CN209727042U - It is a kind of for positioning the device of ADAS spotting plate placement location - Google Patents
It is a kind of for positioning the device of ADAS spotting plate placement location Download PDFInfo
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- CN209727042U CN209727042U CN201920892894.8U CN201920892894U CN209727042U CN 209727042 U CN209727042 U CN 209727042U CN 201920892894 U CN201920892894 U CN 201920892894U CN 209727042 U CN209727042 U CN 209727042U
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Abstract
This patent discloses a kind of for positioning the device and localization method of ADAS spotting plate placement location.Described device is specially a kind of to be assisted using wheel alignment meter, extend the function of wheel alignment meter, ADAS scaling board is placed on the device that ADAS calibration is assisted on the accurate position of relative vehicle according to codes and standards by the vehicle space location information obtained using wheel alignment meter.The method is the spatial position P that the vehicle centre-line to be calibrated of opposite camera is obtained using above-mentioned apparatusl1, vehicle centre-line plane to be calibrated spatial position Pf2, ADAS scaling board spatial position Pc111And the spatial position P of ADAS calibration facility bracing frame crossbeaml4, that is, determine that ADAS scaling board 111 is placed on the accurate location of vehicle relatively to be calibrated.This method is easy to operate, calibration is convenient, accuracy is high, and improve work efficiency rapidly it is convenient.
Description
Technical field
The present invention relates to the devices that a kind of ADAS spotting plate is placed into relative vehicle accurate location, specially a kind of logical
It crosses wheel alignment meter real-time measurement spotting plate used when demarcating ADAS is placed on the suitable position of relative vehicle
Device.
Background technique
Present ADAS (Advanced Driver Assistant Systems, advanced driving assistance system) is mainly
Traffic information is obtained using sensors such as camera, radars.Therefore in installation ADAS and in ADAS use process, to it
Carrying out calibration is very important.This is related to that can ADAS provide correct help for driver.ADAS calibration is mainly logical
ADAS scaling board is crossed, to demarcate to sensors such as camera, radars.During the calibration process, it is opposite to demarcate board placing by ADAS
It is required in the position of vehicle.ADAS calibration is carried out under the premise of placement standard, could accurately be adjusted in ADAS and be taken the photograph
As the parameter of first-class sensor.Meanwhile before being demarcated to ADAS, it is ensured that correct wheel alignment parameter, it is ensured that vehicle
Driving direction.So often wanting the inspection of advanced row wheel alignment parameter, ADAS calibration is then carried out again.
The method that ADAS demarcates board placing at present has two major classes, and one kind is the method directly provided by ADAS calibration facility,
Another kind of is the method provided by wheel alignment meter equipment:
The method directly provided by ADAS calibration facility, main advantage are need not to rely on specific wheel alignment meter, can
It is put with independent completion, but can analyzed below, disadvantage is also obvious.Here is main two kinds of this kind of solution
ADAS scaling board arrangement method:
Tape measure mode.This method fixes the tape measure hand dipping of position by being fixed on ADAS scaling board crossbeam.
After parking vehicle, ADAS caliberating device is placed on to the approximate location of vehicle front, then by tape measure adjustment ADAS mark
The position of fixed board, make its with a distance from vehicle within the limits prescribed, face vehicle central.The disadvantage of this method is to miss
Difference is larger, since manual operation has many uncontrollable factors, so cumulative errors can be generated, it is final to influence calibration.
The installation auxiliary device on wheel.This mode needs to install additional ancillary equipment by fixture on wheel,
Such as laser, camera etc., it further needs exist for installing graduated scale or Target Board etc. additional on ADAS calibration facility crossbeam, pass through
Optical instrument cooperation adjustment ADAS scaling board placement position.Although it is artificial accidentally that this method can eliminate part to a certain extent
Difference, but have the disadvantage that: firstly, operation is more troublesome, finishing the Target Board that removing vehicle tyres position indicator is wanted after wheel alignment,
Then new fixture and equipment are installed on wheel again；Second is that the installation error of rim deformation or fixture may bring measurement
Error, although the fixture installation of wheel alignment meter can not exclude error, its measurement process carried out dynamic and compensated, so this
A little factors can be corrected without having an impact to measurement.
Just because of the above reason, the producer for producing position indicator equipment also starts to propose the solution of oneself, right
Before ADAS is demarcated, the inspection and adjustment for carrying out wheel alignment parameter can be described as precondition, and position indicator can essence
The really inclination angle and position of measurement wheel, while also can determine that the position of vehicle, if providing ADAS scaling board pendulum on this basis
The support put can greatly improve precision and working efficiency.But due to the sky of position indicator, ADAS scaling board and vehicle to be calibrated
Between position limit, position indicator camera can not directly take ADAS scaling board.Resistance to precious (Snapon) company in fact, the U.S. at present, In
Its outstanding person provides a kind of method for assisting putting ADAS scaling board to (JohnBean) brand positioning instrument, and specifically increasing by one can
Mobile camera is respectively inserted in ADAS scaling board crossbeam both ends, shoots to the position indicator Target Board on wheel, to calculate
The position of ADAS scaling board crossbeam relative vehicle out, will be on the suitable position of ADAS calibration board placing.But due to camera at
This is higher, and multiple cameras acquire transmission and processing load that image increases data simultaneously, so generally only with increase
One camera is inserted in ADAS scaling board crossbeam both ends in turn and is adjusted, and regulated efficiency is not high enough, on the other hand due to camera with
Relative position calibration is complicated between ADAS scaling board crossbeam, complex steps, uses and inconvenient.
