WO2021254357A1 - 一种车辆测量设备 - Google Patents

一种车辆测量设备 Download PDF

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Publication number
WO2021254357A1
WO2021254357A1 PCT/CN2021/100241 CN2021100241W WO2021254357A1 WO 2021254357 A1 WO2021254357 A1 WO 2021254357A1 CN 2021100241 W CN2021100241 W CN 2021100241W WO 2021254357 A1 WO2021254357 A1 WO 2021254357A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
assembly
image acquisition
wheel
wheel image
Prior art date
Application number
PCT/CN2021/100241
Other languages
English (en)
French (fr)
Inventor
刘连军
Original Assignee
深圳市道通科技股份有限公司
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Publication date
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Publication of WO2021254357A1 publication Critical patent/WO2021254357A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D18/00—Testing or calibrating apparatus or arrangements provided for in groups G01D1/00 - G01D15/00
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0002—Arrangements for supporting, fixing or guiding the measuring instrument or the object to be measured
    • G01B5/0004—Supports
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0025—Measuring of vehicle parts
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/30—Supports specially adapted for an instrument; Supports specially adapted for a set of instruments

Definitions

  • This application relates to the technical field of automobile calibration, and in particular to a vehicle measurement device.
  • ADAS Advanced Driver Assistant System
  • ADAS uses various sensors installed in the car to collect environmental data inside and outside the car at the first time to identify and detect static and dynamic objects
  • Technical processing such as tracking and tracking, which enables the driver to detect possible dangers in the fastest time to attract attention and improve safety.
  • the sensors used in ADAS mainly include cameras, radars, lasers and ultrasonics. They can detect light, heat, pressure or other variables used to monitor the state of the car. They are usually located in the front and rear bumpers, side mirrors, steering column or windshield of the vehicle. On the glass. During the use of the vehicle, vibration, collision, environmental temperature and humidity, etc.
  • the calibration component is usually mounted on the calibration equipment, and the calibration equipment is aligned to make the calibration component align with the vehicle.
  • wheel alignment parameters camber angle, toe angle, thrust angle, left and right wheelbase, wheelbase difference, front and rear axle offset, front and rear axle wheelbase, wheelbase difference, left and right lateral Misalignment is measured by a separate four-wheel aligner to measure the wheels of the car.
  • a vehicle measurement device including: a bracket assembly; two wheel image acquisition assemblies, the two image acquisition assemblies are arranged at both ends of the bracket assembly at a lateral interval , So that when the bracket assembly is placed in a position relative to the vehicle, the field of view of the two wheel image acquisition components respectively cover the areas where the wheels on both sides of the vehicle are located; the processor, and the two wheels
  • the image acquisition component is connected to receive the data collected by the two-wheel image acquisition components, and is used to, when the bracket component is placed in a position relative to the vehicle, according to the data collected by the two-wheel image acquisition components , Measuring the wheel state of the vehicle; a calibration element, carried on the bracket assembly, used to calibrate the driving assistance system of the vehicle.
  • the bracket assembly includes a base, a stand assembly, and a beam; one end of the stand assembly is installed on the base, the beam is installed on the stand assembly, and the beam is used to mount the The calibration element and the two-wheel image acquisition assembly are described.
  • the two wheel image acquisition components are respectively arranged at both ends of the beam.
  • the two wheel image acquisition components are respectively fixedly connected to the two ends of the beam.
  • the wheel image acquisition component includes two cameras, and the field of view of the two cameras respectively covers the area where the two wheels on the same side of the vehicle are located; or
  • the wheel image acquisition component includes a camera, and the field of view of the one camera covers the area where the two wheels on the same side of the vehicle are located.
  • the vehicle measurement device further includes a calibration unit, and the calibration unit includes a calibration camera and a calibration target;
  • the calibration camera is set in one of the two-wheel image acquisition components, and the calibration target is set in the other of the two-wheel image acquisition components;
  • the field of view of the calibration camera covers the calibration target, which is electrically connected to the processor;
  • the processor is further configured to determine the relative positions of the two-wheel image acquisition components according to the image data collected by the calibration camera.
  • the vehicle measurement equipment further includes a positioning auxiliary structure, the positioning auxiliary structure being installed on the cross beam;
  • the positioning assistance structure includes a positioning assistance wheel image acquisition component, the positioning assistance wheel image acquisition component is used to collect an image of the vehicle, and is electrically connected to the processor;
  • the processor is further configured to position the support assembly according to the image collected by the positioning auxiliary wheel image acquisition assembly.
  • the positioning auxiliary wheel image capture assembly is installed in the part between the two ends of the beam.
  • the vehicle measurement equipment further includes a positioning assistance structure
  • the positioning auxiliary structure is a laser, which is used to emit laser light to the vehicle or the vehicle seat to locate the bracket assembly.
  • the processor is mounted on the stand assembly.
  • the bracket assembly further includes a mounting member
  • the mounting member is installed on the cross beam, and the cross beam is mounted on the calibration element through the mounting member.
  • the crossbeam is provided with a transverse slide rail
  • the hanging member is installed on the transverse slide rail, and the hanging member can move along the transverse slide rail.
  • the beam can move in a vertical direction relative to the stand assembly;
  • the beam can rotate in a vertical direction relative to the stand assembly;
  • the cross beam can move relative to the stand assembly along its length direction.
  • the vehicle measurement equipment further includes an output device
  • the output device is electrically connected to the processor, and is used to prompt the user of the output result of the processor.
  • the vehicle can be calibrated only by the vehicle measuring equipment, and the state of the wheels of the vehicle can also be measured, which reduces the footprint of the equipment and is convenient and quick.
  • FIG. 1 is an application scenario diagram of a vehicle measurement device provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of the structure of a vehicle measuring device provided by an embodiment of the present invention.
  • FIG. 3 is a system block diagram of the vehicle measurement device shown in FIG. 1 for measuring a vehicle;
  • FIG. 4 is a schematic diagram of the installation of the calibration unit in the vehicle measurement equipment shown in FIG. 2;
  • FIG. 5 is a schematic diagram of the structure of the base in the vehicle measurement equipment shown in FIG. 2;
  • Fig. 6 is a schematic diagram of the structure of the stand assembly in the vehicle measuring equipment shown in Fig. 2;
  • Fig. 7 is a schematic view of the upper part of the structure of the driving mechanism in the stand assembly shown in Fig. 6;
  • Fig. 8 is a schematic view of the upper part of the structure of the driving mechanism in the stand assembly shown in Fig. 6;
  • Fig. 9 is a structural schematic diagram of the nut seat assembly in the vehicle measuring equipment shown in Fig. 2;
  • Fig. 10 is a schematic structural diagram of a fastening component on the nut seat assembly shown in Fig. 9;
  • Fig. 11 is an exploded schematic diagram of the beam assembly in the vehicle measuring equipment shown in Fig. 2;
  • Figure 12 is a schematic diagram of the beam and the components installed on the beam
  • Figure 13 is a schematic diagram of the installation of the wheel image acquisition component and the beam
  • FIG. 14 is a schematic diagram of the structure of the fine-tuning component in the vehicle measurement equipment shown in FIG. 2;
  • Figure 15 is a schematic diagram of the installation of the fine-tuning component
  • Figure 16 is a schematic diagram of the installation of the fine adjustment component and the nut seat component
  • Figure 17 is a schematic diagram of the installation of the fine-tuning assembly and the beam assembly.
  • FIG. 1, FIG. 2 and FIG. 3, are a vehicle measuring device provided by an embodiment of the present invention, which is used to measure the wheel state of the vehicle and calibrate the driving assistance system of the vehicle.
  • the vehicle measurement equipment includes a bracket assembly 100, two wheel image acquisition assemblies 200a, 200b, a processor 300, and a calibration element (not shown in the figure).
  • the bracket assembly 100 includes a base 10 and a stand assembly 20 installed on the base 10.
  • the stand assembly 20 is used to carry the calibration element and the two-wheel image acquisition components 200 a and 200 b. In some embodiments, the stand assembly can also be used to carry the processor 300.
  • the two wheel image acquisition assemblies 200a, 200b are arranged at both ends of the bracket assembly 100 at a lateral interval, so that when the bracket assembly is placed in a position relative to the vehicle, the two wheel image acquisition assemblies
  • the visual fields of 200a and 200b respectively cover the areas where the wheels on both sides of the vehicle are located.
  • the position relative to the vehicle such as the front or the back of the vehicle.
  • the area where the wheel is located can be within a certain spatial range near the wheel. For example, in some scenes, a target carrying a pattern is installed on the wheel, and the field of view of the wheel image acquisition component needs to cover the target in order to pass through in conjunction with the processor 300 Identify the pattern carried on the target to locate the wheel.
  • the wheel image acquisition component only needs to collect the image of the wheel, and the processor 300 can identify the wheel image to locate the wheel.
  • the wheel image capture component can be static or dynamic for the captured image. For example, when the vehicle is in a static state, that is, when the position does not move relative to the ground, the wheel image acquisition component performs processing according to the collected static images of the wheels; another example, when the vehicle is in a dynamic state, such as when the vehicle is in a certain range In the process of driving inside, the wheel image collection component performs processing according to the collected dynamic images of the wheels.
  • the horizontal interval between the two wheel image acquisition components means that the height of the two wheel image acquisition components relative to the vehicle location is the same or approximately the same, and the straight line passing through the two wheel image acquisition components is level or approximately the same level.
