged in each screw hole; more than one magnetic sucker is arranged on the back side of the vertical plate of the license plate frame of the width measuring device.

The mounting bracket is of a frame structure formed by welding two stand columns and a plurality of cross beams, the bottoms of the stand columns are provided with ball heads, the ball heads are fixed in a universal ball head locking mechanism, the universal ball head locking mechanism is fixed on a magnetic sucker bracket, and the magnetic sucker bracket is fixedly connected with a magnetic sucker I;

the universal ball head locking mechanism comprises a spherical groove sleeved at the lower end part of the ball head, a spherical supporting ring sleeved at the upper end part of the ball head and a screw cap for fixedly connecting the spherical groove and the spherical supporting ring; the outer wall of the spherical groove is provided with external threads, and the interior of the spherical groove is provided with a first spherical hole matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring; a step hole is formed in the nut and comprises a large step hole and a small step hole connected to the large step hole, an internal thread matched with the external thread on the outer wall of the spherical groove is formed in the large step hole, and the diameter of the small step hole is smaller than the outer diameter of the spherical supporting ring;

the driving device comprises a reciprocating screw rod and a polished rod which are connected between two upright posts in parallel, a photoelectric sensor positioning seat is sleeved on the reciprocating screw rod and the polished rod, and a threaded hole and a polished hole which are used for penetrating through the reciprocating screw rod and the polished rod are formed in the photoelectric sensor positioning seat; a threaded pin matched with a spiral groove outside the reciprocating screw rod is arranged in the threaded hole;

the two upright posts are respectively provided with a laser range finder and a level meter which are symmetrical.

The lifting mechanism comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, wherein a forward and reverse bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam is fixedly connected with the nut, and the abdicating groove is in clearance fit with the cantilever beam;

the lower end face of the cantilever beam is provided with a T-shaped groove, the reciprocating mechanism comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped sliding block sleeved on the reciprocating screw rod, the T-shaped sliding block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the three-axis calibration rod is fixed on the T-shaped sliding block.

The three-axis calibration rod comprises an air pump sucker, a calibration rod body and an alignment device for controlling the calibration rod body to automatically align according to a laser beam emitted by the laser measuring device; the air pump sucker is adsorbed on the lower end face of the T-shaped sliding block;

the aligning device comprises a third angle coding disc and a leveling device, the leveling device is arranged on an output shaft of the third angle coding disc, the leveling device comprises an X-axis direction aligning mechanism, a Y-axis direction aligning mechanism and a Z-axis direction aligning mechanism, the Y-axis direction aligning mechanism is arranged on an X-axis direction leveling rod of the X-axis direction aligning mechanism, the Z-axis direction aligning mechanism is arranged on a Y-axis direction leveling rod of the Y-axis direction aligning mechanism, and a tray is arranged on the Z-axis direction leveling rod of the Z-axis direction aligning mechanism; the third angle coding disc is arranged on the air pump sucker, and the axis of the output shaft of the third angle coding disc is flush with the central line of the air pump sucker;

the air pump sucker is provided with a first attitude sensor for detecting angle deviation values of X, Y, Z three axes between the upper surface of the air pump sucker and the horizontal direction, and the first attitude sensor is connected with a first wireless communication module and used for sending detection signals of the first attitude sensor to the controller, and controlling the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to automatically align according to the angle deviation values of X, Y, Z three axes after processing;

the calibration rod body is of a hollow tube structure, photoelectric receivers I for receiving laser are arranged at two end parts of the calibration rod body, and the central axes of the two photoelectric receivers I are flush with the central axis of the calibration rod body; the second photoelectric receiver and the third laser emitter are arranged in parallel along the radial direction of the calibrating rod body, and the second photoelectric receiver is located in the center of the calibrating rod body and is perpendicular to the transition connecting shaft.

The tray is provided with a second attitude sensor used for detecting the angle deviation value of X, Y, Z three axes between the upper surface of the tray and the horizontal direction in real time, the second attitude sensor is connected with a second wireless communication module and used for sending a detection signal of the second attitude sensor to the controller, the controller compares the detection signal of the second attitude sensor with the detection signal of the first attitude sensor to obtain an angle difference value, and controls the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to perform difference compensation according to the angle difference value;

the X-axis direction alignment mechanism comprises a support tray fixed on three output shafts of the angle coding disc, an X-axis direction leveling rod is supported on two side walls of the support tray through a bearing, one end of the X-axis direction leveling rod penetrates through one side wall of the support tray, an X-axis direction driven gear is arranged at the top end of the X-axis direction leveling rod, an X-axis direction driving gear is arranged on an output shaft of the X-axis direction motor, and the X-axis direction driving gear is meshed with the X-axis direction driven gear;

the Y-axis direction alignment mechanism comprises a Y-axis direction tray, the Y-axis direction tray is vertically fixed on an X-axis direction leveling rod, the Y-axis direction leveling rod is supported on two side walls of the Y-axis direction tray through a bearing, one end of the Y-axis direction leveling rod penetrates through one side wall of the Y-axis direction tray, a Y-axis direction driven gear is arranged at the top end of the Y-axis direction leveling rod, a Y-axis direction driving gear is arranged on an output shaft of a Y-axis direction motor, and the Y-axis direction driving gear is meshed with the Y-axis direction driven gear;

the Z-axis direction alignment mechanism comprises a Z-axis direction tray, the Z-axis direction tray is vertically fixed on a Y-axis direction leveling rod, the Z-axis direction leveling rod is supported on two side walls of the Z-axis direction tray through a bearing, one end of the Z-axis direction leveling rod penetrates through one side wall of the Z-axis direction tray, a Z-axis direction driven gear is arranged at the top end of the Z-axis direction leveling rod, a Z-axis direction driving gear is arranged on an output shaft of a Z-axis direction motor, and the Z-axis direction driving gear is meshed with the Z-axis direction driven gear;

an X-axis direction wireless signal receiver, a Y-axis direction wireless signal receiver and a Z-axis direction wireless signal receiver are respectively arranged on the supporting tray, the Y-axis direction tray and the Z-axis direction tray.

A protective cover is arranged outside the alignment device, and a yielding through hole is formed in the middle of the upper end of the protective cover;

and a handle is respectively arranged at two ends of the air pump sucker, and a sucker air inlet button and a sucker exhaust valve are arranged on the air pump sucker.

A method for calibrating an articulated bus by using the calibration system in the technical scheme comprises the following steps:

step 1: placing the articulated bus on a horizontal working table, and installing a laser measuring device, a width calibration device and a width measuring device at corresponding positions of a body of the articulated bus;

step 2: controlling a laser emitter on the width measuring device to emit laser, reflecting the laser by an isosceles right triangular prism and a plane reflector in sequence and then emitting the laser to one side of the width calibrating device, driving a photoelectric sensor to translate by a driving device of the width calibrating device until the laser emitted by the width measuring device is received and then stops moving, wherein a horizontal connecting line of a receiving point of the photoelectric sensor and three receiving points of a photoelectric receiver of the width measuring device is a straight line L, and a vertical bisector of the straight line L is parallel to a central line;

and step 3: calibrating an included angle between a connecting line A between laser points emitted by the plane mirrors of the two laser measuring devices and corresponding photoelectric sensors and a connecting line B between the laser points emitted by the plane mirrors of the laser measuring devices and corresponding photoelectric receivers III;

and 4, step 4: controlling an angle coding disc on the laser measuring device to rotate from the photoelectric sensor to one side of the photoelectric receiver or to rotate from one side of the photoelectric receiver to one side of the photoelectric sensor by half of the included angle measured in the step 3 according to the included angle measured in the step 3, wherein the laser beam emitted by a plane reflector of the laser measuring device is flush with the central line of the corresponding compartment at the moment;

and 5: moving a cantilever beam marking device on a guide rail to the rear part of the body of the articulated passenger car, and driving a three-axis calibration rod to move left and right along a cantilever beam by a reciprocating mechanism to search a laser beam reflected by a plane reflector; when the photoelectric receivers II of the three-axis calibration rod receive laser beams reflected by the plane reflector, the reciprocating mechanism stops moving, the three-axis calibration rod is rotated, the axis of the three-axis calibration rod is overlapped with the laser beams reflected by the plane reflector, the lifting mechanism moves downwards at the moment to drive the three-axis calibration rod to move downwards, the three-axis calibration rod stops moving until the three-axis calibration rod touches the roof of the hinged passenger car body, the two photoelectric receivers I at the two ends of the axis of the calibration rod body are overlapped with the laser beams, and the position of the calibration rod body is the center line of the corresponding car body at the moment.

