CN201173865Y - Automobile fourth wheel positioning detector - Google Patents
Automobile fourth wheel positioning detector Download PDFInfo
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- CN201173865Y CN201173865Y CNU2008200894517U CN200820089451U CN201173865Y CN 201173865 Y CN201173865 Y CN 201173865Y CN U2008200894517 U CNU2008200894517 U CN U2008200894517U CN 200820089451 U CN200820089451 U CN 200820089451U CN 201173865 Y CN201173865 Y CN 201173865Y
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Abstract
The utility model provides an automobile four-wheeled position detection instrument, relating to a detection instrument. The utility model aims to solve the problems that the prior automobile four-wheeled detection and position are calibrated at a time by a factory when the detection instrument is mounted, the inclination angles are generated among four wheels in the using process and users can not calibrate the four wheels. In the utility model, each front wheel solid target (6) and each rear wheel solid target (7) are respectively fixed on a fixture (8); two camera mounts (1) are respectively arranged on front sides of two front wheel solid targets(6); each camera mount (1) is lengthways provided with two cameras (4);and the cameras (4) are connected with a computer (2) through a data wire. The detection instrument can directly observe patterns on the solid targets which are taken by the cameras through a display of the computer, and adjust positions of automobiles according to the positions of the targets in the pictures; and the computer calculates various inclination angles of corresponding wheels according to the special positions of the targets, so as to determine whether the adjustment is needed and how to perform the adjustment.
Description
Technical field
The utility model relates to a kind of detector.
Background technology
At present external state-of-the-art automobile four-wheel detects and positioning system all adopts the Computerized three-dimensional imaging technique, but its use all is single eye stereo vision principle and plane target drone, the algorithm complex calculation time is long, system is once calibrated by producer when mounted, if in use produce between inclination angle or two trailing wheels between two front-wheels and produce the inclination angle, then the user can not verification and calibration again, and the reliability of vehicle is reduced.
The utility model content
The purpose of this utility model be for solve that existing automobile four-wheel detects and the location by producer's once calibration when mounted, in use produce the inclination angle between the four-wheel, the problem that the user can not the school inspection provides a kind of automobile four-wheel detection and localization instrument.
The utility model comprises two camera supports 1, computing machine 2, four cameras 4, calibration target 5, two front-wheel stereo targets 6, two trailing wheel stereo targets 7 and four anchor clamps 8, each front-wheel stereo target 6 and each trailing wheel stereo target 7 are separately fixed on each anchor clamps 8, two front-wheel stereo targets 6 are arranged on the front side of two trailing wheel stereo targets 7, two camera supports 1 are separately positioned on the front side of two front-wheel stereo targets 6, on each camera support 1, respectively be provided with a camera 4 down, four cameras 4 are positioned at the same space plane, calibration target 5 is arranged on the centre of two front-wheel stereo targets 6, and camera 4 and computing machine 2 are connected by data line.
The utility model has the advantages that: the utility model can observe directly front-wheel stereo target 6 and the trailing wheel stereo target 7 that camera 4 photographs by the display of computing machine 2, and according to the position of the position adjustments vehicle of target in image, so that obtain the optimum resolution image of target pattern, computing machine 2 calculates the various inclination angles (leaning angle of corresponding wheel according to the dimensional orientation of target, camber angle, toe-in angle), thus judge whether need the suggestion adjusting and how to adjust.
Description of drawings
Fig. 1 is an one-piece construction synoptic diagram of the present utility model, Fig. 2 is a stereographic map of the present utility model, Fig. 3 is that front-wheel stereo target 6 or trailing wheel stereo target 7 are installed in the structural representation on the wheel, and Fig. 4 is the structural representation of trailing wheel stereo target 7, and Fig. 5 is binocular stereo vision positioning principle figure.