  • the lateral separation distance between the two wheel image acquisition components can be determined according to the width of the vehicle. In some embodiments, the lateral separation distance between the two wheel image acquisition components is adjustable, or the distance between the two wheel image acquisition components is adjustable. The lateral separation distance is fixed.
  • the manner in which the vertical frame assembly is used to realize the lateral separation of the two wheel image acquisition components may include a cross beam provided on the vertical frame assembly, the cross beam can be adjusted to be parallel to the location of the vehicle, and the wheel image capture component
  • the two ends of the beam, or the stand assembly is provided with two symmetrical arms, one end of each arm of the two arms is connected to the stand assembly, and the other end of each arm is equipped with a wheel image capture assembly.
  • the stand The movement of the two arms of the assembly is synchronized.
  • the arm length of the two arms can be set, or the height of the two arms can be adjusted.
  • the two arms can be set to rotate synchronously with respect to the stand assembly to adjust the two wheel image acquisition assembly relative to each other.
  • the angle of the stand assembly The implementation of the lateral separation of the two-wheel image acquisition components in the embodiment of the present application is not limited in this application.
  • the two-wheel image acquisition components are detachably installed on the stand assembly, that is, the two-wheel image acquisition components can be used as accessories of the bracket assembly.
  • the two wheel image acquisition components can be installed on the stand component, and the two wheel image acquisition components can be fixed or movably installed on the stand component.
  • the installation position of the wheel image acquisition components can be marked on the stand assembly, or a special installation method can be designed so that the wheel image acquisition components can be installed on the The preset position of the bracket assembly.
  • the wheel image acquisition component can be a device that only has the function of acquiring images, such as an image acquisition sensor, camera, or video camera, or a device that has the function of acquiring images and can process images, and can convert the image format. Storage, pixel calculation, cropping or assignment and other processing.
  • the wheel image acquisition component is used to collect image data of objects in the area where the wheel is located.
  • the bracket assembly that carries the calibration element or the wheel image acquisition component will usually be specified with its position relative to the vehicle, which can be recorded
  • the user can accurately position the bracket assembly step by step through its recording steps, or the provisions can be executed by the processor in the form of an executable program, and the processor can output control instructions to drive the bracket assembly to automatically position to the preset position .
  • the calibration element or the wheel image capture assembly can be fixed or movably installed on the bracket assembly. If the calibration element or the wheel image capture assembly can be movably installed on the bracket assembly, the movable mechanism between it and the bracket assembly can be adjusted to accurately position it to the preset position. Set location. Or, if the calibration algorithm or wheel detection algorithm allows a certain error, the bracket assembly can be placed in a specified range relative to the vehicle. As long as the bracket assembly is within the specified range, the subsequent calibration algorithm or wheel detection algorithm can be used to control the bracket assembly. The positioning error is calibrated.
  • the processor 300 is connected to the two-wheel image acquisition components 200a, 200b, such as a wired connection or a wireless connection, to receive the data collected by the two-wheel image acquisition components 200a, 200b, and is used to connect to the bracket assembly When placed in a position relative to the vehicle, the wheel state of the vehicle is measured according to the data collected by the two wheel image acquisition components 200a, 200b.
  • the two-wheel image acquisition components 200a, 200b such as a wired connection or a wireless connection
  • the measurement of the wheel status of the vehicle specifically refers to positioning the wheels, including comprehensive measurement of various positioning parameters of the wheels, such as camber angle, toe angle, etc.; or detecting whether the wheels need to be positioned, can be determined by simple algorithms Whether the current state of the wheel needs to be fully detected, that is, the above-mentioned wheel positioning is further performed, here, the embodiment of the present application does not limit the algorithm or method for detecting whether the wheel needs to be positioned.
  • the calibration element is carried on the bracket assembly and is used to calibrate the driving assistance system of the vehicle.
  • the vehicle driving system can be divided into adaptive cruise system, blind spot system, vehicle departure warning system and so on.
  • the adaptive cruise system mainly includes a radar.
  • the radar of the adaptive cruise system may be a single radar or a dual radar.
  • the single radar is generally installed in the middle of the front of the vehicle, and the dual radar is generally installed on both sides of the front of the vehicle.
  • the radar in the adaptive cruise system can be calibrated by the adaptive cruise system calibration element.
  • the adaptive cruise system calibration element can be a radar calibration board (used to reflect the wave emitted by the radar), a radar calibration box, and angular reflector. Radar calibration parts such as devices.
  • the blind spot system mainly includes a radar.
  • the radar of the blind spot system is generally set at the rear of the vehicle.
  • the blind spot system can be calibrated by a blind spot detection system calibration element, and the blind spot detection system calibration element can be a Doprey generator. , That is, blind spot box, radar calibration box, and so on.
  • the vehicle departure warning system mainly includes a camera on the window of the vehicle, and the vehicle departure warning system can be calibrated through a pattern board.
  • the bracket assembly further includes a beam assembly 30 and a fine adjustment assembly 40.
  • the stand assembly 20 is installed on the base 10, and the stand assembly 20 extends substantially in a vertical direction; the beam assembly 30 is installed on the stand assembly 20 and can be opposite to the vertical direction.
  • the stand assembly 20 moves.
  • the two wheel image acquisition components 200a, 200b are arranged at both ends of the beam component 30, and each of the wheel image acquisition components includes one or more cameras, and the cameras have a field of view generally facing the direction of the vehicle. Need to observe the wheels of the vehicle.
  • the description herein takes as an example that the field of view of the wheel image acquisition component 200a covers the area where the two wheels on the left side of the vehicle are located, and the field of view of the wheel image acquisition component 200b covers the area where the two wheels on the right side of the vehicle are located.
  • the wheel image acquisition component 200a is used to acquire relevant image data of the two wheels on the left side of the vehicle; the wheel image acquisition component 200b is used to acquire relevant image data of the two wheels on the right side of the vehicle.
  • the two wheel image acquisition components 200a and 200b each include two cameras, wherein the field of view of the two cameras on the wheel image acquisition component 200a respectively covers the two wheel locations on the left side of the vehicle. That is, one camera is responsible for collecting relevant images of the left front wheel of the vehicle, and the other camera is responsible for collecting relevant images of the left rear wheel of the vehicle; the field of view of the two cameras on the wheel image collecting component 200b respectively covers the right of the vehicle The area where the two wheels on the side are located.
  • the relative positions and angles of the two cameras are fixed, so that in the calculation process, the position relationship of the images respectively collected can be correspondingly known.
  • the two wheel image acquisition components 200a and 200b each include only one camera, and the field of view of one camera on the wheel image acquisition component 200a covers the two wheels on the left side of the vehicle. Area; the field of view of a camera on the wheel image acquisition component 200b covers the area where the two wheels on the right side of the vehicle are located.
  • a light source may be provided on the wheel image acquisition component 200a and the wheel image acquisition component 200b to illuminate each other.
  • the light source may be a light emitting diode (LED), or any luminous body with an illuminating function.
  • the beam assembly 30 can move up and down relative to the stand assembly 20 in a vertical direction to adapt to changes in height of different vehicles or different heights of different equipment to be calibrated on the vehicle.
  • the movement of the beam assembly 30 in the vertical direction can be performed by any conventional means, such as a sliding rail, a gear transmission mechanism, a screw transmission mechanism, and the like.
  • the mechanism for driving the beam assembly to move in the vertical direction can be manually actuated, or can be manually controlled by an operator or driven by a suitable motor under automatic software control.
  • the beam assembly 30 can be rotated in a vertical direction (such as the longitudinal axis of the beam assembly) relative to the stand assembly 20. By adjusting the angle of the beam assembly 30 to rotate around the vertical direction, the beam assembly can be substantially parallel to the front of the vehicle. , which can further improve the installation accuracy of the wheel image capture assembly installed on the beam assembly 30, or the beam assembly 30 can move left and right relative to the stand assembly 20 in the horizontal direction (the length direction of the beam assembly), so as to realize the The desired field of view of the camera or other image capture component mounted on the beam component.
  • the vertical rotation of the beam assembly can be performed by any conventional means, and the mechanism for driving the horizontal beam assembly to rotate in the vertical direction may be: a link type rotating mechanism, a crank type rotating mechanism, and the like.
  • the beam assembly 30 realizes horizontal movement through the fine adjustment assembly 40, which will be described in detail below.
  • the wheel image acquisition component 200a and the wheel image acquisition component 200b may include a two-axis or three-axis pan/tilt, respectively, and the wheel image acquisition component is installed with the beam assembly through the pan/tilt.
  • the pan/tilt can accept control instructions to adjust its shooting angle or be manually adjusted to change the shooting angle.
  • the embodiment of the present application does not limit the implementation structure of the pan-tilt, which can adjust the shooting angle of the camera in the road image acquisition component as required.
  • the processor 300 is electrically connected to the two-wheel image acquisition components 200a, 200b, and the processor 300 is configured with appropriate logic circuit elements and software instructions to receive the two-wheel image acquisition components 200a, 200b. According to the data collected by the two wheel image acquisition components, the image data is evaluated to identify the relative spatial position of the observation wheel, and to calculate the wheel state of the vehicle, that is, to measure the positioning parameters of the wheel (such as the camber angle of the wheel, the front Beam angle, etc.).
  • the configurations of the processor 300, the wheel image acquisition component 200a, and the wheel image acquisition component 200b are generally known in the field of machine vision vehicle wheel alignment, and without departing from the scope of the present invention It may be different from the specific structure described in this application, as long as the processor 300 can determine the wheel state of the vehicle.
  • the processor 300 in the embodiment of the present application can implement multiple functions.