In the step 1, it is required to ensure that a laser beam emitted by a laser measuring device and a central line of a corresponding compartment are in the same vertical plane, and simultaneously ensure that the vertical distance from a receiving position of a photoelectric sensor on a width calibration device to the side part of the corresponding compartment is consistent with the vertical distance from the central point of a plane reflector at the upper end of the width measuring device to the other side part of the corresponding compartment;

in step 3, a laser emitter on the laser measuring device is controlled to emit laser beams, the laser beams are emitted from the top of the carriage after being reflected by the isosceles right triangular prism and the plane reflector in sequence, an angle coding disc on the laser measuring device is controlled to rotate to drive the laser beams to scan clockwise or anticlockwise, when the laser beam is scanned onto the photosensor/photoreceiver three on the width calibration device/width measurement device, and the angle of the angle coding disc is recorded as zero at the moment, the angle coding disc is rotated continuously until the laser beam scans to another photoelectric sensor/photoelectric receiver III, the angle at this time is recorded as an included angle between a connecting line A between a laser spot emitted by the plane mirror of the laser measuring device and the corresponding photoelectric sensor and a connecting line B between a laser spot emitted by the plane mirror of the laser measuring device and the corresponding photoelectric receiver III.

1. The articulated vehicle comprises a plurality of sections of carriages with different axes, the center line of each section of carriage of the articulated vehicle can be calibrated by adopting the calibration method of the scheme, the position of a movable sensor on a width calibration device is firstly determined, the movable sensor on the width calibration device and a photoelectric receiver on the width measurement device are rotationally scanned by a laser beam emitted by a laser measurement device to obtain a rotation angle, namely an included angle a in the horizontal projection direction is obtained, the laser beam is ensured to be positioned on the center line of the vehicle body by rotating half of the included angle a, finally, the three-axis standard rod can be ensured to be coincident with the center line of the vehicle body by the coincidence of the three-axis standard rod and the laser beam, the center line of the vehicle body can be accurately drawn by the position of the three-axis standard rod, and the center line of the vehicle body of the other section of carriage can be drawn in the same way by simply moving the three-axis standard rod along the length direction, the scheme has the advantages of simple calibration mode and high calibration precision.

2. The laser beam emitted from the width measuring device can change in a pitching manner through the rotation angle of the plane reflector, and only the other end of the emitted laser beam can be scanned to the movable photoelectric sensor of the width calibration device through the height adjustment in a pitching manner, and the height of the laser spot on the plane reflector is not required to be guaranteed to be equal to the height of the movable photoelectric sensor of the width calibration device, so that the device structure is simplified, and the measurement is simpler and quicker; in addition, the laser beam emitted by the laser measuring device can also be changed in a pitching mode by adjusting the angle of the upper plane reflecting mirror, only the other end of the emitted laser beam can be ensured to respectively scan the width calibration device and the width measuring device by adjusting the height in a pitching mode, the laser point on the upper plane reflecting mirror is not required to be ensured to be as high as the movable photoelectric sensor and the photoelectric receiver, the device structure is simplified, and the measurement is simpler and quicker.

3. The supporting body guardrail is fixed through the universal ball head locking mechanism and can rotate to flexibly adjust the distances H1 and H2 between the two supporting body guardrails and the vehicle body, so that the adjustment is flexible and convenient, and the operation is simple.

4. The system can measure the center lines of passenger cars with different models and sizes, and the laser measuring device, the width calibration device and the width measuring device are detachably connected with the car body and can be conveniently detached for calibrating other cars; the system can calibrate the vehicle with two carriages, and can calibrate three or more carriages in the same way, and the calibration system of the scheme has stronger universality.

Drawings

FIG. 1 is a front view provided by an embodiment of the present invention;

FIG. 2 is a top view of an embodiment of the present invention;

FIG. 3 is a rear view provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a laser measuring device;

FIG. 5 is a schematic view of a partial structure of a laser measuring device;

FIG. 6 is a schematic diagram of a laser measuring device;

FIG. 7 is a schematic structural diagram of the width calibration device;

FIG. 8 is a top view of the width calibration apparatus;

FIG. 9 is a side view of the width device;

FIG. 10 is a schematic mechanical view of a universal ball-end locking mechanism;

FIG. 11 is a schematic view of a width measuring device;

FIG. 12 is a first view of a portion of the width measuring device;

FIG. 13 is a second partial schematic view of the width measuring device;

FIG. 14 is a calibration schematic of the width measuring device;

FIG. 15 is a schematic structural view of a cantilever marking apparatus;

FIG. 16 is a schematic view of a partial structure of a cantilever marking apparatus;

FIG. 17 is a schematic view of a cantilever marking apparatus measurement;

FIG. 18 is a schematic diagram of a three-axis alignment bar;

FIG. 19 is an exploded view of a three-axis calibration rod;

FIG. 20 is a schematic view of the alignment device;

in the figure: 1-a laser measuring device, 2-a width calibrating device, 3-a width measuring device, 4-a cantilever beam marking device, 5-a guide track, 6-a hinged passenger car body, 7, a laser beam, 11 and a three-axis calibrating rod;

111-license plate frame I, 112-foundation fixing bolt, 113-three-axis pan head I, 114-angle coding disc I, 151-vertical laser transmitter I, 152-vertical laser transmitter II, 116-telescopic rod I, 171-vertical laser receiver I, 172-vertical laser receiver II, 181-isosceles right triangular prism I, 182-plane reflector I, 183-motor I, 184-supporting plate I, 120-laser transmitter I and 122-wireless receiver;

211-a first magnetic chuck, 212-a mounting bracket, 213-a level meter, 241-a left laser range finder, 242-a right laser range finder, 215-a reciprocating screw rod, 216-a photoelectric sensor, 217-a universal ball head locking mechanism, 271-a spherical groove, 272-a spherical supporting ring, 273-a nut and 274-a magnetic chuck bracket;

311-license plate frame two, 312-magnetic chuck two, 313-three-axis pan tilt two, 314-angle coding disc two, 351-vertical laser emitter three, 352-vertical laser emitter four, 316-telescopic rod two, 371-vertical laser receiver three, 372-vertical laser receiver four, 318-isosceles right triangular prism two, 382-plane reflector two, 383-motor two, 384-supporting plate two, 385-photoelectric receiver three, 319-backup plate, 391-laser range finder one, 392-laser range finder two, 320-laser emitter two, 321-power supply, 322-wireless transmitter;

411-base, 412-column, 413-lifting mechanism, 414-reciprocating mechanism, 415-cantilever beam.