Embodiment
Embodiment one: present embodiment is described in conjunction with Fig. 1 and Fig. 2, present embodiment is by two camera supports 1, computing machine 2, four cameras 4, calibration target 5, two front-wheel stereo targets 6, two trailing wheel stereo targets 7 and four anchor clamps 8 are formed, each front-wheel stereo target 6 and each trailing wheel stereo target 7 are separately fixed on each anchor clamps 8, two front-wheel stereo targets 6 are arranged on the front side of two trailing wheel stereo targets 7, two camera supports 1 are separately positioned on the front side of two front-wheel stereo targets 6, on each camera support 1, respectively be provided with a camera 4 down, four cameras 4 are positioned at the same space plane, calibration target 5 is arranged on the centre of two front-wheel stereo targets 6, and four places that camera 4 can photograph, camera 4 and computing machine 2 are connected by data line.Four cameras 4 and computing machine 2 are formed two binocular computer stereo vision systems respectively, each vision system is made up of two cameras 4, distance between two cameras 4 of two camera support 1 upper ends equates with distance between two cameras 4 of two camera support 1 lower ends, and the distance between the camera up and down 4 on the distance between the camera up and down 4 on the left camera support 1 and the right camera support 1 equates.Design all can be taken in the fixedly stereo target on two wheels of this side in the visual field visual field of two cameras of each stereo visual system like this.Before measurement, the camera that binocular computer stereo vision positioning system calculates two stereo visual systems according to calibration target 5 as the relation of plane space coordinate system and and the vehicle space coordinate system between transformational relation.
Embodiment two: in conjunction with Fig. 2 and Fig. 3 present embodiment is described, the front-wheel stereo target 6 of present embodiment is identical with the shape of trailing wheel stereo target 7, and the size of trailing wheel stereo target 7 is bigger than front-wheel stereo target 6.Design can make front-wheel stereo target 6 and trailing wheel stereo target 7 enter simultaneously in the visual field of two cameras 4 of homonymy like this, and the big or small basically identical of image.
Embodiment three: present embodiment is described in conjunction with Fig. 3 and Fig. 4, the difference of present embodiment and embodiment one is: present embodiment also increases one group of cylinder 9, be equipped with one group of post hole 11 on front-wheel stereo target 6 and the trailing wheel stereo target 7, each cylinder 9 is arranged in each post hole 11, cylinder 9 height that is exposed at front-wheel stereo target 6 and trailing wheel stereo target 7 outsides differs, one group of post hole 11 on front-wheel stereo target 6 and trailing wheel stereo target 7 according to specific arranged in patterns.So design is convenient to computing machine and is obtained special pattern on homonymy front-wheel stereo target 6 and the trailing wheel stereo target 7 by two cameras in the system, calculate the dimensional orientation of target after mating, computing machine in the system is provided whether need the suggestion of adjusting and how adjusting.
Embodiment four: present embodiment is described in conjunction with Fig. 3 and Fig. 4, plane, the top painted white of the cylinder 9 of present embodiment, white can play reflection action, front-wheel stereo target 6 and trailing wheel stereo target 7 painted blacks are convenient to computing machine 2 to the identification of its figure and the center hold of calculating front-wheel stereo target 6 or trailing wheel stereo target 7.
Above-mentioned automobile four-wheel detection and localization instrument, its principle of work is: when carrying out the four-wheel location, automobile is sailed on the locating platform 3, after car comes to a complete stop, with anchor clamps 8 and front-wheel stereo target 6, the compound body of trailing wheel stereo target 7 is installed in respectively on four wheels, and rotary handle is so that locking fixture 8, four cameras 4 in the place ahead, vehicle both sides obtain the front-wheel stereo target 6 installed on two wheels of automobile homonymy and the image of trailing wheel stereo target 7 respectively, the automatic control program of computing machine 2 obtains the image that camera 4 is taken, and calculate the dimensional orientation of target in camera coordinates system after image data storage mated in computing machine 2 image data bases, coordinate transformation relation according to space system calculates the grid bearing of target in vehicle space again, computing machine 2 calculates the various inclination angles (leaning angle of corresponding wheel according to the dimensional orientation of target, camber angle, toe-in angle), further make the judgement of wheel condition and providing and whether need the suggestion adjusting and how to adjust.