  • the processor 300 can implement the aforementioned wheel positioning or wheel detection mode, or the processor 300 can control the positioning of the calibration element in combination with the calibration method.
  • the processor 300 may include multiple processing units to implement the above-mentioned functions respectively.
  • multiple processing units may be integrated in the same device, or multiple processing units may be distributed in the bracket assembly according to wiring requirements.
  • the vehicle measurement equipment further includes a calibration unit 400, and the calibration unit 400 includes a calibration camera 410 and a calibration target 420.
  • the calibration camera 410 is set in one of the two-wheel image acquisition components 200a, 200b in a fixed and unchanging relationship
  • the calibration target 420 is set in the two-wheel image acquisition components 200a, 200b in a fixed and unchanging relationship.
  • the field of view of the calibration camera 410 covers the calibration target 420, and is used to collect image data related to the calibration target.
  • the calibration camera 410 is electrically connected to the processor 300, and the processor 300 is further configured to The image data collected by the calibration camera 410 determines the relative spatial positions of the wheel image acquisition component 200a and the wheel image acquisition component 200b, and then combines the data collected by the two wheel image acquisition components to determine the four wheels Relative spatial position, and then calculate the four wheel states of the vehicle.
  • a light source may be provided on the calibration camera 410 to illuminate the calibration target 420, and the light source may be a light emitting diode (LED) , Or any luminous body with illuminating function.
  • LED light emitting diode
  • the vehicle measurement device can also calibrate the driving assistance system on the vehicle. Before calibration, the position of the vehicle measurement device needs to be adjusted so that the vehicle measurement device is aligned with the vehicle according to the expected position or direction. Therefore, before calibrating the vehicle, the bracket assembly needs to be roughly positioned at the geometric centerline or thrust line of the vehicle.
  • the geometric center line or thrust line of the vehicle is a straight line formed by connecting the center point between the centers of the two rear wheels of the vehicle and the center point between the centers of the two front wheels of the vehicle.
  • the vehicle measurement equipment further includes a positioning assistance structure 500 installed on the beam assembly 30.
  • the positioning auxiliary structure 500 includes a positioning auxiliary image capture component, and the positioning auxiliary image capture component is installed in a part between the two ends of the beam assembly 30.
  • the positioning aid image acquisition component is used to acquire images of the vehicle, and is electrically connected to the processor 300.
  • the processor 300 is used to calculate the relative position of the bracket assembly according to the image data collected by the positioning aid image acquisition component.
  • the bracket assembly is positioned based on the calculation result (the bracket assembly is moved to the position of the centerline of the vehicle through the calculation result), so that the vehicle measurement device is aligned with the vehicle according to the expected position or direction.
  • the processor 300 may provide appropriate guidance to the operator based on the determined relative position of the bracket assembly.
  • the guidance can be in any of a variety of formats, such as numbers (i.e., 2 inches to the left), symbols (i.e., indicating arrows and/or sliding bar graphs), or audible (i.e., when reaching the correct position) Pitch or voice).
  • the guidance may be static guidance, in which no update of the position data is acquired until the stent assembly does not move, or alternatively, the guidance may be dynamic, in which the processor 300 receives images from the positioning aid image capture assembly during the movement of the stent assembly, and sends The operator provides sequential update or "real-time" instructions to assist in the precise positioning of the bracket assembly relative to the vehicle.
  • the positioning auxiliary structure 500 is a laser, which is used to emit a laser to the vehicle or the surface of the vehicle to locate the bracket assembly.
  • the positioning auxiliary structure includes two laser rangefinders and two auxiliary targets.
  • the two laser rangefinders are arranged at two ends of the bracket assembly at a lateral interval and avoid the two wheel image acquisition assemblies, and the two auxiliary targets are respectively installed on the wheels on both sides of the vehicle ,
  • the two laser rangefinders respectively emit laser light onto the two auxiliary targets, and are reflected on the scales of the two laser rangefinders via the two auxiliary targets, and adjusted according to the degree of the scale The position of the bracket assembly.
  • the bracket assembly further includes a hanger 50, and the hanger 50 is slidably installed on the beam assembly 30.
  • the mounting member can be used to mount one of the positioning auxiliary image acquisition component and the calibration element.
  • the position and orientation of the calibration element relative to the stand assembly 20 can be adjusted via the mount 50, so that the calibration element is correctly placed in the field of view related to the driving assistance system of the vehicle .
  • the precise position of the mount that places the calibration element in an ideal position for use may optionally be implemented under the guidance of the processor 300 in response to data acquired by the positioning aid structure.
  • the positioning auxiliary image acquisition assembly is installed on the mounting member 50, and the positioning auxiliary image acquisition assembly can be used to collect images of the equipment to be calibrated on the vehicle, and process
  • the device 300 determines the position of the positioning aid image acquisition component relative to the equipment to be calibrated according to the images collected by the positioning aid image acquisition component, and then moves the positioning aid image acquisition component to a specific position so that it is aligned with the equipment to be calibrated on the vehicle.
  • the position of the positioning auxiliary image acquisition component represents the installation position of the calibration element on the bracket assembly 100, that is, the positioning auxiliary image acquisition component is installed on the mounting member 50.
  • the positioning auxiliary image acquisition component can be removed from The mount 50 is disassembled, and the calibration component is mounted on the mount 50 to complete the alignment of the calibration component, and finally mount the calibration component according to actual needs, such as radar calibration component, pattern board, blind spot box, etc. , Calibrate the advanced driving assistance system of the vehicle.
  • the device to be calibrated may be a sensor of an adaptive cruise system, for example: a sensor of a night vision system, a sensor of a blind spot system, a sensor of a vehicle deviation warning system, etc., while devices to be calibrated of different systems are in the vehicle
  • the sensors of the blind spot system are generally at the rear of the car
  • the sensors of the night vision system are generally at the position where the front of the car deviates from the midpoint
  • the sensors of the adaptive cruise system are generally at the sides of the front of the car.
  • the vehicle measurement equipment further includes an output unit 600, which is electrically connected to the processor 300, and is used to prompt the user of the output result of the processor 300 and provide the operator with appropriate
  • the output device may include a display screen, a sound generator, etc.
  • the processor 300 is arranged in the stand assembly 20.
  • the stand assembly 20 can also be used to house wires for transmitting electrical signals and the like.
  • the processor 300 and wires can also be accommodated in the beam assembly 30 or the fine adjustment assembly 40 of the base 10, or the processor 300, output 600, wires, etc. can be accommodated in external components, which are attached to the base 10 and stand upright.
  • a power supply device may also be provided on the bracket assembly 100.
  • the power supply device includes a battery that supplies power to the wheel image acquisition component, calibration camera, processor, and output device.
  • the battery may be a zinc-manganese battery, an alkaline battery, or a nickel battery. Cadmium batteries and lithium batteries, or rechargeable batteries, etc.
  • the power supply device is detachably installed on the bracket assembly, or the power supply device is fixedly installed on the bracket assembly.
  • the base 10 includes a base body 12, a roller 14 and a height adjustment member 16.
  • the base body 12 has a “work” shape as a whole and is symmetrically arranged, and includes a main body and two sides extending from the main body to both sides.
  • the base body 12 can be made of a metal material.
  • the rollers 14 are mounted on the bottom surfaces of both sides of the base body 12. The number of the rollers 14 can be four.
  • the roller 14 is used to facilitate the movement of the base body 12.
  • the roller 14 is a universally movable roller, so that the base body 12 can move arbitrarily back and forth, left and right.
  • the height adjusting member 16 is installed on the base body 12 for adjusting the height of the bracket assembly.
  • the height adjusting member 16 is an adjusting knob, the number is four, and there is at least a section of screw rod under the knob, and the screw rod is matched with the threaded through hole at the base body 12 to realize height adjustment.
  • Each height adjusting member 16 is installed at both ends of each side portion and is close to a corresponding one of the rollers 14. In an implementation manner, the height adjustment member 16 can be adjusted to make the height adjustment member 16 contact the ground, and the roller 14 can be lifted up to prevent the base 10 from sliding under the drive of the roller 14 during use.
  • the shape of the base body 12 can be changed according to actual needs, and is not limited to a "I" shape.
  • the base body 12 can be rectangular or triangular claw-shaped;
  • the number of the roller 14 and the height adjustment member 16 can be increased or decreased according to actual needs.
  • a triangular claw-shaped base body includes three claws, and the three claws extend in three different directions.
  • the number of the rollers may be three, each of the rollers is mounted on the end of the corresponding one of the claws, the number of height adjustment members is three, and each of the height adjustment members is mounted on a corresponding one of the The claw part is close to the corresponding one of the rollers, and the three height adjusting members are distributed in an equilateral triangle.
  • Rollers are arranged on the base to facilitate placing the bracket assembly in a position relative to the vehicle.
  • placing the bracket assembly in a position relative to the vehicle means: moving the bracket assembly to the position of the vehicle.
  • the center line or the thrust line, and the field of view of the two wheel image acquisition components 200a, 200b respectively cover the areas where the wheels on both sides of the vehicle are located.
  • the stand assembly 20 includes a stand body 22, a first slide rail 24, a nut seat assembly 26 and a driving mechanism 28, the stand body 22 is a symmetrical structure, the stand The frame body 22 is vertically fixed to the base body 12, the first slide rail 24 is fixed to the side of the stand body 22, and the first slide rail 24 extends from the top of the stand body 22 to the The bottom end of the stand body 22.
  • the number of the first slide rails 24 is two, which are respectively provided at the two ends of the stand body 22 on the same side.