1100. An air pump suction cup 1101, a handle 1102, a suction cup air inlet button 1103, a suction cup exhaust valve 1104, a protective cover 1105, a battery 1106, a posture sensor one, 1107, an angle encoder disk three, 1108, a support tray 1109, an X-axis direction leveling rod 1110, an X-axis direction driven gear, 1111, an X-axis direction driving gear, 1112, an X-axis direction motor, 1113, an X-axis direction wireless signal receiver, 1114, a Y-axis direction tray, 1115, a Y-axis direction leveling rod, 1116, a Y-axis direction driven gear, 1117, a Y-axis direction driving gear, 1118, a Y-axis direction motor, 1119, a Y-axis direction wireless signal receiver, 1120, a Z-axis direction tray, 1121, a Z-axis direction leveling rod, 1122, a Z-axis direction driven gear, 1123, a Z-axis direction driving gear, a Z-axis direction motor, 1125, a Z-axis direction wireless signal receiver, 1126, a tray 1127, a transition connection shaft, 1128. the device comprises a second attitude sensor 1129, a first wireless communication module 1130, a calibration rod body 1131, a first photoelectric receiver 1132, a support frame 1133 and a third laser emitter; 1134. a second photoelectric receiver 1135 and a second wireless communication module.

Detailed Description

The invention provides a calibration method and a calibration system for a center line of an articulated bus, wherein the center line is used for installing a vehicle GPS device.

For the convenience of understanding the method and system of the present solution, a detailed description will be given to the structure for implementing the method of the present solution.

The first embodiment is as follows:

as shown in fig. 1-3, the system comprises two laser measuring devices 1 respectively located at the front and rear center positions of an articulated passenger car 6, two width calibration devices 2 far away from the laser measuring devices 1 and located on the side walls of a carriage, two width measuring devices 3 arranged on the carriage opposite to the width calibration devices 2, a guide slide rail 5 laid on a horizontal working table along the length direction of a car body to be measured, a cantilever beam marking device 4 is arranged on the guide slide rail 5, the guide slide rail 5 plays a role in guiding, and the cantilever beam marking device 4 is ensured to move along the length direction of the articulated car body along with the guide slide rail 5.

According to the scheme, the width measuring device 3 emits laser beams in the width direction of the vehicle body, the width direction is the direction perpendicular to the center line of the vehicle body, the laser beams emitted by the width measuring device 3 can be adjusted in the vertical direction through pitching through the second motor 383, the width calibrating device 2 moves on the guide slide rail 5 to receive the laser beams emitted by the width measuring device 3, and therefore the position of the photoelectric sensor 216 on the width calibrating device 2 is determined; then the laser measuring device 1 emits a laser beam 7 to the width calibration device 2 to enable the photoelectric sensor 216 to receive the laser, the angle of the first angle coding disc 114 at the moment is recorded as 0, the first angle coding disc 114 continues to rotate horizontally, the first motor 183 drives the first plane mirror 182 to pitch so that the laser beam 7 is emitted to the width measurement device 3 and receives the laser, and the angle of the first angle coding disc 114 after horizontal rotation is recorded as a; then, the laser beam 7 emitted by the laser measuring device 1 rotates by half of the angle a, so that the coincidence of the laser beam and the center line of the vehicle body is ensured; finally, by vertically moving the cantilever 415 on the cantilever marking device 4 and rotating the three-axis calibration rod 418, the photoelectric sensors at the two ends of the three-axis calibration rod are coaxial with the laser beam 7, and the center line of the vehicle body can be calibrated by calibrating the three-axis calibration rod 11. Similarly, the other car can also mark the car body center line in the same way, wherein the number of the cantilever beam marking device 4 can be one, and the car body center lines of the two cars are respectively marked by moving on the guide slide rail 5.

According to the method and the system, the position relation between the three-axis calibration rod and the vehicle center line can be automatically detected through the cantilever beam marking device on the vehicle, and then the vehicle center line is drawn according to the three-axis calibration rod. The calibration method of the scheme has high automation degree and high precision. The calibration method is the main invention point of the scheme.

As shown in fig. 4, the laser measuring device 1 includes a license plate frame one 111, a three-axis pan-tilt-head one 113 disposed on the license plate frame one 111, an angle code disc one 114 disposed on the three-axis pan-tilt-head one 113, a telescopic rod one 116, the telescopic rod one 116 is erected on a rotation center of the angle code disc one 114 and can coaxially rotate with the angle code disc one 114, the angle code disc one 114 is further provided with a laser emitter one 120 capable of rotating with the angle code disc one 114, the telescopic rod one 116 is of a hollow structure and is provided with windows at two ends, the window at the lower end is provided with an isosceles right triangular prism one 181, the window at the upper end is provided with a plane reflector one 182 capable of rotating with a motor one 183, a laser beam 7 emitted by the first laser emitter 120 is opposite to the middle point of the bevel edge of the first isosceles right triangular prism 181, reflected by the first isosceles right triangular prism 181 and then emitted to the first plane mirror 182 along the central line of the first telescopic rod 116; the central axis of the first telescopic rod 116 is perpendicular to and intersected with the central line of the corresponding compartment; the license plate frame I111 is of a bending structure consisting of a bottom plate and a vertical plate connected to one side of the bottom plate; two through holes used for being fixed corresponding to bolt mounting holes in a license plate frame are formed in a vertical plate of the license plate frame I111, two screw holes are formed in two end portions of the bottom plate, an anchor fixing bolt 112 is installed in each screw hole, the anchor fixing bolts 112 are placed on the license plate frame I111, one end of each anchor fixing bolt is supported on the test platform, and a stable supporting surface is formed by the anchor fixing bolts 112 and the test platform; the first three-axis holder 113 is used for leveling the license plate frame in the X and Y directions, and ensuring that the three-axis holder and the first angle code disc 114 connected with the three-axis holder are horizontal.

As shown in fig. 5, the first vertical laser transmitter (Y direction) 151 and the second vertical laser transmitter (X direction) 152 disposed on the first angle encoder disk 114 emit vertical alignment laser beams upward, and are calibrated in cooperation with the corresponding first vertical laser receiver (Y direction) 171 and the corresponding second vertical laser receiver (X direction) 172, so as to ensure that the first telescopic rod 116 is perpendicular to the horizontal plane; if the first telescopic rod 116 is not replaced vertically, the first telescopic rod 116 is a vertical reference calibration rod.

As shown in fig. 6, the first laser emitter 120 is placed on the first angle encoding disk 114, the horizontal laser beam 7 emitted by the first laser emitter 120 enters the first isosceles right triangular prism 181 to change the angle by 90 degrees, and then enters the first plane mirror 182 after changing into the vertical beam, the first plane mirror 182 is driven by the first motor 183 placed on the first supporting plate 184 to rotate clockwise or counterclockwise, and the light reflected by the first plane mirror 182 rotates clockwise or counterclockwise to realize the pitching of the light angle along with the rotation of the first plane mirror 182.

It should be noted that the first laser emitter 120 is configured to emit laser to the width calibration device and the width measurement device through the rotation angle encoding disk to record the included angle a of the horizontal projection, that is, the horizontal rotation angle of the angle encoding disk, without controlling the laser beam to be located at the same height as the device a and the width calibration device, so that the limiting condition of the measurement angle is simplified, the device structure is simplified, and the measurement mode is simpler.