The ultimate principle of binocular computer stereo vision location:
As shown in Figure 5, the ultimate principle of binocular computer stereo vision location be utilize the space same point in the vertical down the parallax on two cameras, 4 pictures come the three-dimensional coordinate of computer memory point P.Front-wheel stereo target 6 and trailing wheel stereo target 7 are honest placing attitude, and promptly two optical axises are parallel to each other.Also can adopt friendship to placing attitude, promptly two optical axises are not parallel, and allow to have rotation between two image planes, if the anglec of rotation is zero to be honest placing attitude.Here describe by the front-wheel stereo target 6 of general placing attitude and the model of trailing wheel stereo target 7:
Suppose that two cameras, 4 symmetries are placed up and down.If two cameras, 4 coordinate systems are respectively O1 X1 Y1 Z1, O2 X 2Y2 Z2, axle Z1 and axle Z2 intersect at P, and distance is L between two coordinate origins.Corresponding image coordinates is Ql1 Xl1 Yl
1Zl1, Ql2 Xl2 Yl2 Zl2.World coordinate system (being vehicle place space coordinates) Ow Xw Yw Zw overlaps with O1 X1 Y1 Z1.Axle Z1 axle Z2 and axis of symmetry drift angle are θ.Suppose that the focal length of two cameras 4 equates up and down, be f=O1Ol1=O2 Ol2.Arbitrfary point Q on the space (x, y, z) coordinate in O2 X2 Y2 Z2 be Q (x2, y2, z2), corresponding picpointed coordinate be respectively (X1, Y1), (X2, Y2).Referring to Fig. 5, can push away according to pinhole imaging system principle and coordinate transform theory:
The front-wheel stereo target 6 and the trailing wheel stereo target 7 of honest disposing way are the special case of above-mentioned situation, as long as make θ 0 can obtain the ranging formula under this situation.
Claims (4)
1, a kind of automobile four-wheel detection and localization instrument, it comprises two camera supports (1), computing machine (2), four cameras (4), calibration target (5), two front-wheel stereo targets (6), two trailing wheel stereo targets (7) and four anchor clamps (8), it is characterized in that each front-wheel stereo target (6) and each trailing wheel stereo target (7) are separately fixed on each anchor clamps (8), two front-wheel stereo targets (6) are arranged on the front side of two trailing wheel stereo targets (7), two camera supports (1) are separately positioned on the front side of two front-wheel stereo targets (6), on each camera support (1), respectively be provided with a camera (4) down, four cameras (4) are positioned at the same space plane, calibration target (5) is arranged on the centre of two front-wheel stereo targets (6), and camera (4) is connected by data line with computing machine (2).
2,, it is characterized in that front-wheel stereo target (6) is identical with the shape of trailing wheel stereo target (7) according to the described automobile four-wheel detection and localization of claim 1 instrument.
3, according to the described automobile four-wheel detection and localization of claim 2 instrument, it is characterized in that it also contains one group of cylinder (9), be equipped with one group of post hole (11) on front-wheel stereo target (6) and the trailing wheel stereo target (7), each cylinder (9) is arranged in each post hole (11).