  • the beam assembly 30 is mounted on the nut seat assembly 26, and the nut seat assembly 26 is fixedly provided with a first sliding block 261 that cooperates with the first sliding rail 24, and the first sliding block 261 is connected to the first sliding rail 24.
  • the first sliding rail 24 cooperates, so that the nut seat assembly 26 can move along the length direction of the stand body 22.
  • the driving mechanism 28 is installed on the stand body 22 for driving the nut seat assembly 26 to move along the stand body 22 so that the beam assembly 30 is relative to the stand body in a vertical direction 22 moves.
  • a limiting device is provided at both ends of the first sliding rail 24 to prevent the nut mounting seat 26 from sliding out of the stand body 22.
  • the driving mechanism 28 includes a hand wheel 281, a housing 282, a screw rod 283 and a gear transmission assembly.
  • the gear transmission assembly includes a first bevel gear 284, a second bevel gear 285, a first transmission pulley 286, a second transmission pulley 287, a timing belt 288 and a motor assembly.
  • the housing 281 is fixedly mounted on the upper end of the stand body 22, and the motor assembly is mounted on the lower end of the stand body 22.
  • the hand wheel 281 is mounted on the housing 282, and the hand wheel 281 is rotatable about the first rotation axis O1.
  • the gear transmission assembly can make the position movement of the nut seat assembly 26 more precise and labor-saving.
  • the first bevel gear 284 is located in the housing 282 and is fixedly installed on the hand wheel 281.
  • the rotation axis of the first bevel gear 284 coincides with the rotation axis of the hand wheel 281, and the first bevel gear 284 and the hand wheel 281 can rotate together about the first rotation axis O1.
  • the second bevel gear 285 is located in the housing 282, and is fixedly installed at the top end of the screw rod 283, and can rotate around the second rotation axis O2.
  • the central axis L of the stand body 22 and the first The two rotation axes O2 are parallel.
  • the first bevel gear 284 and the second bevel gear 285 mesh.
  • the rotation axis of the screw rod 283 coincides with the rotation axis of the second bevel gear 285, and the first rotation axis O1 is perpendicular to the second rotation axis O2.
  • the first bevel gear 284 is driven to rotate around the first rotation axis O1
  • the second bevel gear 285 and the screw rod 283 rotate around the first rotation axis O1.
  • the second rotation axis O2 rotates.
  • the motor assembly includes a motor 289, and the motor 289 can be manually controlled or can receive control commands to rotate.
  • the first transmission pulley 286 is installed in the motor assembly, the first transmission pulley 286 is connected to the output shaft of the motor 289, and the second transmission pulley 287 is fixedly installed at the bottom end of the screw rod 283 , The transmission between the first transmission pulley 286 and the second transmission pulley 287 is through the timing belt 288.
  • the rotation axis of the second transmission pulley 287 coincides with the rotation axis of the screw rod 283.
  • the motor 289 drives the rotation of the first transmission pulley 286, under the action of the timing belt 288, the second The transmission pulley 287 and the screw rod 283 rotate around the second rotation axis O2.
  • the nut seat assembly 26 is fixedly provided with a nut 262 that is matched with the screw rod 283. Specifically, the screw rod 283 is threadedly connected with the nut 262. When the screw rod 283 rotates, the nut 262 can rise or fall along the screw rod 283, that is, when the screw rod 283 rotates, the nut seat assembly 26 is driven to rise or fall along the length of the screw rod 283. Lowering makes the cross beam assembly 30 rise or fall relative to the stand body 22 in the vertical direction.
  • the rotation of the motor 289 can be controlled by the software instructions in the processor to realize the movement and stop of the beam assembly 30 in the vertical direction; the handwheel can also be manually controlled by the operator through the output of the output.
  • the rotation of 281 realizes the vertical movement and stop of the beam assembly 30 to adapt to the height changes of different vehicles or the different heights of different equipment to be calibrated on the vehicle.
  • the nut seat assembly 26 further includes a fastening assembly for fixing the nut seat assembly 26 to the stand body 22, and the fastening assembly may include a fastening assembly.
  • the fastener 263 is in a "Z" shape. One end of the fastener 263 hooks the stand body 22, and the other end is fixed to the nut seat assembly 26 by a bolt 264.
  • the bolt 264 When it is necessary to move the nut seat assembly 26 up and down relative to the stand body 22 in the vertical direction, the bolt 264 is loosened so that the fastener 263 loosens the stand body 22. When the nut seat assembly 26 moves to a required position, the bolt 264 is tightened, so that the nut seat assembly 26 is fixed at the required position, thereby improving the stability of the measurement.
  • the beam assembly 30 includes a mounting base 31, a rotating mechanism 32, a beam mounting plate 33 and a cover plate 34.
  • the rotating mechanism 32 can adjust the angle of rotation of the beam mounting plate 33 relative to the stand assembly 20; the beam mounting plate 33 is used to fix the beam 35, and the beam mounting plate 33 is mounted on the mounting seat 31 Between the cover plate 34 and the cover plate 34, the cover plate 34 is fixed to the upper end of the mounting seat 31, and the cover plate 34 is pressed on the top end of the beam mounting plate 33.
  • the rotating mechanism 32 includes a rotating shaft 321, a first bolt 322, a second bolt 323, and an elastic member 324.
  • the rotating shaft 321 is fixed to the middle of the beam mounting plate 33 and connected to the mounting seat 31 and the mounting seat 31. Between the cover plates 34, the first bolt 322 and the second bolt 323 are respectively arranged on both sides of the rotating shaft 321.
  • the rotation axis O3 of the rotation shaft 321 (equivalent to the longitudinal axis of the beam assembly) is parallel to the central axis L of the stand assembly 20, and the cover plate 34 and the mounting seat 31 are both provided with
  • the hole that matches the rotating shaft 321, and the hole that matches the rotating shaft 321 on the cover plate 34 is a blind hole.
  • a nut is sleeved on the first bolt 322, and the nut is threadedly connected with the first bolt 322.
  • the mounting seat 31 is provided with a first through hole 311 for the first bolt 322 to pass through, the first bolt 322 passes through the first through hole 311, and one end of the first bolt 322 is connected to the
  • the beam mounting plate 33 is threadedly connected, and the other end together with the nut sleeved on the first bolt 322 is exposed to the mounting seat 31 at a predetermined distance.
  • the elastic member 324 is sleeved on the second bolt 323, and the elastic member 324 is connected between the mounting seat 31 and the beam mounting plate 33.
  • the mounting seat 31 is provided with a second through hole 312 for the second bolt 323 to pass through, the second bolt 323 passes through the second through hole 312, and one end of the second bolt 323 is fixed to The other end of the beam mounting plate 33 is exposed to the mounting seat 31 for a certain distance.
  • the elastic body 28 is a spring. It is understood that in some other embodiments, the elastic body 28 may be other elastic elements, such as elastic pieces.
  • the first bolt 322 When the beam mounting plate 33 needs to be rotated relative to the rotation shaft 321, the first bolt 322 is rotated.
  • the beam mounting plate 33 When the first bolt 322 is turned to the right, the beam mounting plate 33 is mounted with the first bolt 322 Close to the mounting seat 31, the elastic member 324 is in a stretched state, and the beam mounting plate 33 can rotate counterclockwise within a certain range around the rotating shaft 321; when the first bolt 322 is left-turned
  • the end of the beam mounting plate 33 where the first bolt 322 is mounted is far away from the mounting seat 31, the elastic member 324 is in a compressed state, and the beam mounting plate 33 can be smoothly within a certain range around the rotation axis 321 The hour hand turns.
  • the cross beam 35 can be rotated around O3 relative to the stand assembly 20 within a certain range, so that the cross beam can be roughly parallel to the front of the vehicle, and the wheel image collection assembly and The installation accuracy of the positioning auxiliary structure.
  • the cross beam when the cross beam is rotated to a desired position, the cross beam can be further maintained at the desired position by an external locking device.
  • the locking device can release the cross beam.
  • the wheel image capturing assembly 200 a and the wheel image capturing assembly 200 b are respectively fixed at two ends of the cross beam 35 at lateral intervals, and the positioning auxiliary image capturing assembly is installed in the middle of the cross beam 35.
  • the wheel image capturing assembly 200 a and the wheel image capturing assembly 200 b are detachably fixed to the two ends of the beam 35 through the mounting seat 210 respectively.
  • the wheel image acquisition assembly is fixed to the mounting base, and the mounting base is fixed to the beam by a locking member 220.
  • the fastener may be a bolt or any component with a locking function.
  • the mounting base 210 in order to achieve a stable connection between the wheel image capture assembly and the beam, can be fixed to the side of the wheel image capture assembly, and the mounting base is constructed in a "U"-shaped structure, One end of the beam abuts against the side of the wheel image capture assembly, the beam is accommodated in the U-shaped structure, and the upper end, the lower end, and the back of the beam are connected to the three U-shaped structures.
  • the mounting surfaces are in contact with each other.
  • the fasteners are bolts
  • the mounting seat and the beam are respectively provided with threaded holes matching the bolts. At this time, the mounting can be installed by only tightening the bolts.
  • the seat is fixed to the beam.
  • the back of the cross beam is the side of the cross beam away from the vehicle.
  • the mounting base can also be fixed to other parts of the wheel image acquisition assembly.
  • the present application does not make any restriction, and the mounting base can be fixed to the beam by a fastener.
  • the mounting seat is detached from the beam, so that the wheel image acquisition component is housed, so as to extend the life of the wheel image acquisition component.
  • the mounting seat may also be omitted, and the wheel image capture assembly is connected to the beam through its own shell.