Summary of the invention
In order to solve the above technical problems, the invention proposes it is a kind of position ADAS spotting plate placement location device and
Localization method, i.e., it is a kind of for ADAS spotting plate to be placed into the device and localization method of relative vehicle accurate location.Into
One step be specially it is a kind of assisted using wheel alignment meter, extend the function of wheel alignment meter, the vehicle for utilizing wheel alignment meter to obtain
ADAS scaling board is placed on the accurate position of relative vehicle according to codes and standards and assists ADAS mark by spatial positional information
Fixed, this method is easy to operate, calibration is convenient, accuracy is high, and improve work efficiency it is rapid convenient.
The purpose of apparatus and method of the present invention is, by the ADAS scaling board on ADAS calibration facility before ADAS calibration
111 are placed in the accurate location before vehicle to be calibrated.Wherein, the effect of ADAS scaling board 111 is only that this patent method is demarcated
It is subsequent after 111 position of ADAS scaling board to be used to demarcate ADAS camera, then utilize the image information on ADAS scaling board 111
Adjust position and the angle etc. of ADAS camera, the effect of ADAS scaling board 111 is not the emphasis of introducing of this patent, in this patent
It does not do and excessively repeats.
As further explanation, those skilled in the art is general by bracing frame crossbeam 112 and to be fixed thereon
111 entirety of ADAS scaling board is referred to as ADAS calibration facility, wherein the effect of ADAS scaling board 111 is for demarcating ADAS
Camera, such as position and the angle of adjustment ADAS camera.The device of the invention and localization method final purpose are determining
The placement location of ADAS scaling board 111 positions and determines that ADAS scaling board 111 is placed into relative vehicle accurate location, according to reality
The setting ADAS scaling board 111 of border usage scenario is generally fixed in the bracing frame crossbeam 112 of ADAS calibration facility, and ADAS is marked
Fixed board 111 is located at the center of bracing frame crossbeam 112, and therefore, mobile bracing frame crossbeam 112 can be such that ADAS marks when calibration
Fixed board 111 is placed into relative vehicle accurate location.
For realization invention purpose, a kind of auxiliary ADAS caliberating device is provided, following technical scheme is taken:
A kind of auxiliary ADAS caliberating device, including fixing terminal 101,102, connecting rod 103,104, positioning Target Board 105,
106, ADAS scaling boards 111, bracing frame crossbeam 112, the camera 126,128 of wheel alignment meter, the Target Board of wheel alignment meter
141,145,146,147 and working host 120；
ADAS scaling board 111 is placed in front of headstock,
The ADAS scaling board 111 is fixed on the middle position of bracing frame crossbeam 112, by support frame as described above crossbeam
The placement location of the 112 adjustment ADAS scaling boards 111,
Connecting rod 103,104 one end are fixedly connected with positioning Target Board 105,106 respectively, and the other end passes through described solid respectively
Fixed end 101,102 is flexibly connected with support frame as described above crossbeam 112, moreover, the fixing terminal 101,102 is relative to described
111 horizontal centre of ADAS scaling board is symmetrically mounted on support frame as described above crossbeam 112,
In the ken 132,131 for the camera 126,128 that the positioning Target Board 105,106 is located at wheel alignment meter,
The Target Board 141,145,146,147 for being fixed on the wheel alignment meter on wheel is in the camera of wheel alignment meter
126, in 128 ken 132,131,
Working host 120 is connect with wheel alignment meter.
Preferably, the connecting rod 103,104 length are adjustable, i.e., adjust connection according to different ADAS calibration facility selections
Bar 103,104 length, but need to do the positioning calibration of Target Board 105,106 again after adjusting connecting rod 103,104 length every time.
It is preferred that the positioning Target Board 105,106 is individually positioned in corresponding positioning target plate bracing frame 107,109,
It positions and supports corresponding positioning Target Board 105,106 for placing in target plate bracing frame 107,109.
Moreover, two groups of functional components for including in auxiliary ADAS caliberating device described in this patent are kept to one group, i.e., one group
Functional unit include fixing terminal 101, connecting rod 103, positioning Target Board 105, wheel alignment meter camera 126, it is specific visible
Embodiment 2, i.e., by the way of using left and right, timesharing is used, first by one group of functional component be installed on ADAS calibration facility the left side (or
The right), the spatial position on the ADAS calibration facility left side is determined using wheel alignment meter, and carry out corresponding adjustment, then by the group
Functional component removes, and is mounted on the right (or left side) of ADAS calibration facility, can similarly determine and adjust on the right of it
Spatial position.
To realize invention purpose, provide a kind of using above-mentioned auxiliary ADAS caliberating device positioning ADAS Target Board
Localization method.
Use the localization method of above-mentioned auxiliary ADAS caliberating device positioning ADAS Target Board:
Step 1, itself calibration for assisting ADAS caliberating device:
1.1) fixing terminal end 101 is fixed, running fix Target Board 105, position indicator camera takes 3 or more no
With the image of position positioning Target Board 105, positioning Target Board 105 is obtained in different location phase by wheel alignment meter camera 126
To the multiple groups spin matrix R of camera 1260And R1, translation vector T0And T1,
Due to the relative position P of the opposite shooting camera 126 of fixing terminal 101 in the multiple image of shootingc101It is constant, it will
The relative tertiary location P of 101 relative positioning Target Board 105 of fixing terminalb101Be converted to the relative position of opposite shooting camera
Pc101,
Pc101=R0 Pb101+T0 (1)
Pc101=R1 Pb101+T1 (2)
Wherein, Pb101It is the relative tertiary location for the positioning Target Board 105 that fixing terminal 101 is connected by connecting rod 103,
Pc101It is the relative position of the opposite shooting camera of fixing terminal 101.