4, according to the described automobile four-wheel detection and localization of claim 3 instrument, it is characterized in that the plane, top of cylinder (9) scribbles white coating, front-wheel stereo target (6) and trailing wheel stereo target (7) scribble black coating.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200894517U CN201173865Y (en) | 2008-03-12 | 2008-03-12 | Automobile fourth wheel positioning detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200894517U CN201173865Y (en) | 2008-03-12 | 2008-03-12 | Automobile fourth wheel positioning detector |
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| CN201173865Y true CN201173865Y (en) | 2008-12-31 |
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| CNU2008200894517U Expired - Fee Related CN201173865Y (en) | 2008-03-12 | 2008-03-12 | Automobile fourth wheel positioning detector |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101915673A (en) * | 2010-09-06 | 2010-12-15 | 华南理工大学 | Wheel load-based type intelligent sensing four-wheel positioning measurement method |
| CN101726420B (en) * | 2009-11-15 | 2011-09-07 | 吉林大学 | Three-freedom degree wheel positioning instrument target |
| CN102322797A (en) * | 2011-08-15 | 2012-01-18 | 吉林大学 | Three-freedom-degree automobile wheel positioning parameter three-dimensionalal visual flexible detection system |
| CN102589903A (en) * | 2011-12-22 | 2012-07-18 | 上海一成汽车检测设备科技有限公司 | Morning detection device and method for automobile three-dimensional (3D) four-wheel positioner |
| CN102721549A (en) * | 2012-07-05 | 2012-10-10 | 北京民族汽车仪器制造有限公司 | Four-wheeled positioning type measuring system and measuring method adopting same |
| CN102749210A (en) * | 2012-07-03 | 2012-10-24 | 深圳市元征科技股份有限公司 | Three-dimensional four-wheel locater measuring method |
| CN102749209A (en) * | 2012-07-02 | 2012-10-24 | 麦苗 | Channel type automobile wheel positioner and detection method thereof |
| CN102883988A (en) * | 2010-02-12 | 2013-01-16 | 实耐宝公司 | Rack drive-on assistance systems |
| CN102901641A (en) * | 2012-09-20 | 2013-01-30 | 麦苗 | Asymmetric four-wheel positioning instrument for automobile |
| CN103217303A (en) * | 2013-03-29 | 2013-07-24 | 营口瀚为科技有限公司 | Method for realizing movable survey with 3D (three-dimensional) positioning instrument |
| WO2014121546A1 (en) * | 2013-02-07 | 2014-08-14 | 上海一成汽车检测设备科技有限公司 | Single-point clamp of four-wheel aligner for automobile and using method thereof |
| CN105910834A (en) * | 2016-06-14 | 2016-08-31 | 华晨汽车集团控股有限公司 | Automobile four-wheel positioning detection device and method |
| WO2016165179A1 (en) * | 2015-04-15 | 2016-10-20 | 李开文 | Double-upright-column lifter 3d positioning device |
| CN106920262A (en) * | 2017-03-07 | 2017-07-04 | 湖南科技大学 | A kind of machine vision 3D four-wheel aligners instrument target binding method |
| CN107110647A (en) * | 2014-12-17 | 2017-08-29 | 实耐宝公司 | Real-time bodywork height measurement |
| WO2018010346A1 (en) * | 2016-07-15 | 2018-01-18 | 李开文 | Four wheel locator having wide measuring range |
| CN108168909A (en) * | 2018-03-21 | 2018-06-15 | 上海邦田交通科技有限公司 | A kind of automobile four-wheel positioning system |
| CN108303042A (en) * | 2017-12-31 | 2018-07-20 | 南京沃宇机电有限公司 | A kind of measurement method at front wheel toe-in of automobile angle |
| CN111457828A (en) * | 2020-05-06 | 2020-07-28 | 内蒙古农业大学 | Automobile four-wheel positioning fixture set |
-
2008
- 2008-03-12 CN CNU2008200894517U patent/CN201173865Y/en not_active Expired - Fee Related
Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101726420B (en) * | 2009-11-15 | 2011-09-07 | 吉林大学 | Three-freedom degree wheel positioning instrument target |
| US9452917B2 (en) | 2010-02-12 | 2016-09-27 | Snap-On Incorporated | Apparatus for guiding a vehicle onto a service lift using a machine vision wheel alignment system |
| CN102883988A (en) * | 2010-02-12 | 2013-01-16 | 实耐宝公司 | Rack drive-on assistance systems |