  • the positioning auxiliary image acquisition component can also be detachably fixed to the beam through an auxiliary mounting seat.
  • the installation method is similar to the way the wheel image acquisition component is installed on the beam, and will not be performed here. Go into details. It is only necessary to ensure that the field of view of the positioning auxiliary image acquisition component can cover the vehicle.
  • the middle part of the beam 35 is any part between the two ends of the beam 35
  • the positioning auxiliary image acquisition component may be located between the wheel image acquisition component 200a and the wheel image acquisition component 200b.
  • the positioning auxiliary image capturing component is located between the wheel image capturing component 200a and the wheel image capturing component 200b, and the positioning auxiliary image capturing component is connected to the wheel image capturing component 200a and the wheel image capturing component 200a.
  • the distances of the wheel image acquisition components 200b are equal.
  • the cross beam assembly 30 further includes a second slide rail 36, the second slide rail 36 is arranged parallel to the cross beam 35, and the hanging member 50 is installed on the second slide rail 36, And it can move in the horizontal direction along the second slide rail 36, so that the calibration element can be slidably installed on the beam.
  • the calibration element is slidably installed on the crossbeam to adapt to different vehicle driving assistance systems.
  • the beam 35 can move left and right relative to the stand assembly 20 in a horizontal direction by the fine adjustment assembly 40.
  • the fine adjustment assembly 40 is mounted on the nut mounting seat 26, the fine adjustment assembly 40 includes a knob 41, a transmission gear 42, a fixed plate 43 and a rack 44, and the fine adjustment assembly 40 is fixed to the Nut mounting seat 26.
  • the knob 41 is installed on the fixed plate 43, the transmission gear 42 is fixedly installed on the bottom end of the knob 41, the fixed plate 43 is located between the knob 41 and the transmission gear 42, and The fixing plate 43 is pressed on the upper end of the mounting seat 31.
  • the rack 44 is fixed on the mounting seat 31, and the transmission gear 42 meshes with the rack 44.
  • the knob 41 can rotate around the fourth rotation axis O4, the rotation axis of the transmission gear 42 coincides with the rotation axis of the knob 41, and the knob 41 and the transmission gear 42 can rotate together around the fourth rotation axis. O4 rotates.
  • the mounting seat 31 can move left and right relative to the nut mounting seat 26 within a certain range.
  • the knob 41 can be manually controlled to realize the left and right movement and stop of the beam assembly 30.
  • a third slide rail 263 is provided on the nut mounting seat 26, and the mounting seat 31 A third sliding block 313 matched with the third sliding rail 263 is fixed on the upper part.
  • the beam assembly 30 is connected to the nut seat assembly 26 through the cooperation of the third sliding block 313 on the mounting seat 31 and the third sliding rail 263.
  • the fine adjustment assembly 40 further includes a locking mechanism (not labeled) for fixing the mounting base 31 to the nut base assembly 26.
  • the locking mechanism is installed on the fixing plate 43, the locking mechanism includes a fastening ring 45 and a locking bolt 46, the fastening ring 45 is sleeved on the knob 41, and the locking bolt 46 is installed At both ends of the fastening ring 45.
  • the movement and rotation of the beam is to facilitate the measurement of the vehicle by the vehicle measurement equipment.
  • the processor 300 can prompt the user through the output 600 the required moving distance or the rotating angle of the cross beam 35, and the operator can manually move or rotate the cross beam assembly 30 according to the required moving distance or rotating angle.
  • the movement of the beam can also be controlled by the software instructions of the processor.
  • the vehicle measurement equipment provided by the embodiment of the present invention can move at will, occupies a small space, can not only realize the calibration of the vehicle, but also can be used to measure the wheel state of the vehicle, and the measurement accuracy and reliability are high.

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Abstract