Formula (3) are obtained by formula (1)-formula (2),
(R0–R1)Pb101=T1-T0 (3)
Pass through the space for the positioning Target Board 105 that formula (3) are connected up to fixing terminal 101 by connecting rod 103
Position Pb101, complete itself calibration of fixing terminal 101；
1.2) fixing terminal 102 itself is demarcated up to P with itself calibration same steps of fixing terminal 101b102,
In, Pb102It is the relative tertiary location for the positioning Target Board 106 that fixing terminal 102 is connected by connecting rod 104.
Obtain the spatial position P that fixing terminal 101,102 distinguishes relative positioning Target Board 105,106b101、Pb102, complete
Itself calibration to fixing terminal 101,102.
Step 2, wheel alignment meter treat calibration vehicle wheel alignment obtain wheel of vehicle to be calibrated location information and to
The spatial positional information for demarcating the center line plane of vehicle centre-line 129, includes the following steps:
2.1) make the Target Board 141,145,146,147 for the wheel alignment meter being fixed on wheel while in wheel alignment
Wheel alignment is carried out in the ken 132,131 of the camera 126,128 of instrument, and wheel parameter is adjusted according to wheel alignment meter feedback information
Into critical field；
2.2) the spatial position P of the center line 129 of vehicle to be calibrated is determinedl1,
Wheel alignment meter measures sky of the wheel axis center with respect to camera 126 of wheel of vehicle 142,143,148,149 to be calibrated
Between position Pc11、Pc12、Pc13、Pc14,
Ps1=(Pc11+Pc12)/2 (4)
Pc11And Pc12Substitute into the spatial position P that formula (4) determine Chinese herbaceous peony wheel central points1,
Ps2=(Pc13+Pc14)/2 (5)
Pc13And Pc14Substitute into the spatial position P that formula (5) determine back wheels of vehicle central points2,
Ps1And Ps2Determine the spatial position P of the center line 129 of vehicle to be calibratedl1；
2.3)Pc11And Pc12Determine spatial position P of the Chinese herbaceous peony wheel wheel shaft with respect to camera 126l2, Pc13And Pc14Determine back wheels of vehicle
Spatial position P of the wheel shaft with respect to camera 126l3, two straight lines determine plane and then obtain the P of opposite camera 126l2And Pl3Place
Plane spatial position Pf1；
2.4) the spatial position P of the center line 129 of vehicle to be calibrated is determined by step 2.2)l1With step 2.3) with respect to phase
The P of machine 126l2And Pl3The spatial position P of the plane at placef1, that is, can determine containing center line 129 and perpendicular to Pl2And Pl3Opposite phase
The spatial position P of the center line plane of machine 126f2, when determining 111 placement position of scaling board ADAS, need ADAS scaling board 111
Center coincide with the spatial position P of center line planef2；
Step 3 determines 111 placement position of ADAS scaling board:
3.1) positioning Target Board 105,106 is located in the ken 132,131 of position indicator camera 126,128, and wheel is fixed
Position instrument obtains out spin matrix R of the Target Board 105 with respect to camera 126 respectively101With translation vector T101And 106 phase of Target Board
To the spin matrix R of camera 128102With translation vector T102,
The relative tertiary location of 101 relative positioning Target Board 105 of fixing terminal is converted to the phase of opposite shooting camera 126
To position Pc101,
Pc101=R101Pb101+T101 (6)
By R101And T101The relative position of the opposite shooting camera 126 of fixing terminal 101 can be acquired by substituting into formula (6)
Pc101,
3.2) relative tertiary location of 102 relative positioning Target Board 106 of fixing terminal is converted into opposite shooting camera 128
Relative position P 'c102,
P’c102=R102Pb102+T102 (7)
By R102And T102Substitute into the relative position P ' that formula (7) acquire the opposite shooting camera 128 of fixing terminal 102c102；
The calibration of position indicator polyphaser acquires spin matrix R of 128 spatial position of position indicator camera with respect to camera 12621Peace
Move vector T21；
Fixing terminal 102 is transformed into the spatial position P of opposite camera 126 with respect to the spatial position of camera 128c102,
Pc102=R21P’c102+T21 (8)
3.3) horizontal center position P of the ADAS scaling board 111 with respect to camera 126 is determinedc111。
Spatial position P of the fixing terminal 101 with respect to camera 126 has been determinedc101With fixing terminal 102 with respect to camera 128
Spatial position P 'c102Be converted to the spatial position P of opposite camera 126c102,
Pc111=(Pc101+Pc102)/2 (9)
Spatial position P of the fixing terminal 101 with respect to camera 126 is determined by step 3.1)c101It is determined with step 3.2) solid
The spatial position P of the opposite camera 126 of fixed end 102c102Can two o'clock determine 111 horizontal centre of ADAS scaling board with respect to camera
126 spatial position Pc111,
Meanwhile fixing terminal 101,102 is with respect to the spatial position P of camera 126c101And Pc102It can determine bracing frame crossbeam
The spatial position P of 112 opposite cameras 126l4；
3.4) the spatial position P of the center line 129 of vehicle to be calibrated is determined in step 2l1, moving ADAS scaling board 111 makes
Its horizontal center position Pc111Coincide with vehicle centre-line plane space position Pf2, and make bracing frame crossbeam 112 with respect to camera 126
Spatial position Pl4Perpendicular to vehicle centre-line spatial position Pl1, that is, complete the accurate placement of ADAS scaling board 111.