As shown in fig. 7 to 9, two first magnetic suction cups 211 are attached to the side of the passenger car body, a first magnetic suction cup bracket 274 is mounted on one side of the first magnetic suction cups 211, which is far away from the car body, a universal ball head locking mechanism 217 is mounted on the first magnetic suction cup bracket 274, the universal ball head locking mechanism is connected with a vertical mounting bracket 212, the mounting bracket 212 is of a frame structure formed by welding two vertical columns and a plurality of cross beams, a ball head is arranged at the bottom of each vertical column, the ball head is fixed in the universal ball head locking mechanism 217, a reciprocating screw rod 215 is connected between the two vertical columns, a movable photoelectric sensor 216 capable of moving along the reciprocating screw rod 215 is arranged on the reciprocating screw rod 215, the reciprocating screw rod 215 is rotated, the photoelectric sensor 216 can horizontally move along the reciprocating screw rod 215, a polished rod parallel to the reciprocating screw rod 215 is arranged between the two vertical columns, a threaded hole for penetrating through the reciprocating screw rod 215 and the polished rod is arranged on a positioning seat of the photoelectric sensor 216, A unthreaded hole, a threaded pin which is matched with the spiral groove outside the reciprocating screw rod 215 is arranged in the threaded hole. Two gradienters 213, a left laser range finder 241 and a right laser range finder 242 are respectively arranged outside the two upright posts. The level instrument 213 is used for adjusting the level and the vertical of the mounting bracket 212, the level instrument is used for finely adjusting the position of one magnetic suction cup I211 until the level is adjusted in place, and then the ball head is used for finely adjusting the vertical position until the adjustment is finished; and measuring the distance from the vehicle body by using the left laser range finder 241 and the right laser range finder 242, and determining that the width calibration device 2 is installed and calibrated when H1= H2 is met. The movable photoelectric sensor 216 on the mounting bracket 212 moves left and right along the reciprocating screw 215 in a direction parallel to the vehicle body.

As shown in fig. 10, the universal ball head locking mechanism 217 includes a spherical recess 271 fitted at the lower end of the ball head, a spherical ring 272 fitted at the upper end of the ball head, and a nut 273 for fixedly connecting the spherical recess 271 and the spherical ring 272; the outer wall of the spherical groove 271 is provided with an external thread, and the inside of the spherical groove is provided with a first spherical hole matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring 272; a step hole is formed in the nut and comprises a large step hole and a small step hole connected to the large step hole, an internal thread matched with the external thread on the outer wall of the spherical groove 271 is formed in the large step hole, and the diameter of the small step hole is smaller than the outer diameter of the spherical supporting ring 272; after the mounting bracket 212 is adjusted to be horizontal and vertical by the level gauge 213, the quick lock nut 273 is rotated to press the ball-shaped ring 272 against the ball head at the lower end of the mounting bracket 212 in the external thread ball-shaped groove 271, and the mounting bracket 212 is fixed by the friction force of the press.

As shown in fig. 11 to 14, the second magnetic suction cup 312 is connected with the second license plate frame 311, the second three-axis pan-tilt 313 is placed on the second license plate frame 311, one end of the second angle encoding disk 314 is fixed with the second telescopic rod 316, and the other end is connected with the second three-axis pan-tilt 313; a third vertical laser transmitter (Y direction) 351 and a fourth vertical laser transmitter (X direction) 352 are arranged on the second angle coding disc 314, a third vertical laser receiver (Y direction) 371 and a fourth vertical laser receiver (X direction) 372 are upwards transmitted, and whether the second telescopic rod 316 is vertical to the horizontal plane or not and whether the rod body is deformed or not is calibrated; the laser beam emitted by the second laser emitter 320 is reflected by the second isosceles right triangular prism 318 for 90 degrees and then vertically strikes the second plane reflector 382; a second motor 383 arranged on a second supporting plate 384 drives a second plane reflecting mirror 382 to rotate, the angle of a laser beam reflected on the mirror surface changes in a pitching mode, the plane where the laser beam emitted by the laser emitter is located is perpendicular to the center line of the vehicle body, and the height of the other end of the laser beam can be adjusted through a pitching mechanism; and a power supply 321 is arranged on the second license plate frame 311 and used for providing working power supply for the second three-axis holder 313, the second angle encoding disk 314, the second laser emitter 320 and the second motor 383.

The first laser range finder 391 and the second laser range finder 392 are placed on the backup plate 319, the distance from the vehicle body is measured by the laser range finders, the second rotation angle encoding disc 314 ensures that H3= H4, and the laser beam on the width measuring device 3 is emitted perpendicularly to the center line of the vehicle body; in addition, H3= H4= H1= H2 is required to ensure that the distance between the photoelectric sensor 216 of the width calibration device 2 and the distance between the photoelectric receiver three 385 of the width measurement device 3 and the vehicle body are equal, so that the distances between the photoelectric sensor 216 and the vehicle body center line are equal. The first expansion link 116 and the second expansion link 316 are made of carbon fiber.

As shown in fig. 15 to 17, the base 411 is disposed on the guide rail 5 and can move along the guide rail 5, the bottom of the base 411 is provided with a slider engaged with the guide rail 5, and the column 412 is connected to the base 411 and can rotate around the center of the circle; the cantilever 415 is fixedly connected with the lifting mechanism 413, and the lifting mechanism 413 can realize the up-and-down movement of the cantilever 415 along the upright 412 in a larger range; a three-axis calibration rod 11 which can move transversely along with the reciprocating mechanism 414 is arranged on the cantilever beam 415; the lifting mechanism 413 comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, a forward and reverse bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam 415 is fixedly connected with the nut, and the abdicating groove is in clearance fit with the cantilever beam 415; the lower end face of the cantilever 415 is provided with a T-shaped groove, the reciprocating mechanism 414 comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped slide block sleeved on the reciprocating screw rod, the T-shaped slide block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the three-axis calibration rod 11 is fixed on the T-shaped slide block. The reciprocating screw rod is connected with the output shaft of the driving motor.

As shown in fig. 18 to 19, a second photoelectric receiver 1134 is disposed on the three-axis calibration rod 11 for receiving an optical electrical signal; the calibration bar 1130 on the three-axis calibration bar 11 can rotate by an angle. The three-axis calibration rod 11 comprises an air pump sucker 1100, a calibration rod body 1130 and an alignment device for controlling the calibration rod body to automatically align according to the laser 7 emitted by the laser measuring device 1; a handle 1101 is respectively arranged at two ends of the air pump sucker 1100, a sucker exhaust valve 1103 on the air pump sucker 1100 can exhaust air in the air pump sucker 1100 to form pressure difference that the air pump sucker 1100 adsorbs the vehicle body, the air pump sucker 1100 is fixed on the vehicle body when the air pump sucker 1100 is used, and the sucker air inlet button 1102 is used for enabling air to enter the air pump sucker 1100, so that the internal pressure and the external pressure of the air pump sucker 1100 are consistent, and the sucker 1 is separated from the vehicle body; the air pump suction cup 1100 is provided with a battery 1105 for supplying working power to an angle coding plate three 1107, an X-direction motor 1112, a Y-direction motor 1118, a Z-direction motor 1124, a first attitude sensor 1106, a second attitude sensor 1128, a first wireless communication module 1129, a second wireless communication module 1135 and the like. A protective cover 1104 is arranged outside the aligning device, an abdicating through hole is formed in the middle of the upper end of the protective cover, the protective cover 1104 plays a role in protecting each part inside the protective cover, the aligning device comprises an angle coding disc III 1107 and a leveling device, the leveling device is arranged on an output shaft of the angle coding disc III 1107, the leveling device comprises an X-axis direction aligning mechanism, a Y-axis direction aligning mechanism and a Z-axis direction aligning mechanism, the Y-axis direction aligning mechanism is arranged on an X-axis direction leveling rod 1109 of the X-axis direction aligning mechanism, the Z-axis direction aligning mechanism is arranged on a Y-axis direction leveling rod 1115 of the Y-axis direction aligning mechanism, and a tray 1126 is arranged on a Z-axis direction leveling rod 1121 of the Z-axis direction aligning mechanism; the transition connecting shaft 1127 is vertically erected on the tray 1126, the top end of the transition connecting shaft 1127 is vertically connected with the middle of the aligning rod body 1130, the aligning rod body 1130 is of a hollow pipe structure, two end portions of the aligning rod body 1132 are connected with a photoelectric receiver 1131 used for receiving laser, and the central axes of the two photoelectric receivers 1131 are flush with the central axis of the aligning rod body 1130;

the third angle coding disc 1107 is arranged on the air pump sucker 1100, and the axis of the output shaft of the third angle coding disc 1107 is flush with the central line of the air pump sucker 1100; the air pump sucker 1100 is provided with a first attitude sensor 1106 which is used for detecting angular deviation values of X, Y, Z three axes between the upper surface of the air pump sucker 1100 and the horizontal direction, and the first attitude sensor 1106 is connected with a first wireless communication module 1129 and used for sending detection signals of the first attitude sensor 1106 to a controller and controlling the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to automatically align according to the angular deviation values of X, Y, Z three axes after processing.