一种车辆测量设备，包括：支架组件（100）、两个轮图像采集组件（200a，200b），两个轮图像采集组件（200a，200b）横向间隔设置于支架组件（100）的两端，以使支架组件（100）被置于相对于车辆的位置时，两个轮图像采集组件（200a，200b）的视野范围分别覆盖车辆两侧的轮所处区域；处理器（300），与两个轮图像采集组件（200a，200b）连接以接收两个轮图像采集组件（200a，200b）采集的数据，用于在支架组件（100）被置于相对于车辆的位置时，根据两个轮图像采集组件（200a，200b）所采集的数据，测量车辆的轮状态；标定元件，承载于支架组件（100），用于标定车辆的驾驶辅助系统。可以实现对车辆的标定，也可以测量车辆的轮状态，方便快捷，且车辆测量设备占地面积小，测量精度高。

Description

一种车辆测量设备
本申请要求于2020年6月16日提交中国专利局、申请号为202010547726.2、申请名称为“一种车辆测量设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及汽车标定技术领域，尤其涉及一种车辆测量设备。
背景技术
先进高级驾驶辅助系统(Advanced Driver Assistant System)，简称ADAS，是利用安装于车上的各式各样的传感器，在第一时间收集车内外的环境数据，进行静、动态物体的辨识、侦测与追踪等技术上的处理，从而能够让驾驶者在最快的时间察觉可能发生的危险，以引起注意和提高安全性的主动安全技术。ADAS采用的传感器主要有摄像头、雷达、激光和超声波等，可以探测光、热、压力或其它用于监测汽车状态的变量，通常位于车辆的前后保险杠、侧视镜、驾驶杆内部或者挡风玻璃上。在车辆使用过程中，震动、碰撞、环境温湿度等均会使上述传感器的物理安装状态发生改变，故需要不定期进行校准或标定。对于上述传感器进行标定时，通常将标定元件挂载于标定设备上，通过摆正标定设备，以使得标定元件与车辆对准。
另外，为了测量车辆的轮状态(车轮定位参数)：外倾角、前束角、推力角、左右侧轴距、轴距差、前后轴偏移、前后轴轮距、轮距差、左右侧横向偏位，都是通过单独的四轮定位仪对汽车的车轮进行测量。
当我们既需要对汽车上的传感器进行标定又需要测量车辆的轮状态时，需要标定设备及四轮定位仪两套设备，占地面积大。
发明内容
本发明实施例解决其技术问题采用以下技术方案：提供一种车辆测量设备，包括：支架组件；两个轮图像采集组件，所述两个图像采集组件横向间隔设置于所述支架组件的两端，以使所述支架组件被置于相对于所述车辆的位置时，所述两个轮图像采集组件的视野范围分别覆盖车辆两侧的轮所处区域；处理器，与所述两个轮图像采集组件连接以接收所述两个轮图像采集组件采集的数据，用于在所述支架组件被置于相对于所述车辆的位置时，根据所述两个轮图像采集组件所采集的数据，测量所述车辆的轮状态；标定元件，承载于所述支架组件，用于标定所述车辆的驾驶辅助系统。
在一些实施例中，所述支架组件包括底座、立架组件以及横梁；所述立架组件一端安装于所述底座，所述横梁安装于所述立架组件，所述横梁用于挂载所述标定元件及所述两个轮图像采集组件。
在一些实施例中，所述两个轮图像采集组件分别设置于所述横梁的两端。
在一些实施例中，所述两个轮图像采集组件分别固定连接于所述横梁的两端。
在一些实施例中，所述轮图像采集组件包括两个相机，所述两个相机的视野范围分别覆盖车辆同一侧的两个轮所处区域；或者
所述轮图像采集组件包括一个相机，所述一个相机的视野范围覆盖车辆同一侧的两个轮所处区域。
在一些实施例中，所述车辆测量设备还包括校准单元，所述校准单元包括校准相机和校准目标；
所述校准相机设置于所述两个轮图像采集组件中的一个，所述校准目标设置于所述两个轮图像采集组件中的另一个；
所述校准相机的视野范围覆盖所述校准目标，其与所述处理器电连接；
所述处理器还用于根据所述校准相机所采集的图像数据确定所述两个轮图像采集组件的相对位置。
在一些实施例中，所述车辆测量设备还包括定位辅助结构，所述定位辅助结构安装于所述横梁；
所述定位辅助结构包括定位辅助轮图像采集组件，所述定位辅助轮图像采集组件用于采集所述车辆的图像，其与所述处理器电连接；
所述处理器还用于根据所述定位辅助轮图像采集组件所采集的图像对所述支架组件进行定位。
在一些实施例中，所述定位辅助轮图像采集组件安装于所述横梁的两端之间的部分。
在一些实施例中，所述车辆测量设备还包括定位辅助结构；
所述定位辅助结构为激光器，用于发射激光至车辆或车辆所在地面，以对所述支架组件进行定位。
在一些实施例中，所述处理器安装于所述立架组件。
在一些实施例中，所述支架组件还包括挂载件；
所述挂载件安装于所述横梁，所述横梁通过所述挂载件挂载所述标定元件。
在一些实施例中，所述横梁设置有横向滑轨，所述挂载件安装于所述横向滑轨，所述挂载件可沿所述横向滑轨移动。
在一些实施例中，所述横梁可沿竖直方向相对于所述立架组件移动；和/或
所述横梁可绕竖直方向相对于所述立架组件转动；和/或
所述横梁可沿其长度方向相对于所述立架组件移动。
在一些实施例中，所述车辆测量设备还包括输出器；
所述输出器与所述处理器电连接，用于提示用户所述处理器的输出结果。
本发明实施例仅通过车辆测量设备就可以实现对车辆的标定，也可以实现对车辆的轮的状态的测量，减小了设备的占地面积，方便快捷。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明实施例提供的一种车辆测量设备的应用场景图；
图2是本发明实施例提供的车辆测量设备的结构示意图；
图3是图1中所示的车辆测量设备对车辆进行测量的系统框图；
图4是图2所示的车辆测量设备中的校准单元的安装示意图；
图5是图2所示的车辆测量设备中的底座的结构示意图；
图6是图2所示的车辆测量设备中的立架组件的结构示意图；
图7是图6所示的立架组件中的驱动机构的上部分结构示意图；
图8是图6所示的立架组件中的驱动机构的上部分结构示意图；
图9是图2所示的车辆测量设备中的螺母座组件结构示意图；
图10是图9所示的螺母座组件上的紧固组件的结构示意图；
图11是图2所示的车辆测量设备中的横梁组件的爆炸示意图；
图12是横梁及横梁上所安装部件的结构示意图；
图13是轮图像采集组件与横梁的安装示意图；
图14是图2所示的车辆测量设备中的微调组件的结构示意图；
图15是微调组件的安装示意图；
图16是微调组件与螺母座组件的安装示意图；
图17是微调组件与横梁组件的安装示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“垂直的”、“横向的”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的 技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1、图2及图3，为本发明实施例提供的一种车辆测量设备，用于测量车辆的轮状态及标定车辆的驾驶辅助系统。
所述车辆测量设备包括支架组件100、两个轮图像采集组件200a，200b、处理器300及标定元件(图中未示出)。所述支架组件100包括底座10和安装于所述底座10上的立架组件20。
所述立架组件20用于承载标定元件以及两个轮图像采集组件200a，200b，在一些实施例中，立架组件还可以用于承载处理器300。
所述两个轮图像采集组件200a，200b横向间隔设置于所述支架组件100的两端，以使所述支架组件被置于相对于所述车辆的位置时，所述两个轮图像采集组件200a，200b的视野范围分别覆盖车辆两侧的轮所处区域。相对于所述车辆的位置，例如车辆的前方或者后方。轮所处区域可以包括轮在内的附近一定空间范围内，如一些场景下，轮上安装有携带图案的标靶，则轮图像采集组件的视野范围需覆盖标靶，以结合处理器300通过识别标靶上携带的图案对轮进行定位，又如在另一些场景下，轮图像采集组件仅需采集轮的图像，结合处理器300识别轮图像即可对轮进行定位。轮图像采集组件对于所采集的图像可以是静态的，也可以是动态的。例如，车辆在静态的状态下，即相对于地面不发生位置移动的情况下，轮图像采集组件根据采集的车轮的静态图像进行处理；又例如，车辆在动态的状态下，如车辆在一定范围内行驶的过程中，轮图像采集组件根据采集的车轮的动态图像进行处理。其中，两个轮图像采集组件之间的横向间隔是指两个轮图像采集组件相对于车辆所在地面的高度相同，或者大致相同，经过两个轮图像采集组件的直线与车辆所在地面水平或大致水平。两个轮图像采集组件之间横向间隔距离可以根据车辆的宽度确定，在一些实施例中，两个轮图像采集组件之间的横向间隔距离可调，或者，两个轮图像采集组件之间的横向间隔距离固定。本申请实施例中，立架组件用于实现两个轮图像采集组件的横向间隔的方式可以包括立架组件上设置有横梁，该横梁可调整至与车辆所在地面平行，轮图像采集组件设置于横梁的两端，或者，立架组件上设置有对称两臂，两臂中各臂的一端与立架组件连接，各臂的另一端安装有轮图像采集组件，在此种情况下，立架组件两臂的运动为同步的，可以设置两臂的臂长，或者两臂的高度可调节，进一步地，可设置两臂可相对于立架组件同步转动，以调节两个轮图像采集组件相对于立架组件的角度。对于本申请实施例中两个轮图像采集组件的横向间隔的实现方式，本申请不予限定。
一些实现方式中，两个轮图像采集组件可拆卸地安装于立架组件，即两个轮图像采集组件可以作为支架组件的配件形式存在，当仅需要实现ADAS标定 功能时，无需安装两个轮图像采集组件，若需要计算轮参数，或者对车辆的轮进行检测时，则将两个轮图像采集组件安装于立架组件，两个轮图像采集组件可固定或者活动地安装于立架组件。为了保证两个轮图像采集组件的安装精度不影响轮参数的计算，可以再立架组件上对轮图像采集组件的安装位置进行标识，或者设计特殊的安装方式，能够使轮图像采集组件安装于支架组件的预设位置上。
所述轮图像采集组件可以是仅具有采集图像功能的装置，如图像采集传感器、相机或摄像机等装置，也可以为具有采集图像功能且能够对图像进行处理的装置，可对图像进行格式转换，存储，像素计算、裁减或赋值等处理。所述轮图像采集组件用于采集轮所处区域内物体的图像数据。
本申请实施例中，支架组件被置于相对于车辆的位置是指支架组件被置于相对于车辆的指定或者预设位置，或者支架组件被置于相对于车辆的指定范围内的任意位置。为了能够使标定元件或者轮图像采集组件定位准确，进而不影响标定精度或者采集图像的精度，通常承载标定元件或者轮图像采集组件的支架组件会被规定其相对于车辆的位置，该规定可记录在用户操作手册上，用户可通过其记录步骤逐步将支架组件进行精准定位，或者该规定可以可执行程序的方式由处理器执行，处理器可以输出控制指令以驱动支架组件自动定位至预设位置。标定元件或者轮图像采集组件可固定或者活动地安装于支架组件，若标定元件或者轮图像采集组件可活动地安装于支架组件，可以调节其与支架组件之间的活动机构使其精准定位至预设位置。或者，标定算法或轮检测算法允许一定的误差，则可以将支架组件置于相对于车辆的指定范围内，支架组件只要在该指定范围内，则可以通过后续的标定算法或者轮检测算法对其定位误差进行校准。