| CN101915673B (en) * | 2010-09-06 | 2012-12-19 | 华南理工大学 | Wheel load-based type intelligent sensing four-wheel positioning measurement method |
| CN101915673A (en) * | 2010-09-06 | 2010-12-15 | 华南理工大学 | Wheel load-based type intelligent sensing four-wheel positioning measurement method |
| CN102322797B (en) * | 2011-08-15 | 2013-03-20 | 吉林大学 | Three-freedom-degree automobile wheel positioning parameter three-dimensionalal visual flexible detection system |
| CN102322797A (en) * | 2011-08-15 | 2012-01-18 | 吉林大学 | Three-freedom-degree automobile wheel positioning parameter three-dimensionalal visual flexible detection system |
| CN102589903A (en) * | 2011-12-22 | 2012-07-18 | 上海一成汽车检测设备科技有限公司 | Morning detection device and method for automobile three-dimensional (3D) four-wheel positioner |
| CN102749209A (en) * | 2012-07-02 | 2012-10-24 | 麦苗 | Channel type automobile wheel positioner and detection method thereof |
| CN102749210B (en) * | 2012-07-03 | 2015-09-23 | 深圳市元征科技股份有限公司 | Three-dimensional four-wheel aligner measuring method |
| CN102749210A (en) * | 2012-07-03 | 2012-10-24 | 深圳市元征科技股份有限公司 | Three-dimensional four-wheel locater measuring method |
| CN102721549A (en) * | 2012-07-05 | 2012-10-10 | 北京民族汽车仪器制造有限公司 | Four-wheeled positioning type measuring system and measuring method adopting same |
| CN102901641A (en) * | 2012-09-20 | 2013-01-30 | 麦苗 | Asymmetric four-wheel positioning instrument for automobile |
| WO2014121546A1 (en) * | 2013-02-07 | 2014-08-14 | 上海一成汽车检测设备科技有限公司 | Single-point clamp of four-wheel aligner for automobile and using method thereof |
| US9581524B2 (en) | 2013-02-07 | 2017-02-28 | Shanghai Yicheng Auto Inspection Device Science & Technology Co., Ltd. | Single-point clamp of four-wheel aligner for vehicles and a using method thereof |
| CN103217303A (en) * | 2013-03-29 | 2013-07-24 | 营口瀚为科技有限公司 | Method for realizing movable survey with 3D (three-dimensional) positioning instrument |
| CN103217303B (en) * | 2013-03-29 | 2017-10-10 | 营口瀚为科技有限公司 | The method that 3D position indicators realize moveable measurement |
| US11650049B2 (en) | 2014-12-17 | 2023-05-16 | Snap-On Incorporated | Live ride height measurement |
| CN107110647A (en) * | 2014-12-17 | 2017-08-29 | 实耐宝公司 | Real-time bodywork height measurement |
| WO2016165179A1 (en) * | 2015-04-15 | 2016-10-20 | 李开文 | Double-upright-column lifter 3d positioning device |
| CN105910834A (en) * | 2016-06-14 | 2016-08-31 | 华晨汽车集团控股有限公司 | Automobile four-wheel positioning detection device and method |
| CN105910834B (en) * | 2016-06-14 | 2018-05-25 | 华晨汽车集团控股有限公司 | A kind of automobile four-wheel locating and detecting device and its detection method |
| WO2018010346A1 (en) * | 2016-07-15 | 2018-01-18 | 李开文 | Four wheel locator having wide measuring range |
| CN106920262B (en) * | 2017-03-07 | 2018-02-02 | 湖南科技大学 | A kind of machine vision 3D four-wheel aligners instrument target binding method |
| CN106920262A (en) * | 2017-03-07 | 2017-07-04 | 湖南科技大学 | A kind of machine vision 3D four-wheel aligners instrument target binding method |
| CN108303042A (en) * | 2017-12-31 | 2018-07-20 | 南京沃宇机电有限公司 | A kind of measurement method at front wheel toe-in of automobile angle |
| CN108168909A (en) * | 2018-03-21 | 2018-06-15 | 上海邦田交通科技有限公司 | A kind of automobile four-wheel positioning system |
| CN111457828A (en) * | 2020-05-06 | 2020-07-28 | 内蒙古农业大学 | Automobile four-wheel positioning fixture set |
| CN111457828B (en) * | 2020-05-06 | 2021-10-29 | 内蒙古农业大学 | Automobile four-wheel positioning fixture set |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Harbin's science and Technology Development Co Ltd Assignor: Zhang Yunkui Contract record no.: 2011230000226 Denomination of utility model: Automobile fourth wheel positioning detector Granted publication date: 20081231 License type: Exclusive License Record date: 20110823 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081231 Termination date: 20130312 |