As shown in fig. 20, the X-axis direction alignment mechanism includes a supporting tray 1108 fixed on the output shaft of the third 1107 of the angle encoder disc, an X-axis direction leveling rod 1109 is supported on two side walls of the supporting tray 1108 by bearings, one end of the X-axis direction leveling rod 1109 penetrates through one side wall of the supporting tray 1108, and the top end thereof is provided with an X-axis direction driven gear 1110, an X-axis direction driving gear 1111 is mounted on the output shaft of the X-axis direction motor 1112, the X-axis direction driving gear 1111 is meshed with the X-axis direction driven gear 1110, the rotation speed of the motor is too fast, and the speed is reduced by the reduction of the gears, so that the leveling can be very convenient; the Y-axis direction alignment mechanism comprises a Y-axis direction tray 1114, the Y-axis direction tray 1114 is vertically fixed on an X-axis direction leveling rod 1109, the Y-axis direction leveling rod 1115 is supported on two side walls of the Y-axis direction tray 1114 through a bearing, one end of the Y-axis direction leveling rod 1115 penetrates through one side wall and the top end of the Y-axis direction tray 1114 and is provided with a Y-axis direction driven gear 1116, an output shaft of a Y-axis direction motor 1118 is provided with a Y-axis direction driving gear 1117, and the Y-axis direction driving gear 1117 is meshed with the Y-axis direction driven gear 1116; the Z-axis direction alignment mechanism comprises a Z-axis direction tray 1120, the Z-axis direction tray 1120 is vertically fixed on a Y-axis direction leveling rod 1115, the Z-axis direction leveling rod 1121 is supported on two side walls of the Z-axis direction tray 1120 through bearings, one end of the Z-axis direction leveling rod 1121 penetrates through one side wall and the top end of the Z-axis direction tray 1120 and is provided with a Z-axis direction driven gear 1122, a Z-axis direction driving gear 1123 is arranged on an output shaft of a Z-axis direction motor 1124, and the Z-axis direction driving gear 1123 is meshed with the Z-axis direction driven gear 1122. An X-axis direction wireless signal receiver (model TAK-LORA-01) 1113, a Y-axis direction wireless signal receiver (model TAK-LORA-01) 1119 and a Z-axis direction wireless signal receiver (model TAK-LORA-01) 1125 are respectively arranged on the supporting tray 1108, the Y-axis direction tray 1114 and the Z-axis direction tray 1120. The X-axis direction wireless signal receiver 1113 receives the signal of the X-axis direction angle transmitted from the attitude sensor I1106, transmits the signal of the X-axis direction angle to the X-axis direction motor 1112, and enables a tray 1114 in the Y-axis direction on the X-axis direction leveling rod 1109 to be in a horizontal state through the meshing transmission of the X-axis direction driving gear 1111 and the X-axis direction driven gear 1110; the Y-axis direction wireless signal receiver 1119 receives the Y-axis direction angle signal transmitted from the attitude sensor I1106, transmits the Y-axis direction angle signal to the Y-axis direction motor 1118, and enables the Z-axis direction tray 1120 on the Y-axis direction leveling rod 1115 to be in a horizontal state through meshing transmission of the Y-axis direction driving gear 1117 and the Y-axis direction driven gear 1116; similarly, the Z-axis direction wireless signal receiver 1125 receives a Z-axis direction angle signal transmitted from the attitude sensor 1106, transmits the Z-axis direction angle signal to the Z-axis direction motor 1124, and through the meshing transmission of the Z-axis direction driving gear 1123 and the Z-axis direction driven gear 1122, the tray 1126 on the Z-axis direction leveling rod 1121 is in a horizontal state, and further the transition connecting shaft 1127 is in a vertical state.

The tray 1126 is provided with a second attitude sensor 1128 for detecting X, Y, Z triaxial angle deviation between the upper surface of the tray 1126 and the horizontal direction in real time, the second attitude sensor 1128 is connected with a second wireless communication module 1135 and is used for sending a second attitude sensor 1128 detection signal to the controller, the controller compares the detection signal of the second attitude sensor 1128 with the detection signal of the first attitude sensor 1106 to obtain an angle difference value, and controls the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to perform difference compensation according to the angle difference value. The second attitude sensor 1128 and the first attitude sensor 1106 form a measuring closed loop, and the signal of the second attitude sensor 1128 continuously corrects the angle difference of the first attitude sensor 1106; ensuring that transition connecting shaft 1127 is in a vertical state; the second attitude sensor 1128 is placed at the tail end of the closed loop, the measured data is more accurate, the first attitude sensor 1106 is placed at the front end of the closed loop, the measured data is fed back to an execution part, the angle of the transition connecting shaft 1127 on the tray 1126 has a larger error due to accumulated errors of the mechanism, and the measurement precision can be improved by comparing the front end and the rear end of the closed loop.

The second photoelectric receiver 1134 and the third laser emitter 1133 are arranged in parallel along the radial direction of the calibration rod body 1130, and the second photoelectric receiver 1134 is located at the center of the calibration rod body 1130 and is perpendicular to the transition connecting shaft 1127.

Example two:

all actions of the present invention are controlled by the controller. The controller is a PLC. The laser measuring device 1, the width calibration device 2, the width measuring device 3 and the cantilever beam marking device 4 cooperate together. The input end of the controller is connected with a first vertical laser receiver 171, a second vertical laser receiver 172, a photoelectric sensor 216, a third vertical laser receiver 371, a fourth vertical laser receiver 372, a third photoelectric receiver 385, a first attitude sensor 1106, a second attitude sensor 1128, a first photoelectric receiver 1131 and a second photoelectric receiver 1134 in parallel, and the output end of the controller is connected with a first angle coding disc 114, a first vertical laser emitter 151, a second vertical laser emitter 152, a first motor 183, a first laser emitter 120, a driving motor of a reciprocating screw 215, a second angle coding disc 314, a third vertical laser emitter 351, a fourth vertical laser emitter 352, a second motor 383, a second laser emitter 320, a lifting mechanism 413 and a driving motor of a reciprocating mechanism 414, a third angle coding disc 1107, an X-axis direction motor 1112, a Y-axis direction motor 1118 and a Z-axis direction motor 1124 in parallel; the first three-axis pan-tilt 113 is provided with a wireless receiver 122, the second three-axis pan-tilt 314 is provided with a wireless transmitter 322, and the wireless receiver 122, the wireless transmitter 322 and the controller are in signal communication through a wireless communication module.

The controller controls the second laser emitter 320 of the width measuring device 3 to emit the photoelectric sensor 216 of the laser scanning width calibration device, and controls the driving motor to drive the reciprocating screw rod 215 to rotate, so as to adjust the position of the photoelectric sensor 216 and stop the photoelectric sensor 216 at the position right opposite to the width measuring device 3; the controller controls the first angle coding disc 114 to rotate, controls the first laser emitter 120 to emit the laser beam 7 at the same time, scans the photoelectric sensors 216 and the third photoelectric receivers 385, obtains an included angle a or an included angle B between a connecting line A between a laser spot emitted by a plane mirror of the two laser measuring devices 1 and a connecting line B between a laser spot emitted by a plane mirror of the laser measuring device 1 and the corresponding third photoelectric receiver 385, controls the first angle coding disc 114 to rotate to a zero position, rotates a half angle of the included angle a or the included angle B again, controls the laser beam 7 emitted by the laser measuring device 1 to be a central line corresponding to a vehicle body, controls the three-axis calibrating rod 11 to rotate until the first photoelectric receiver 1131 on the central line of the calibrating rod body 1130 receives the laser emitted by the laser beam 7, and controls the calibrating rod body 1130 to be flush with the central line of the vehicle body, the lift mechanism 413 is then controlled to lower into contact with the roof and the body centerline is then plotted.