所述处理器300与所述两个轮图像采集组件200a，200b连接，如有线连接或无线连接，以接收所述两个轮图像采集组件200a，200b采集的数据，用于在所述支架组件被置于相对于所述车辆的位置时，根据所述两个轮图像采集组件200a，200b所采集的数据，测量所述车辆的轮状态。所述测量所述车辆的轮状态具体为对轮进行定位，包括全面测量轮的各项定位参数，如外倾角、前束角等；或者检测轮是否需要被定位，可通过简易算法，仅判断车轮当前状态是否需要进行全面检测，即进一步进行上述的对轮进行定位，在此，本申请实施例对于检测轮是否需要被定位的算法或方式不予限定。
所述标定元件承载于所述支架组件，用于标定所述车辆的驾驶辅助系统。车辆驾驶系统根据功能不同，可分为自适应巡航系统，盲点系统，车辆偏离警示系统等。所述自适应巡航系统主要包括雷达，所述自适应巡航系统的雷达可以是单雷达或者双雷达，单雷达一般设置在车辆的车头中间，双雷达一般设置在车辆的车头两侧。可通过自适应巡航系统标定元件对所述自适应巡航系统中的雷达进行标定，所述自适应巡航系统标定元件可以为雷达标定板(用于反射雷达发射的波)，雷达标定盒，角反射器等雷达标定件。所述盲点系统主要包 括雷达，所述盲点系统的雷达一般设置在车尾处，可通过盲点检测系统标定元件对所述盲点系统进行标定，所述盲点检测系统标定元件可以为多普雷发生器，也即盲点盒子、雷达标定盒，等等。所述车辆偏离警示系统主要包括车辆的车窗上的摄像头，可通过图案板对所述车辆偏离警示系统进行标定。
请复参阅图2，一些本申请实施例中，所述支架组件还包括横梁组件30和微调组件40。所述立架组件20安装于所述底座10，所述立架组件20基本沿竖直方向延伸；所述横梁组件30安装于所述立架组件20，并可沿竖直方向相对于所述立架组件20移动。所述两个轮图像采集组件200a，200b设置于所述横梁组件30的两端，每个所述轮图像采集组件包含一个或一个以上相机，所述相机具有大体朝向车辆方向的视野，以根据需要观察所述车辆的轮。
本文以所述轮图像采集组件200a的视野范围覆盖车辆左侧的两个轮所处区域，所述轮图像采集组件200b的视野范围覆盖车辆右侧的两个轮所处区域为例进行说明。
所述轮图像采集组件200a用于获取车辆左侧的两个轮的相关图像数据；所述轮图像采集组件200b用于获取车辆右侧的两个轮的相关图像数据。
在本实施例中，所述两个轮图像采集组件200a，200b各包括两个相机，其中，所述轮图像采集组件200a上的两个相机的视野范围分别覆盖车辆左侧的两个轮所处区域，即一个相机负责采集车辆左侧前轮的相关图像，另一个相机负责采集车辆左侧后轮的相关图像；所述轮图像采集组件200b上的两个相机的视野范围分别覆盖车辆右侧的两个轮所处区域。对于轮图像采集组件中设置的两个相机，两个相机的相对位置和角度固定，从而在计算过程中，可以对应获知其分别采集的图像的位置关系。
在其他一些实施例中，所述两个轮图像采集组件200a，200b各只包括一个相机，其中，所述轮图像采集组件200a上的一个相机的视野范围覆盖车辆左侧的两个轮所处区域；所述轮图像采集组件200b上的一个相机的视野范围覆盖车辆右侧的两个轮所处区域。
在一实施方式中，为提高所述两个轮图像采集组件200a，200b所采集的图像数据的精度，可在所述轮图像采集组件200a和所述轮图像采集组件200b上各设置光源以照亮所述车辆两侧的轮，所述光源可为发光二极管(LED)，或任何具有照亮功能的发光体。
所述横梁组件30可沿竖直方向相对于所述立架组件20上下移动，以适应不同车辆的高度变化或者车辆上不同待标定设备的不同高度。横梁组件30沿竖直方向的移动可通过任何常规手段进行，例如滑轨、齿轮传动机构、丝杆传动机构等。用于驱动横梁组件沿竖直方向运动的机构可以被手动致动，或者可以由操作者手动控制或者自动软件控制下由合适的电机驱动。
所述横梁组件30可绕竖直方向(如横梁组件的纵向轴线)相对于所述立架组件20转动，调节横梁组件30绕竖直方向的角度转动，能够使横梁组件大 致平行于车辆的车头，进而能够提高安装于横梁组件30的轮图像采集组件的安装精度，或者所述横梁组件30可沿水平方向(横梁组件的长度方向)相对于所述立架组件20左右移动，以实现所述相机或安装于横梁组件上的其他图像采集组件期望的视野。横梁组件绕竖直方向的转动可通过任何常规手段进行，用于驱动所述横梁组件绕竖直方向转动的机构可为：连杆式旋转机构、曲柄式旋转机构等。横梁组件30通过微调组件40实现水平方向的移动，下文将会具体描述。
可以理解的是，在其他实施例中，所述轮图像采集组件200a和轮图像采集组件200b可以分别包括两轴或三轴云台，轮图像采集组件通过所述云台实现与横梁组件的安装，所述云台可接受控制指令调整其拍摄角度或者受手动调节而变换拍摄角度。本申请实施例对于云台的实现结构不予限定，其能够实现按照需求调节路图像采集组件中相机的拍摄角度即可。
所述处理器300与所述两个轮图像采集组件200a，200b电连接，所述处理器300配置有合适的逻辑电路元件和软件指令，以接收所述两个轮图像采集组件200a，200b采集的数据，根据所述两个轮图像采集组件所采集的数据，评估图像数据以识别观察轮的相对空间位置，并计算车辆的轮状态，即测量车轮的定位参数(如车轮的外倾角、前束角等)。
可以理解的是，所述处理器300、所述轮图像采集组件200a和所述轮图像采集组件200b的构造在机器视觉车辆车轮定位领域中通常是公知，并且在不背离本发明范围的情况下可以于本申请描述的具体构造不同，只要处理器300能够确定车辆的轮状态即可。
本申请实施例中的处理器300可以实现多种功能，例如，处理器300可以实现上述的轮定位或者轮检测方式，或者处理器300可以结合标定方法控制标定元件的定位等。处理器300可以包括多个处理单元，以分别实现上述功能，在此，多个处理单元可以集成在同一装置中，或者，多个处理单元根据连线需求分布于支架组件。
请参阅图4，所述车辆测量设备还包括校准单元400，所述校准单元400包括校准相机410和校准目标420。所述校准相机410以固定不变关系设置于所述两个轮图像采集组件200a，200b中的一个，所述校准目标420以固定不变关系设置于所述两个轮图像采集组件200a，200b中的另一个。所述校准相机410的视野范围覆盖所述校准目标420，用于采集所述校准目标相关的图像数据，所述校准相机410与所述处理器300电连接，所述处理器300还用于根据所述校准相机410所采集的图像数据确定所述轮图像采集组件200a与所述轮图像采集组件200b的相对空间位置，再结合两个轮图像采集组件所采集的数据，从而确定四个轮的相对空间位置，进而计算车辆的四个轮状态。
在一实施方式中，为提高所述校准相机410所采集的图像数据的精度，可在所述校准相机410上设置光源以照亮所述校准目标420，所述光源可为发光二极管(LED)，或任何具有照亮功能的发光体。
所述车辆测量设备还可以对车辆上的驾驶辅助系统进行标定，在进行标定之前，需调节所述车辆测量设备的位置，以使所述车辆测量设备按照预期位置或方向对准所述车辆。因此，在对车辆进行标定之前，需将支架组件大致定位在车辆的几何中心线或推力线的位置。
所述车辆的几何中心线或推力线为车辆两后轮中心之间的中心点与车辆两前轮中心之间的中心点连接形成的直线。
请复参阅图2和图3，为方便对车辆的驾驶辅助系统进行标定，所述车辆测量设备还包括定位辅助结构500，所述定位辅助结构500安装于所述横梁组件30。
在本实施例中，所述定位辅助结构500包括定位辅助图像采集组件，所述定位辅助图像采集组件安装于所述横梁组件30的两端之间的部分。所述定位辅助图像采集组件用于采集所述车辆的图像，其与所述处理器300电连接，所述处理器300用于根据所述定位辅助图像采集组件所采集的图像数据计算支架组件相对于车辆中心线的位置，通过计算结果对所述支架组件进行定位(通过计算结果将支架组件移动至车辆中心线位置处)，使所述车辆测量设备按照预期位置或方向对准所述车辆。
具体地，如果需要调节支架组件相对于车辆的几何中心线或推力线的位置，则可以基于所确定的支架组件的相对位置由处理器300向操作者提供适当的引导。引导可以是各种格式中的任何一种，例如数字(即，向左2英寸)、符号(即，指示箭头和/或滑动条形图)、或可听见的(即，到达正确位置时的音调或声音)。引导可以是静态引导，其中在支架组件不动之前不获取位置数据的更新，或者替代地，引导可以是动态的，其中处理器300在支架组件移动期间从定位辅助图像采集组件接收图像，并且向操作者提供顺序更新的或“实时的”指令，以协助支架组件相对于车辆的精确定位。
在一种实现方式中，所述定位辅助结构500为激光器，用于发射激光至车辆或车辆所在地面，以对所述支架组件进行定位。具体地，所述定位辅助结构包括两个激光测距仪以及两个辅助标靶。所述两个激光测距仪横向间隔设置于所述支架组件的两端，并避开所述两个轮图像采集组件，所述两个辅助标靶分别安装于所述车辆两侧的轮上，所述两个激光测距仪分别出射激光至所述两个辅助标靶上，并经由所述两个辅助标靶反射至所述两个激光测距仪的标尺上，根据标尺的度数调整所述支架组件的位置。
所述支架组件还包括挂载件50，所述挂载件50可滑动地安装于所述横梁组件30。所述挂载件可用于挂载所述定位辅助图像采集组件和标定元件的二者之一。
一旦支架组件相对于车辆定位在期望位置处，就可以经由所述挂载件50调节标定元件相对于立架组件20的位置和取向，以便标定元件正确放置在与 车辆驾驶辅助系统相关的视野内。
将标定元件放置在理想位置以供使用的挂载件的精确位置可以可选地响应于通过由定位辅助结构获取的数据在处理器300的引导下实施。例如，在支架组件大致定位在车辆的中心线情况下，将定位辅助图像采集组件安装于所述挂载件50，所述定位辅助图像采集组件可以用于采集车辆上待标定设备的图像，处理器300根据定位辅助图像采集组件采集的图像确定定位辅助图像采集组件相对于待标定设备的位置，进而将定位辅助图像采集组件移动至特定位置，使其对准车辆上的待标定设备。其中，定位辅助图像采集组件的位置即代表标定元件在支架组件100上的安装位置，即定位辅助图像采集组件安装于所述挂载件50，可在确定位置后，将定位辅助图像采集组件从挂载件50上拆卸下来，并将标定元件挂载于所述挂载件50，完成标定元件的对准，最后再根据实际需求挂载标定元件，如雷达标定件、图案板、盲点盒子等，对所述车辆的高级驾驶辅助系统进行标定。