Principle using above-mentioned auxiliary ADAS caliberating device positioning ADAS Target Board is that auxiliary ADAS caliberating device is determined
The Target Board 141,145,146,147 on wheel is mounted in position Target Board 105,106 and wheel alignment meter simultaneously in wheel
In the ken 132 and 131 of position indicator camera 126 and 128, the calibration of ADAS scaling board 111 needs to fulfil wheel ahead of schedule before placing
Positioning, using the location information for the vehicle that wheel alignment meter obtains, thus guarantee vehicle can according to normal direction running, into
And the position of wheel of vehicle and the spatial positional information P of vehicle centre-line to be calibrated 129 are accurately obtained from wheel alignment meterl1；
Since auxiliary ADAS caliberating device passes through the bracing frame crossbeam 112 that two fixing terminals 101,102 are fixed on ADAS calibration facility
Both ends, fixing terminal 101,102 relative to the symmetrical distribution in 111 center of ADAS scaling board, and make assist ADAS mark
Determine two positioning Target Boards 105 and 106 of device left and right ends respectively while being in the ken 132 and 131 of camera 126 and 128
It is interior, spatial position P of two fixing terminals 101,102 with respect to camera 126 is obtained by wheel alignment meterc101And Pc102, further
Position P of the center of available ADAS scaling board with respect to camera 126c111With the sky of ADAS calibration facility bracing frame crossbeam 112
Between position Pl4, make spatial position P eventually by mobile ADAS calibration facilityl4Perpendicular to center line spatial position Pl1, spatial position
Pc111Coincide with center line plane spatial position Pf2, that is, work needed for completing.
This patent compared with the existing technology the utility model has the advantages that
Firstly, due to demarcating Board position vehicle relatively to be calibrated when effectively reducing ADAS calibration by assisting ADAS caliberating device
Position inaccuracy and the calibrated error generated, the parameters such as position of ADAS camera are accurate after the completion of demarcating ADAS.
Secondly, the present apparatus is easy to operate, do not need to install on vehicle again by wheel alignment meter auxiliary ADAS calibration
Other subsidiary equipment, it is only necessary to increase measurement of correlation function, again, the present apparatus in existing wheel alignment meter
Increased component is few, itself calibration process of at low cost, equipment is simple.
Finally, the present apparatus to ADAS calibration facility without particular/special requirement good compatibility, as long as ADAS calibration facility has substantially
Bracing frame crossbeam 112 and ADAS scaling board 111, this equipment can be connected on ADAS calibration facility and be assisted by fixing terminal
It is treated calibration vehicle and is demarcated.
Detailed description of the invention
It to illustrate rather than limits, has been described in the accompanying drawings based on two different wheel alignment meters, has utilized auxiliary
The embodiment of ADAS calibration facility progress ADAS camera calibration.In different drawings, identical label represents the same part
Or function same parts.
Fig. 1 is a kind of auxiliary ADAS caliberating device schematic diagram.
Fig. 2 is auxiliary ADAS caliberating device a kind of under coordinate system and ADAS calibration facility connection schematic diagram.
Fig. 3 uses auxiliary ADAS caliberating device itself scaling method schematic diagram to be a kind of.
Fig. 4 is a kind of auxiliary ADAS caliberating device itself scaling method schematic diagram under coordinate system.
Specific embodiment
The present invention is described in more detail below with reference to accompanying drawings, which show the preferred embodiment of the present invention,
It should be understood that those skilled in the art can modify invention described herein and still realize beneficial effects of the present invention.Cause
This, following description should be understood as the widely known of those skilled in the art, and be not intended as limitation of the present invention.
For clarity, not describing whole features of practical embodiments.In the following description, it is not described in detail well known function
And structure, because they can make the present invention chaotic due to unnecessary details.It will be understood that opening in any practical embodiments
In hair, it is necessary to make a large amount of implementation details to realize the specific objective of developer.
To be clearer and more comprehensible the purpose of the present invention, feature, a specific embodiment of the invention is made with reference to the accompanying drawing
Further instruction.It should be noted that attached drawing is all made of very simplified form and using non-accurate ratio, it is only used for
Purpose that is convenient, clearly aiding in illustrating the embodiment of the present invention.
Embodiment 1, a kind of auxiliary ADAS caliberating device
As shown in Figure 1, a kind of auxiliary ADAS caliberating device, including fixing terminal 101,102, connecting rod 103,104, positioning
Target Board 105,106 positions target plate bracing frame 107,109, ADAS scaling board 111, bracing frame crossbeam 112, wheel alignment meter
Camera 126,128, the Target Board 141,145,146,147 and working host 120 of wheel alignment meter；
ADAS scaling board 111 is placed in front of headstock,
The ADAS scaling board 111 is fixed on the middle position of bracing frame crossbeam 112, and bracing frame crossbeam 112 passes through placement
In realizing the placement location for easily adjusting the ADAS scaling board 111 in support base 113,
One end of connecting rod 103,104 is fixedly connected with positioning Target Board 105,106 respectively, and the other end passes through described respectively
Fixing terminal 101,102 is flexibly connected with bracing frame crossbeam 112, moreover, the fixing terminal 101,102 is relative to the ADAS
111 horizontal centre of scaling board is symmetrically mounted on support frame as described above crossbeam 112,
In the ken 132,131 for the camera 126,128 that the positioning Target Board 105,106 is located at wheel alignment meter,
It is separately fixed at the Target Board 141,145,146,147 of the wheel alignment meter on wheel 142,143,148,149
In in the ken 132,131 of the camera 126,128 of wheel alignment meter,
Working host 120 is wirelessly connected transmission data by wireless signal transmitter 121 and wheel alignment meter.