The calibration process of the center line of the articulated bus according to the scheme is described as follows:

step 1: placing an articulated bus 6 on a horizontal working table, and installing a laser measuring device 1, a width calibration device 2 and a width measuring device 3 at corresponding positions of a bus body of the articulated bus 6; the step needs to ensure that the laser beam 7 emitted by the laser measuring device 1 is in the same vertical plane with the central line of the corresponding compartment, and simultaneously ensure that the vertical distance from the receiving position of the photoelectric sensor 216 on the width calibration device 2 to the side part of the corresponding compartment is consistent with the vertical distance from the central point of the plane reflector at the upper end of the width measuring device 3 to the other side part of the corresponding compartment;

the laser measuring device 1 is placed in front of and behind a license plate of a passenger car, and a first telescopic rod 116 of the laser measuring device is vertical to a horizontal plane through a first three-axis holder 113; the width calibration device 2 is placed at the rear part of a carriage, is fixed on the side surface of a carriage body by using a first magnetic chuck 211, and adjusts the universal ball locking mechanism 217 through the level instrument 213 to ensure that the mounting bracket 212 is vertical to the horizontal plane; the width measuring device 3 is placed at the position opposite to the vehicle body of the width calibration device, is fixed on the side face of the vehicle body by using the second magnetic chuck 312, and is vertical to the horizontal plane by using the second three-axis pan-tilt 313 to enable the second telescopic rod 316 to be vertical to the horizontal plane.

Step 2: controlling a laser emitter on the width measuring device 3 to emit laser, wherein the laser is emitted to one side of the width calibrating device 2 after being reflected by an isosceles right triangular prism and a plane reflector in sequence, a driving device of the width calibrating device 2 drives a photoelectric sensor 216 to translate until the photoelectric sensor stops moving after receiving the laser emitted by the width measuring device 3, at the moment, a horizontal connecting line of a receiving point of the photoelectric sensor 216 and a receiving point of a photoelectric receiver three 385 of the width measuring device 3 is a straight line L, and a vertical bisector of the straight line L is parallel to a central line Y;

and step 3: the laser beam 7 reflected by the first plane mirror 182 at the top end of the first telescopic rod 116 is emitted towards the opposite side, the first angle coding disc 114 rotates to drive the laser beam reflected by the first plane mirror 182 to scan clockwise or anticlockwise, when the laser beam scans the third photoelectric sensor 385 (or the third photoelectric sensor 216), the first angle coding disc 114 stops rotating, the angle is an initial value 0, then the first angle coding disc stops scanning the third photoelectric sensor 216 (or the third photoelectric sensor 385), an included angle a and an angle b can be measured, and it needs to be noted that the included angle a and the angle b are rotation angles of the first angle coding disc 114, namely a horizontal projection angle between the photoelectric sensor 216 and the third photoelectric receiver 385 when the laser beam 7 scans; the included angle a is an included angle between a connecting line A between the laser spot emitted by the plane mirror of the laser measuring device 1 on the first carriage and the corresponding photoelectric sensor 216 and a connecting line B between the laser spot emitted by the plane mirror of the laser measuring device 1 and the corresponding photoelectric receiver III 385, and the angle B is an included angle between a connecting line C between the laser spot emitted by the plane mirror of the laser measuring device 1 on the second carriage and the corresponding photoelectric sensor 216 and a connecting line D between the laser spot emitted by the plane mirror of the laser measuring device 1 and the corresponding photoelectric receiver III 385.

And 4, step 4: according to the included angle measured in the step 3, controlling an angle coding disc on the laser measuring device 1 to rotate from the photoelectric sensor 216 to one side of the photoelectric receiver three 385 or to rotate from one side of the photoelectric receiver three 385 to one side of the photoelectric sensor 216 by half of the included angle measured in the step 3, and enabling the laser beam 7 emitted by the plane mirror of the laser measuring device 1 to be flush with the central line of the corresponding compartment at the moment;

and 5: moving the cantilever beam marking device 4 to the rear part of the articulated passenger car body 6 on the guide track 5, and driving the three-axis calibration rod 11 to move left and right along the cantilever beam 415 to search for the laser beam reflected by the first plane mirror 182 by the reciprocating mechanism 414; after the second photoelectric receiver 1134 of the three-axis calibration rod 11 receives the laser beam 7 reflected by the plane mirror, the reciprocating mechanism 414 stops moving, the three-axis calibration rod 11 is rotated, the axis of the three-axis calibration rod 11 is overlapped with the laser beam 7 reflected by the plane mirror, at this time, the lifting mechanism 413 moves downwards to drive the three-axis calibration rod 11 to move downwards until the three-axis calibration rod stops moving when touching the roof of the hinged passenger car body 6, the two first photoelectric receivers 1131 on the axes of the two ends of the calibration rod body 1130 are overlapped with the laser beam 7, and at this time, the position of the calibration rod body 1130 is the center line of the corresponding car body.

The invention ensures that the movable sensor 216 receives the laser beam emitted by the second laser emitter 320 along the width direction by moving the movable sensor on the reciprocating screw rod 215; measuring a horizontal rotation included angle a through a movable sensor 216 of a laser beam scanning width calibration device emitted by a laser measuring device and a photoelectric receiver 385 of the scanning width measuring device by a rotation angle, and enabling the laser beam to be positioned on a central line of a vehicle body by rotating half of the included angle a; by moving the three-axis alignment bar 418 to coincide with the laser beam, the body centerline can be calibrated; similarly, the cantilever beam marking device is moved on the guide slide rail 5 to drive the three-axis calibration rod to move, and the three-axis calibration rod calibrates the central line of the other carriage in the same way.

The laser beam emitted by the width measuring device can be scanned to the width calibrating device opposite to the vehicle body in a pitching mode, the laser beam emitted by the laser measuring device can scan the width calibrating device and the width measuring device in a pitching mode, the fact that the emitting end of the device and the receiving end of the other device are located at the same height does not need to be guaranteed, the calibrating process is simplified, the device structure is simplified, and the calibrating method is simpler and quicker.

The support body guardrails are fixed through the universal ball head locking mechanisms and can rotate to flexibly adjust the distances H1 and H2 between the two support body guardrails and the vehicle body, and the support body guardrail is flexible and convenient to adjust and simple to operate.

Claims

1. The utility model provides a calibration system of articulated passenger train central line which characterized in that: the device comprises a laser measuring device (1), a width calibrating device (2), a width measuring device (3) and a cantilever beam marking device (4) for calibrating the center line of a vehicle body; the laser measuring device (1) is arranged in a license plate frame of a vehicle body to be measured, the width measuring device (3) is arranged on the side end of the vehicle body to be measured, and the width calibrating device (2) corresponds to the width measuring device (3) and is arranged on the other side end of the vehicle body to be measured;

the laser measuring device (1) and the width measuring device (3) both comprise a license plate frame, a three-axis holder arranged on the license plate frame, an angle coding disc arranged on the three-axis holder, and a telescopic rod, wherein the telescopic rod is erected on the rotation center of the angle coding disc and can coaxially rotate along with the angle coding disc, the angle coding disc is also provided with a laser emitter which can rotate along with the angle coding disc, the telescopic rod is of a hollow structure, two ends of the telescopic rod are provided with windows, the window at the lower end of the telescopic rod is provided with an isosceles right triangular prism, the window at the upper end of the telescopic rod is provided with a plane reflector which can rotate along with a motor, and laser emitted by the laser emitter is opposite to the middle point of the bevel edge of the isosceles right triangular prism, and is reflected by the isosceles right triangular prism and then irradiates on the plane reflector along the central line of the telescopic rod; the central axis of the telescopic rod of the laser measuring device (1) is vertical to and intersected with the central line of the corresponding compartment; a third photoelectric receiver (385) capable of receiving the laser emitted by the laser measuring device (1) is arranged at the top end of the width measuring device (3);

the width calibration device (2) comprises a photoelectric sensor (216) for receiving laser emitted by the width measurement device (3) and a mounting bracket (212), and the photoelectric sensor (216) can transversely move along the mounting bracket (212) along with the driving device;

the cantilever beam marking device (4) comprises a base (411) capable of translating along the guide rail (5) and an upright post (412) standing on the base (411), wherein a cantilever beam (415) capable of lifting along with the lifting mechanism (413) is arranged on the upright post (412), the cantilever beam (415) is vertical to the upright post (412), one side of the upright post (412) is provided with a abdicating groove, and a three-axis calibration rod (11) capable of transversely moving along with the reciprocating mechanism (414) is arranged on the cantilever beam (415); the guide rail (5) is laid on the horizontal working table along the length direction of the vehicle body to be measured.

2. The system for calibrating the centerline of an articulated passenger vehicle as defined in claim 1, wherein: the two laser measuring devices (1) are respectively arranged in license plate frames at the front end and the rear end of two car bodies of the articulated passenger car (6), the two width measuring devices (3) are respectively arranged at the side parts of the two car bodies of the articulated passenger car (6), the two width calibrating devices (2) are in one-to-one correspondence with the width measuring devices (3), and at least one cantilever beam marking device (4) is arranged;

the device also comprises a controller used for controlling the actions of the laser measuring device (1), the width calibrating device (2), the width measuring device (3) and the cantilever beam marking device (4); a wireless receiver (122) is arranged on a three-axis holder of the laser measuring device (1); a three-axis holder of the width measuring device (3) is provided with a wireless transmitter (322), and a wireless receiver (122), the wireless transmitter (322) and the controller are in signal intercommunication through a wireless communication module.

3. The system for calibrating the centerline of an articulated passenger vehicle as defined in claim 1, wherein: two vertical laser transmitters which can rotate along with the angle coding disc are arranged on the angle coding discs of the laser measuring device (1) and the width measuring device (3), the side wall of the top end of the telescopic rod is connected with a vertical laser receiver which vertically corresponds to the two vertical laser transmitters through a connecting rod, the top end of the telescopic rod is provided with a supporting plate for mounting a motor, and the telescopic rod is made of carbon fiber;

a backup plate (319) is arranged on a telescopic rod of the width measuring device (3), and two laser range finders which are parallel to each other are arranged on one side, close to the vehicle body, of the backup plate (319);

the license plate frame is of a bending structure consisting of a bottom plate and a vertical plate connected to one side of the bottom plate; two through holes for corresponding fixation with bolt mounting holes in a license plate frame are arranged on a vertical plate of a license plate frame of the laser measuring device (1), two screw holes are respectively arranged on two end parts of a bottom plate, and a foundation fixing bolt (112) is arranged in each screw hole; more than one magnetic sucker is arranged on the back side of the vertical plate of the license plate frame of the width measuring device (3).

4. The system for calibrating the centerline of an articulated passenger vehicle as defined in claim 1, wherein: the mounting bracket (212) is of a frame structure formed by welding two upright posts and a plurality of cross beams, the bottoms of the upright posts are provided with ball heads, the ball heads are fixed in a universal ball head locking mechanism (217), the universal ball head locking mechanism (217) is fixed on a magnetic sucker bracket (274), and the magnetic sucker bracket (274) is fixedly connected with a first magnetic sucker (211);

the universal ball head locking mechanism (217) comprises a spherical groove (271) sleeved at the lower end part of the ball head, a spherical supporting ring (272) sleeved at the upper end part of the ball head and a screw cap (273) used for fixedly connecting the spherical groove (271) and the spherical supporting ring (272); the outer wall of the spherical groove (271) is provided with an external thread, and the inside of the spherical groove is provided with a first spherical hole matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring (272); a step hole is formed in the nut and comprises a large step hole and a small step hole connected to the large step hole, an internal thread matched with the external thread on the outer wall of the spherical groove (271) is formed in the large step hole, and the aperture of the small step hole is smaller than the outer diameter of the spherical supporting ring (272);

the driving device comprises a reciprocating screw rod (215) and a polished rod which are connected between two upright posts in parallel, a photoelectric sensor (216) positioning seat is sleeved on the reciprocating screw rod (215) and the polished rod, and a threaded hole and a polished hole which are used for penetrating through the reciprocating screw rod (215) and the polished rod are formed in the positioning seat of the photoelectric sensor (216); a tooth pin matched with a spiral groove on the outer part of the reciprocating screw rod (215) is arranged in the threaded hole;

the two upright posts are respectively provided with a laser range finder and a level gauge (213) which are symmetrical.

5. The system for calibrating the centerline of an articulated passenger vehicle as defined in claim 1, wherein: the lifting mechanism (413) comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, a forward and reverse bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam (415) is fixedly connected with the nut, and the abdicating groove is in clearance fit with the cantilever beam (415);

the lower end face of the cantilever beam (415) is provided with a T-shaped groove, the reciprocating mechanism (414) comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped sliding block sleeved on the reciprocating screw rod, the T-shaped sliding block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the three-axis calibration rod (11) is fixed on the T-shaped sliding block.

6. The system for calibrating the centerline of an articulated passenger vehicle according to claim 1 or 5, wherein: the three-axis calibration rod (11) comprises an air pump sucker (1100), a calibration rod body (1130) and an alignment device for controlling the calibration rod body to automatically align according to a laser beam (7) emitted by the laser measuring device (1); an air pump sucker (1100) is adsorbed on the lower end face of the T-shaped sliding block;

the aligning device comprises an angle coding disc III (1107) and a leveling device, the leveling device is arranged on an output shaft of the angle coding disc III (1107), the leveling device comprises an X-axis direction aligning mechanism, a Y-axis direction aligning mechanism and a Z-axis direction aligning mechanism, the Y-axis direction aligning mechanism is arranged on an X-axis direction leveling rod (1109) of the X-axis direction aligning mechanism, the Z-axis direction aligning mechanism is arranged on a Y-axis direction leveling rod (1115) of the Y-axis direction aligning mechanism, and a tray (1126) is arranged on a Z-axis direction leveling rod (1121) of the Z-axis direction aligning mechanism; the third angle coding disc (1107) is arranged on the air pump sucker (1100), and the axis of the output shaft of the third angle coding disc (1107) is flush with the central line of the air pump sucker (1100);

the air pump sucker (1100) is provided with a first attitude sensor (1106) for detecting angle deviation values of X, Y, Z three axes between the upper surface of the air pump sucker (1100) and the horizontal direction, the first attitude sensor (1106) is connected with a first wireless communication module (1129) and is used for sending detection signals of the first attitude sensor (1106) to the controller, and after processing, the first attitude sensor controls the X-axis direction aligning mechanism, the Y-axis direction aligning mechanism and the Z-axis direction aligning mechanism to automatically align according to the angle deviation values of X, Y, Z three axes;

the transition connecting shaft (1127) is vertically erected on the tray (1126), the top end of the transition connecting shaft (1127) is vertically connected with the middle of the calibrating rod body (1130), the calibrating rod body (1130) is of a hollow tube structure, two ends of the calibrating rod body are respectively provided with a first photoelectric receiver (1131) for receiving laser, and the central axes of the two first photoelectric receivers (1131) are flush with the central axis of the calibrating rod body (1130); the second photoelectric receiver (1134) and the third laser emitter (1133) are arranged in parallel along the radial direction of the calibrating rod body (1130), and the second photoelectric receiver (1134) is located in the center of the calibrating rod body (1130) and is perpendicular to the transition connecting shaft (1127).