It is explained further as to the present embodiment:
ADAS calibration facility refers to when carrying out ADAS calibration comprising basic bracing frame crossbeam 112, support base 113
With ADAS scaling board 111, ADAS scaling board 111 is fixed in bracing frame crossbeam 112, and bracing frame crossbeam 112 is placed in support bottom
On seat 113, the placement location of ADAS calibration facility is easily adjusted by the movement to support base 113, i.e.,
The position of ADAS scaling board 111.Wherein, the effect of ADAS scaling board 111 is used for not within the scope of the introduction of this patent
It is subsequent after method calibration 111 position of ADAS scaling board of patent to be used to demarcate ADAS camera, then utilize ADAS scaling board
The position of image information adjustment ADAS camera on 111 and angle etc..
Target Board 105,106 is positioned in this example and is different from ADAS scaling board 111, and positioning Target Board 105,106 is similar to vehicle
It is fixed on the Target Board 141,145,146,147 on rim for automobile wheel to obtain information of vehicles in wheel position indicator, positions Target Board
105, the pattern printed on 106 be it is designed in advance, size is fixed and known；
Positioning Target Board 105,106 needs that wheel alignment meter is combined to use, effect be determining ADAS calibration facility it is opposite to
Demarcate the placement location of vehicle.
It is worth noting that, fixing terminal 101,102 can not support frame be horizontal relatively when assisting ADAS caliberating device to use
Beam 112 is mobile, because positioning Target Board 105,106 needs to move, causes the connecting rod 103,104 to be with fixing terminal 101,102
Angle change occurs for basic point, rigidly fixes connection so not should be between connecting rod 103,104 and fixing terminal 101,102.This
Fixing terminal 101,102 can be designed to universal joint connection structure in example, the both ends of universal joint respectively with connecting rod 103,104 and
Fixing terminal 101,102 connects, because spatially can arbitrarily rotate between the both ends of universal joint, when ADAS calibration is set
After standby position determines, auxiliary ADAS caliberating device can be relatively moved, and positioning Target Board 105,106 is made to be in wheel alignment
In the ken of instrument.
It include the lifting machine 144 for parking cars in this example.
Wheel alignment meter described in this example refers to the wheel alignment meter using computer vision measurement technology, such as Fig. 1 institute
Show, there are two camera 126,128 or multiple cameras, moreover, the wheel alignment meter in this example includes indispensable associated components and base
This workflow takes the wheel alignment meter of this working method to have similar functional component and combination, not for tool
The specific equipment of body producer production, the wheel alignment meter have similar operation principle and workflow.
It is explained further, wheel alignment meter described in this example includes two cameras 126,128, can between camera 126,128
Can also fix without crossbeam 127 using crossbeam 127 is fixed, camera 126,128 is fixed on by fixture respectively for acquiring
Target Board 141,145,146,147 on rim for automobile wheel 142,143,148,149, and the positioning mesh of auxiliary ADAS calibration facility
The image information of target 105,106；It is clapped using the wheel alignment meter of computer vision measurement technology by two cameras 126,128
The moving image for the Target Board 141,145,146,147 being rigidly secured on wheel rim is taken the photograph, then measures skill using digital picture
Art obtains every angle information of tire and it will be shown on 120 screen of working host.
Operator compares the parameters of wheel according to respective standard, and adjustment vehicle associated components make the position angle of wheel
Degree reaches standard requirements, while also having determined that the reality of vehicle centre-line 129 (perfect condition should be identical as thrust line) to be calibrated
Border spatial position.
It further include working host 120 in this example, working host 120 passes through wireless signal transmitter 121 and wheel alignment meter
Connection transmission data, for receiving and handling two or more acquired image information of camera 126 and 128, by answering operation
Obtain the toe-in of front wheel of wheel of vehicle to be calibrated, camber angle, castor, kingpin inclination angularly information and to
The location information of vehicle centre-line 129 is demarcated, and information is shown on the screen of working host 120, reflects vehicle body position
And wheel angle information.
This example is optional, and the connecting rod 103,104 length are adjustable, i.e., selects to adjust according to different ADAS calibration facilities
Connecting rod 103,104 length, but need to be oneself for assisting ADAS caliberating device again after adjusting connecting rod 103,104 length every time
Body calibration.
This example is optional, the positioning Target Board 105,106 be respectively placed in corresponding positioning target plate bracing frame 107,
On 109, the positioning target plate bracing frame 107,109 can follow ADAS calibration facility mobile, and height being capable of basis
The needs of ADAS calibration facility are adjusted,
This example is further alternative, and the lower half portion of positioning target plate bracing frame 107,109 can be made can convert into three
Foot support form, while for convenience of movement, the bottom of three-legged support can install support wheel.
This example is optional, and the top half of positioning target plate bracing frame 107,109 can be made and can be adjusted up and down in height
External member, height is fixed after regulating height.
Embodiment 2, connecting rod, fixing terminal, positioning Target Board and the auxiliary ADAS mark for positioning target plate bracing frame single group
Determine device
Connecting rod, fixing terminal, positioning Target Board and the positioning Target Board branch in ADAS caliberating device are assisted in embodiment 1
The quantity of support is all 2, each different component is interconnected to constitute one group, and auxiliary ADAS caliberating device includes two in this way
Group functional component, each group of both ends for being connected to ADAS calibration facility crossbeam, and assist ADAS caliberating device with
It needs two groups of functional components being connected two in ADAS calibration facility respectively by fixing terminal when ADAS calibration facility is connected
End.
But the set-up mode of other possible selections as this example, this example can also be configured according to following:
To save cost, two groups of functional components for including in auxiliary ADAS caliberating device described in this patent can be kept to one
Group, including it is one group that fixing terminal, connecting rod, positioning Target Board and positioning target plate bracing frame, which are mutually linked, then, using a left side
This group of functional component is first installed on the left side (or the right) of ADAS calibration facility bracing frame crossbeam by the mode that right timesharing uses,
The spatial position on the ADAS calibration facility left side is determined using wheel alignment meter, and carries out corresponding adjustment, then by this group of function part
Part removes, and is mounted on the right (or left side) of ADAS calibration facility bracing frame crossbeam, can similarly determine and adjust its right side
The spatial position on side.
Embodiment 3, the localization method that ADAS Target Board is positioned using the auxiliary ADAS caliberating device of embodiment 1 or 2
A kind of auxiliary ADAS caliberating device is placed in the front of vehicle to be calibrated, positioned at wheel alignment meter and wait mark
Determine between vehicle, ADAS calibration facility is then put using wheel alignment meter, so that target identification (positioning Target Board 105,
106 and the Target Board 141,145,146,147 of wheel alignment meter that is fixed on rim for automobile wheel 142,143,148,149 while locating
In the ken 132 and 131 of the camera 126,128 of wheel alignment meter, can use in this way wheel alignment meter and meanwhile measure to
The spatial position of vehicle centre-line 129 and the spatial position of ADAS scaling board 111 are demarcated, in next step by ADAS scaling board 111
Horizontal centre is accurately placed in the necessary condition of vertical with vehicle centre-line 129 to be calibrated suitable position before vehicle.
Further, since the placement position of ADAS calibration facility is substantially close to position indicator camera 126,128, position indicator camera
126,128 the target identification i.e. ADAS scaling board 111 on ADAS calibration facility can not be directly taken, therefore, the present invention will determine
Position Target Board 105,106 passes through the bracing frame crossbeam of connecting rod 103,104 and fixing terminal 101,102 and ADAS calibration facility
112 are flexibly connected, and fixing terminal 101,102 is fixed on bracing frame crossbeam 112 and 111 horizontal centre same distance of ADAS scaling board
Position on, connecting rod 103,104 can rotate between the connecting pin of corresponding fixing terminal 101,102 respectively, with adjust
Positioning Target Board 105,106 arrives the appropriate location of camera 126,128 kens 132,131, device of the present invention and placement respectively
The core work of ADAS scaling board 111 is exactly to carry out converting determining fixing end by positioning the location information of Target Board 105,106
The location information of son 101,102 and then final determining 111 placement information of ADAS scaling board.
Auxiliary ADAS caliberating device is connected with ADAS calibration facility bracing frame crossbeam 112, wherein being fixed on ADAS calibration
The fixing terminal 101,102 at 112 both ends of equipment support crossbeam be at a distance from 111 horizontal centre of ADAS scaling board it is identical,
And the line of the fixing terminal 101,102 at both ends is parallel with ADAS scaling board 111, therefore, can be by determining fixing terminal
101,102 location information determines the location information of ADAS calibration facility horizontal centre, the final standard for determining ADAS scaling board 111
True placement location.
The final purpose of the layout design of apparatus above is using wheel alignment meter while to measure vehicle center to be calibrated
The spatial position of line 129 and the spatial position of ADAS scaling board 111, and prompt operator will be in 111 level of ADAS scaling board
The heart is placed in the accurate location before vehicle.
The present invention is in the position letter for assisting the vehicle for needing to obtain using wheel alignment meter when the calibration of ADAS spotting plate
Breath, the placement location of ADAS scaling board relative vehicle is easily adjusted further according to the more specific location information of vehicle, takes following skill
Art scheme:
As shown in Fig. 2, assisting ADAS caliberating device to connect with ADAS calibration facility under coordinate system, above-mentioned auxiliary ADAS is used
The localization method of caliberating device positioning ADAS Target Board:
Step 1, itself calibration for assisting ADAS caliberating device, as shown in Figure 3,4:
1.1) fixing terminal end 101 is fixed, running fix Target Board 105, position indicator camera takes 3 different locations
The image for positioning Target Board 105 obtains positioning Target Board 105 in different location with respect to camera by wheel alignment meter camera 126
126 multiple groups spin matrix R0And R1, translation vector T0And T1,
Due to the relative position P of the opposite shooting camera 126 of fixing terminal 101 in the multiple image of shootingc101It is constant, it will
The relative tertiary location of 101 relative positioning Target Board 105 of fixing terminal is converted to the relative position P of opposite shooting camerac101,
Pc101=R0 Pb101+T0 (1)
Pc101=R1 Pb101+T1 (2)
Wherein, Pb101It is the relative tertiary location for the positioning Target Board 105 that fixing terminal 101 is connected by connecting rod 103,
Pc101It is the relative position of the opposite shooting camera of fixing terminal 101,
Formula (3) are obtained by formula (1)-formula (2),
(R0–R1)Pb101=T1-T0 (3)
Up to the relative tertiary location P for the positioning Target Board 105 that fixing terminal 101 is connected by connecting rod 103b101；It is complete
At itself calibration of fixing terminal 101；
1.2) fixing terminal 102 itself is demarcated up to P with itself calibration same steps of fixing terminal 101b102,
In, Pb102It is the relative tertiary location for the positioning Target Board 106 that fixing terminal 102 is connected by connecting rod 104,
Obtain the spatial position P that fixing terminal 101,102 distinguishes relative positioning Target Board 105,106b101、Pb102, complete
Itself calibration of fixing terminal 101,102.