7. The system for calibrating the centerline of an articulated passenger vehicle of claim 6, wherein: the tray (1126) is provided with a second attitude sensor (1128) for detecting the angular deviation value of X, Y, Z three axes between the upper surface of the tray (1126) and the horizontal direction in real time, the second attitude sensor (1128) is connected with a second wireless communication module (1135) and is used for sending a detection signal of the second attitude sensor (1128) to the controller, the controller compares the detection signal of the second attitude sensor (1128) with the detection signal of the first attitude sensor (1106) to obtain an angular difference value, and controls the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to perform difference value compensation according to the angular difference value;

the X-axis direction alignment mechanism comprises a supporting tray (1108) fixed on an output shaft of an angle coding disc III (1107), an X-axis direction leveling rod (1109) is supported on two side walls of the supporting tray (1108) through a bearing, one end of the X-axis direction leveling rod (1109) penetrates through one side wall of the supporting tray (1108), an X-axis direction driven gear (1110) is arranged at the top end of the X-axis direction leveling rod, an X-axis direction driving gear (1111) is arranged on an output shaft of an X-axis direction motor (1112), and the X-axis direction driving gear (1111) is meshed with the X-axis direction driven gear (1110);

the Y-axis direction alignment mechanism comprises a Y-axis direction tray (1114), the Y-axis direction tray (1114) is vertically fixed on an X-axis direction leveling rod (1109), the Y-axis direction leveling rod (1115) is supported on two side walls of the Y-axis direction tray (1114) through a bearing, one end of the Y-axis direction leveling rod (1115) penetrates through one side wall and the top end of the Y-axis direction tray (1114) and is provided with a Y-axis direction driven gear (1116), an output shaft of the Y-axis direction motor (1118) is provided with a Y-axis direction driving gear (1117), and the Y-axis direction driving gear (1117) is meshed with the Y-axis direction driven gear (1116);

the Z-axis direction alignment mechanism comprises a Z-axis direction tray (1120), the Z-axis direction tray (1120) is vertically fixed on a Y-axis direction leveling rod (1115), the Z-axis direction leveling rod (1121) is supported on two side walls of the Z-axis direction tray (1120) through a bearing, one end of the Z-axis direction leveling rod (1121) penetrates through one side wall and the top end of the Z-axis direction tray (1120) and is provided with a Z-axis direction driven gear (1122), an output shaft of a Z-axis direction motor (1124) is provided with a Z-axis direction driving gear (1123), and the Z-axis direction driving gear (1123) is meshed with the Z-axis direction driven gear (1122);

an X-axis direction wireless signal receiver (1113), a Y-axis direction wireless signal receiver (1119) and a Z-axis direction wireless signal receiver (1125) are respectively arranged on the supporting tray (1108), the Y-axis direction tray (1114) and the Z-axis direction tray (1120).

8. The system for calibrating the centerline of an articulated passenger vehicle of claim 6, wherein: a protective cover (1104) is arranged outside the alignment device, and a yielding through hole is formed in the middle of the upper end of the protective cover;

a handle (1101) is respectively arranged at two ends of the air pump sucker (1100), and a sucker air inlet button (1102) and a sucker exhaust valve (1103) are arranged on the air pump sucker (1100).

9. A method for calibrating an articulated passenger vehicle using the calibration system according to any one of claims 1 to 8, wherein: the method comprises the following steps:

step 1: placing an articulated bus (6) on a horizontal working table, and installing a laser measuring device (1), a width calibrating device (2) and a width measuring device (3) at corresponding positions of a bus body of the articulated bus (6);

step 2: controlling a laser emitter on the width measuring device (3) to emit laser, reflecting the laser by an isosceles right triangular prism and a plane reflector in sequence and then emitting the laser to one side of the width calibrating device (2), driving a driving device of the width calibrating device (2) to drive a photoelectric sensor (216) to translate until the laser emitted by the width measuring device (3) is received and then stops moving, at the moment, a horizontal connecting line of a receiving point of the photoelectric sensor (216) and a receiving point of a photoelectric receiver III (385) of the width measuring device (3) is a straight line L, and a vertical bisector of the straight line L is parallel to a central line;

and step 3: calibrating an included angle between a connecting line A between laser points emitted by the plane mirrors of the two laser measuring devices (1) and the corresponding photoelectric sensors (216) and a connecting line B between the laser points emitted by the plane mirrors of the laser measuring devices (1) and the corresponding photoelectric receivers III (385);

and 4, step 4: controlling an angle coding disc on the laser measuring device (1) to rotate from the photoelectric sensor (216) to one side of the photoelectric receiver three (385) or to rotate from one side of the photoelectric receiver three (385) to one side of the photoelectric sensor (216) by half of the included angle measured in the step 3 according to the included angle measured in the step 3, wherein a laser beam (7) emitted by a plane reflecting mirror of the laser measuring device (1) is flush with the central line of the corresponding compartment;

and 5: moving a cantilever beam marking device (4) to the rear part of an articulated passenger car body (6) on a guide track (5), and driving a three-axis calibration rod (11) to move left and right along a cantilever beam (415) by a reciprocating mechanism (414) to search a laser beam reflected by a first plane reflector (182); when the photoelectric receiver II (1134) of the three-axis calibration rod (11) receives the laser beam (7) reflected by the plane reflector, the reciprocating mechanism (414) stops moving, the three-axis calibration rod (11) is rotated to enable the axis of the three-axis calibration rod (11) to coincide with the laser beam (7) reflected by the plane reflector, at the moment, the lifting mechanism (413) moves downwards to drive the three-axis calibration rod (11) to move downwards and stop moving until the top of the hinged passenger car body (6) is touched, the two photoelectric receivers I (1131) on the axes at the two ends of the calibration rod body (1130) coincide with the laser beam (7), and at the moment, the position of the calibration rod body (1130) is the central line corresponding to the car body.

10. The method of claim 9, wherein: in the step 1, a laser beam (7) emitted by a laser measuring device (1) and the central line of a corresponding compartment are required to be in the same vertical plane, and meanwhile, the vertical distance from the receiving position of a photoelectric sensor (216) on a width calibration device (2) to the side part of the corresponding compartment is required to be consistent with the vertical distance from the central point of a plane reflector at the upper end of the width measuring device (3) to the other side part of the corresponding compartment;

in the step 3, a laser transmitter on the laser measuring device (1) is controlled to emit a laser beam (7), the laser beam (7) is emitted from the top of the truck box after being reflected by an isosceles right triangular prism and a plane mirror in sequence, an angle coding disc on the laser measuring device (1) is controlled to rotate to drive the laser beam (7) to scan clockwise or anticlockwise, when the laser beam (7) scans to a photoelectric sensor (216)/a photoelectric receiver (385) on the width calibration device (2)/the width measuring device (3), the angle of the angle coding disc is recorded as zero at the moment, the angle coding disc is continuously rotated until the laser beam (7) scans to another photoelectric sensor (216)/the photoelectric receiver (385), the angle is recorded as the angle at the moment, the plane mirror of the laser measuring device (1) emits a laser spot to the opposite laser spot from a connecting line A between the laser spot emitted by the plane mirror of the corresponding photoelectric sensor (216) and the plane mirror emitted by the laser measuring device (1) The angle between the lines B between the photo receivers three (385) should be taken.