Step 2, wheel alignment meter treat calibration vehicle wheel alignment obtain wheel of vehicle to be calibrated location information and to
The spatial positional information for demarcating the center line plane of vehicle centre-line 129, includes the following steps:
2.1) make the Target Board 141,145,146,147 for the wheel alignment meter being fixed on wheel while in wheel alignment
Wheel alignment is carried out in the ken 132,131 of the camera 126,128 of instrument, wheel parameter is adjusted according to wheel alignment meter feedback information
Chinese herbaceous peony wheel wheel shaft is made to be parallel to back wheels of vehicle wheel shaft in error to critical field；
2.2) the spatial position P of the center line 129 of calibration vehicle is determinedl1It is obtained by the Target Board being fixed on rim for automobile wheel
It takes,
Wheel alignment meter measures the wheel axis center of wheel of vehicle wheel rim 142,143,148,149 to be calibrated with respect to camera 126
Spatial position Pc11、Pc12、Pc13、Pc14,
Ps1=(Pc11+Pc12)/2 (4)
Pc11And Pc12Substitute into the spatial position P that formula (4) determine Chinese herbaceous peony wheel central points1,
Ps2=(Pc13+Pc14)/2 (5)
Pc13And Pc14Substitute into the spatial position P that formula (5) determine back wheels of vehicle central points2,
Ps1And Ps2Determine the spatial position P of the center line 129 of vehicle to be calibratedl1；
2.3)Pc11And Pc12Determine spatial position P of the Chinese herbaceous peony wheel wheel shaft with respect to camera 126l2、Pc13And Pc14Determine back wheels of vehicle
Spatial position P of the wheel shaft with respect to camera 126l3, after wheel alignment meter adjusts the parameters of wheel of vehicle, Chinese herbaceous peony wheel wheel shaft
It is parallel to back wheels of vehicle wheel shaft, i.e. Pl2//Pl3, because two straight lines determine a plane, two straight lines determine plane and then obtain
The P of opposite camera 126l2And Pl3The spatial position P of the plane at placef1, i.e. Pf1Include Pl1And Pl2And opposite camera 126 sky
Between position.
2.4) the spatial position P of the center line 129 of vehicle to be calibrated is determined by step 2.2)l1With step 2.3) with respect to phase
The P of machine 126l2And Pl3The spatial position P of the plane at placef1, that is, determine containing center line 129 and perpendicular to Pl2And Pl3Opposite camera
The spatial position P of 126 center line planef2；
When determining 111 placement position of scaling board ADAS, need the center P of ADAS scaling board 111c111In coinciding with
The spatial position P of heart line planef2。
Step 3 determines 111 placement position of ADAS scaling board
3.1) positioning Target Board 105,106 is located in the ken of position indicator camera 126,128, wheel alignment meter difference
Calculate spin matrix R of the Target Board 105 with respect to camera 126101With translation vector T101And Target Board 106 is with respect to camera 128
Spin matrix R102With translation vector T102,
The relative tertiary location of 101 relative positioning Target Board 105 of fixing terminal is converted to the phase of opposite shooting camera 126
To position Pc101,
Pc101=R101 Pb101+T101 (6)
By R101And T101Substitute into the relative position P that formula (6) acquire the opposite shooting camera 126 of fixing terminal 101c101,
3.2) relative tertiary location of 102 relative positioning Target Board 106 of fixing terminal is converted into opposite shooting camera 126
Relative position P 'c102,
P’c102=R102 Pb102+T102 (7)
By R102And T102Substitute into the relative position P ' that formula (7) acquire the opposite shooting camera 128 of fixing terminal 102c102,
The calibration of position indicator polyphaser acquires spin matrix R of 128 spatial position of position indicator camera with respect to camera 12621Peace
Move vector T21, use in this example and patent (patent No. ZL201410661374.8) " 3D wheel alignment meter polyphaser is demarcated
System and polyphaser scaling method " same procedure can obtain spin matrix R21With translation vector T21,
Fixing terminal 102 is transformed into the spatial position P of opposite camera 126 with respect to the spatial position of camera 128c102,
Pc102=R21P’c102+T21 (8)
3.3) horizontal center position P of the ADAS scaling board 111 with respect to camera 126 is determinedc111, fixing terminal 101 passes through company
The relative tertiary location P for the positioning Target Board 105 that extension bar 103 connectsb101Space bit with fixing terminal 102 with respect to camera 128
Set the spatial position P for being transformed into opposite camera 126c102
Pc111=(Pc101+Pc102)/2 (9)
Pass through the spatial position P of the opposite camera 126 of the fixing terminal 101 of step 3.1)c101With step 3.2) fixing terminal
The spatial position P of 102 opposite cameras 126c102Can two o'clock determine that ADAS scaling board 111 is empty with respect to the horizontal centre of camera 126
Between position Pc111。
Meanwhile fixing terminal 101,102 is with respect to the spatial position P of camera 126c101And Pc102Determine bracing frame crossbeam 112
The spatial position P of opposite camera 126l4。
3.4) the spatial position P of the center line 129 of vehicle to be calibrated is had determined that in step 2l1, mobile ADAS calibration
Plate 111 makes its horizontal center position Pc111Coincide with vehicle centre-line plane space position Pf2, and keep bracing frame crossbeam 112 opposite
126 spatial position P of cameral4Perpendicular to center line spatial position Pl1, that is, complete the accurate placement of ADAS scaling board 111.
Due under the same coordinate system, it can ADAS scaling board 111 is accurately placed in vehicle by prompt operator
Before meet the accurate location of calibration request.
It is further described below, due to the spatial position P of vehicle centre-line 129 to be calibrated and center line planel1、Pf2With
And the spatial position P of back wheels of vehicle wheel shaft and Chinese herbaceous peony wheel wheel shaftl2And Pl3It can be determined in wheel alignment meter by step 2, so
It can determine that the spatial position P of two fixing terminals 101,102 by wheel alignment meter afterwardsc101、Pc102, it is fixed on ADAS calibration and sets
For the fixing terminal 101,102 in bracing frame crossbeam 112 relative to the symmetrical distribution in 111 center of ADAS scaling board, so
In the spatial position P for determining two fixing terminals 101,102c101、Pc102Afterwards, that is, it can determine the horizontal centre of ADAS scaling board 111
Spatial position Pc111With the spatial position P of ADAS calibration facility bracing frame crossbeam 112l4, due to obtaining opposite camera 126 simultaneously
Vehicle centre-line to be calibrated 129 spatial position Pl1, 129 plane of vehicle centre-line to be calibrated spatial position Pf2, ADAS mark
The spatial position P of fixed board 111c111And the spatial position P of ADAS calibration facility bracing frame crossbeam 112l4, operator can be prompted
ADAS scaling board 111 is placed on the accurate location of vehicle relatively to be calibrated by member.
The preferred embodiment of the present invention has been described above in detail, still, during present invention is not limited to the embodiments described above
Detail a variety of equivalents can be carried out to technical solution of the present invention within the scope of the technical concept of the present invention, this
A little equivalents all belong to the scope of protection of the present invention.It is further to note that described in above-mentioned specific embodiment
Each particular technique feature can be combined in any appropriate way in the case of no contradiction.In order to avoid not
Necessary repetition, the invention will not be further described in various possible combinations.In addition, a variety of different implementations of the invention
Any combination can also be carried out between mode, as long as it does not violate the idea of the present invention, it is public equally to should be considered as institute of the invention
The content opened.
Claims (4)
1. a kind of auxiliary ADAS caliberating device, it is characterised in that including fixing terminal (101,102), connecting rod (103,104) is fixed
Position Target Board (105,106), ADAS scaling board (111), bracing frame crossbeam (112), the camera (126,128) of wheel alignment meter,
The Target Board (141,145,146,147) and working host (120) of wheel alignment meter；
ADAS scaling board (111) is placed in front of headstock,
The ADAS scaling board (111) is fixed on the middle position of bracing frame crossbeam (112), by mobile to support frame as described above cross
Beam (112) adjusts the placement location of the ADAS scaling board (111),
Connecting rod (103,104) one end is fixedly connected with positioning Target Board (105,106) respectively, and the other end passes through fixing end respectively
Sub (101,102) are flexibly connected with support frame as described above crossbeam (112), moreover, the fixing terminal (101,102) is relative to described
ADAS scaling board (111) horizontal centre is symmetrically mounted on support frame as described above crossbeam (112),
In the ken (132,131) for the camera (126,128) that positioning Target Board (105,106) is located at wheel alignment meter,
The Target Board (141,145,146,147) for being fixed on the wheel alignment meter on hub for vehicle wheel is in the camera of wheel alignment meter
In the ken (132,131) of (126,128),
Working host (120) is connect with wheel alignment meter.
2. a kind of auxiliary ADAS caliberating device according to claim 1, it is characterised in that the connecting rod (103,104) is long
It spends adjustable.
3. a kind of auxiliary ADAS caliberating device according to claim 1, it is characterised in that the positioning Target Board (105,
106) it is respectively placed on corresponding positioning target plate bracing frame (107,109), and the positioning target plate bracing frame (107,
109) it can move, height is adjustable.
4. a kind of auxiliary ADAS caliberating device according to claim 1, it is characterised in that one group of functional unit includes solid
Fixed end (101), connecting rod (103), the camera (126) for positioning Target Board (105), wheel alignment meter.
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| CN201920892894.8U CN209727042U (en) | 2019-06-12 | 2019-06-12 | It is a kind of for positioning the device of ADAS spotting plate placement location |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542376A (en) * | 2019-06-12 | 2019-12-06 | 烟台大学 | device and method for positioning placement position of ADAS calibration target plate |
| CN114720152A (en) * | 2022-04-18 | 2022-07-08 | 烟台开发区海德科技有限公司 | Four-wheel positioning and ADAS integrated detection calibration system and method |
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2019
- 2019-06-12 CN CN201920892894.8U patent/CN209727042U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110542376A (en) * | 2019-06-12 | 2019-12-06 | 烟台大学 | device and method for positioning placement position of ADAS calibration target plate |
| CN110542376B (en) * | 2019-06-12 | 2024-03-08 | 烟台大学 | Device and method for positioning ADAS (advanced automatic analysis and design) calibration target plate placement position |
| CN114720152A (en) * | 2022-04-18 | 2022-07-08 | 烟台开发区海德科技有限公司 | Four-wheel positioning and ADAS integrated detection calibration system and method |
| CN114720152B (en) * | 2022-04-18 | 2023-08-04 | 烟台大学 | Four-wheel positioning and ADAS integrated detection calibration system and method |
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