需要说明的是，所述待标定设备可以是自适应巡航系统的传感器，例如：夜视系统的传感器，盲点系统的传感器，车辆偏离警示系统的传感器等，而不同系统的待标定设备其在车辆上的位置是不相同的，例如：盲点系统的传感器一般在车尾处，夜视系统的传感器一般在车头偏离中点的位置上，自适应巡航系统的传感器一般在车头两侧。
在一种实施方式下，所述车辆测量设备还包括输出器600，所述输出器600与所述处理器300电连接，用于提示用户所述处理器300的输出结果，向操作者提供适当的引导，所述输出器可包括显示屏、发声器等。
其中，所述处理器300设置于所述立架组件20内。立架组件20还可以用于收容传输电信号的电线等。当然，处理器300以及电线等也可收容于底座10横梁组件30或微调组件40中，或者处理器300，输出器600以及电线等可以收容在外置部件中，外置部件依附于底座10，立架组件20、横梁组件30或微调组件40的外表面上。可以理解地，支架组件100上还可以设置有供电装置，该供电装置包括电池为轮图像采集组件、校准相机、处理器和输出器等供电，该电池可为锌锰电池、碱性电池、镍镉电池与锂电池，或为可充电的蓄电池等。可选地，供电装置可拆卸地安装于支架组件，或者供电装置固定安装于支架组件。
以下将具体描述支架组件100中各部件相对连接关系，以确保车辆测量设备进行测量的可实施性。
请参阅图5，所述底座10包括底座本体12，滚轮14和高度调节件16。所述底座本体12整体呈“工”型且对称设置，包括一个主体部和自所述主体部向两侧延伸形成的两侧部。所述底座本体12可由金属材料制得，所述滚轮14安装于所述底座本体12的两侧部底表面，所述滚轮14的数量可以为四个，每一侧部的末端均安装一个所述滚轮14，用于方便移动所述底座本体12。在本实施例中，所述滚轮14为万向移动滚轮，使得所述底座本体12可以前后左 右任意移动。
所述高度调节件16安装于所述底座本体12，用于调节所述支架组件的高度。所述高度调节件16为调节旋钮，数量为四个，旋钮下方包含至少一段螺旋杆，该螺旋杆与底座本体12处的螺纹通孔相配合，可以实现高度调节。每个所述高度调节件16安装于每一所述侧部的两端，并且靠近对应的一个所述滚轮14。一种实现方式中，可以通过调节所述高度调节件16，使所述高度调节件16与地面接触，顶起滚轮14，防止使用期间，所述底座10在所述滚轮14的带动下滑动。
可以理解的是，在一些其它实施例中，所述底座本体12的形状可以根据实际需求变化，而不限于为“工”型，例如所述底座本体12可为矩形或三角爪状；所述滚轮14和所述高度调节件16的数量可以分别根据实际需求增减，例如，对于三角爪状的底座本体，包括三个爪部，三个所述爪部分别沿三个不同的方向延伸，所述滚轮的数量可以为三个，每个所述滚轮安装于对应的一个所述爪部的末端，高度调节件的数量为三个，每个所述高度调节件安装于对应的一个所述爪部，并且靠近对应的一个所述滚轮，三个所述高度调节件呈正三角形分布。
在所述底座上配置滚轮，方便将支架组件置于相对于所述车辆的位置，在本实施例中，支架组件置于相对于车辆的位置是指：移动所述支架组件至所述车辆的中心线或推力线处，且所述两个轮图像采集组件200a，200b的视野范围分别覆盖车辆两侧的轮所处区域。
请一并参阅图6和图9，所述立架组件20包括立架本体22、第一滑轨24、螺母座组件26和驱动机构28，所述立架本体22为对称结构，所述立架本体22垂直固定于所述底座本体12，所述第一滑轨24固定于所述立架本体22的侧面，所述第一滑轨24从所述立架本体22的顶端延伸至所述立架本体22的底端。在本实施例中，所述第一滑轨24的数量为两个，分别设于所述立架本体22同一侧的两端。所述横梁组件30安装于所述螺母座组件26上，所述螺母座组件26上固设有与所述第一滑轨24相配合的第一滑块261，所述第一滑块261与所述第一滑轨24配合，使所述螺母座组件26可沿所述立架本体22的长度方向移动。所述驱动机构28安装于所述立架本体22，用于驱动所述螺母座组件26沿所述立架本体22移动，以使所述横梁组件30沿竖直方向相对于所述立架本体22移动。
在一实施方式中，在所述第一滑轨24的两端分别设限位装置，以防止所述螺母安装座26滑出所述立架本体22。
请一并参阅图7和图8，所述驱动机构28包括手轮281，壳体282，丝杆283及齿轮传动组件。
所述齿轮传动组件包括第一锥齿轮284，第二锥齿轮285，第一传动带轮286，第二传动带轮287，同步带288和电机组件。
所述壳体281固定安装于所述立架本体22的上端，所述电机组件安装于 所述立架本体22的下端。
所述手轮281安装于所述壳体282，所述手轮281可绕第一旋转轴线O1转动。
所述齿轮传动组件可以使所述螺母座组件26的位置移动更加精确及省力，在齿轮传动组件中，所述第一锥齿轮284位于所述壳体282内，并且固定安装于所述手轮281。所述第一锥齿轮284的旋转轴线与所述手轮281的旋转轴线重合，所述第一锥齿轮284与所述手轮281可一同绕所述第一旋转轴线O1转动。
所述第二锥齿轮285位于所述壳体282内，并且固定安装于所述丝杆283的顶端，可绕第二旋转轴线O2转动，所述立架本体22的中心轴L与所述第二旋转轴线O2平行。所述第一锥齿轮284和所述第二锥齿轮285啮合。
所述丝杆283的旋转轴线与所述第二锥齿轮285的旋转轴线重合，所述第一旋转轴线O1垂直于所述第二旋转轴线O2。
在所述手轮281绕所述第一旋转轴线O1转动时，驱动所述第一锥齿轮284绕第一旋转轴线O1转动，所述第二锥齿轮285和所述丝杆283绕所述第二旋转轴O2转动。
所述电机组件包括电机289，所述电机289可手动控制也可接受控制指令进行转动。所述第一传动带轮286安装于所述电机组件内，所述第一传动带轮286与所述电机289的输出轴连接，所述第二传动带轮287固定安装于所述丝杆283的底端，所述第一传动带轮286和所述第二传动带轮287之间通过所述同步带288传动。
所述第二传动带轮287的旋转轴线与所述丝杆283的旋转轴线重合，所述电机289带动所述第一传动带轮286转动时，在所述同步带288的作用下，所述第二传动带轮287和所述丝杆283绕所述第二旋转轴O2转动。
请一并参阅图9和图10，所述螺母座组件26上固设有与所述丝杆283相配合的螺母262，具体地，所述丝杆283与所述螺母262螺纹连接，在所述丝杆283转动时，所述螺母262可沿所述丝杆283上升或下降，即在所述丝杆283转动时，带动所述螺母座组件26沿所述丝杆283的长度方向上升或下降，使得所述横梁组件30沿竖直方向相对于所述立架本体22上升或下降。
可以由所述处理器内的软件指令控制所述电机289的转动，实现所述横梁组件30在竖直方向的移动和止动；也可以由操作者通过输出器的结果手动控制所述手轮281的转动，从而实现所述横梁组件30在竖直方向的移动和止动，以适应不同车辆的高度变化或者车辆上不同待标定设备的不同高度。
在一实施方式中，所述螺母座组件26还包括紧固组件，所述紧固组件用于将所述螺母座组件26固定于所述立架本体22，所述紧固组件可以包括紧固件263和螺栓264，所述紧固件263呈“Z”型，所述紧固件263的一端勾住所述立架本体22，另一端通过螺栓264固定于所述螺母座组件26。
需要将所述螺母座组件26沿竖直方向相对于所述立架本体22上下移动 时，就旋松所述螺栓264，使所述紧固件263松开所述立架本体22，当所述螺母座组件26运动到需要的位置时，就拧紧所述螺栓264，使得所述螺母座组件26固定在需要的位置，从而提高测量的稳定性。
请一并参阅图11和图12，所述横梁组件30包括安装座31、旋转机构32、横梁安装板33及盖板34。所述旋转机构32可以调节所述横梁安装板33相对于所述立架组件20转动的角度；所述横梁安装板33用来固定横梁35，所述横梁安装板33安装于所述安装座31和所述盖板34之间，所述盖板34固定于所述安装座31的上端，且所述盖板34压设于所述横梁安装板33顶端。
所述旋转机构32包括旋转轴321、第一螺栓322、第二螺栓323和弹性件324，所述旋转轴321固定于所述横梁安装板33的中部，并连接于所述安装座31和所述盖板34之间，所述第一螺栓322和所述第二螺栓323分别设置于所述旋转轴321的两侧。
所述旋转轴321的旋转轴线O3(相当于所述横梁组件的纵向轴线)与所述立架组件20的中心轴L平行，所述盖板34和所述安装座31上均设有与所述旋转轴321相配合的孔，且所述盖板34上与所述旋转轴321相配合的孔为盲孔。
所述第一螺栓322上套设有螺母，所述螺母与所述第一螺栓322螺纹连接。
所述安装座31上设有供所述第一螺栓322穿过的第一通孔311，所述第一螺栓322穿过所述第一通孔311，所述第一螺栓322一端与所述横梁安装板33螺纹连接，另一端连同套设于所述第一螺栓322上的螺母一并外露于所述安装座31预设距离。
所述弹性件324套设于所述第二螺栓323，所述弹性件324连接于所述安装座31和所述横梁安装板33之间。所述安装座31上设有供所述第二螺栓323穿过的第二通孔312，所述第二螺栓323穿过所述第二通孔312，所述第二螺栓323的一端固定于所述横梁安装板33，另一端外露于所述安装座31一定距离。
在本实施例中，所述弹性体28为弹簧，可以理解的是，在一些其它实施例中，所述弹性体28可以为其它弹性元件，如弹片等。
需要将所述横梁安装板33相对于所述旋转轴321转动时，转动所述第一螺栓322，在所述第一螺栓322右旋时，所述横梁安装板33上安装有第一螺栓322的一端向所述安装座31靠拢，所述弹性件324处于拉伸状态，所述横梁安装板33可绕所述旋转轴321在一定范围内逆时针转动；在所述第一螺栓322左旋时，所述横梁安装板33上安装有第一螺栓322的一端远离所述安装座31，所述弹性件324处于压缩状态，所述横梁安装板33可绕所述旋转轴321在一定范围内顺时针转动。
即，通过调节所述第一螺栓322，可使所述横梁35绕O3相对于所述立架组件20在一定范围内旋转，以使横梁能大致平行于车辆的车头，提高轮图像 采集组件和定位辅助结构的安装精度。
可以理解的是，为提高所述车辆测量设备的稳定性，在所述横梁转动至所需位置时，可通过外置的锁紧装置进一步将横梁维持在所需位置。当需要转动所述横梁时，可使锁紧装置松开横梁。
请参阅图12，所述轮图像采集组件200a和所述轮图像采集组件200b分别横向间隔固定于所述横梁35的两端，所述定位辅助图像采集组件安装于所述横梁35的中部。
具体地，请参阅图13，所述轮图像采集组件200a和轮图像采集组件200b分别通过安装座210可拆卸地固定于所述横梁35的两端。所述轮图像采集组件固定于所述安装座，所述安装座通过锁紧件220固定于所述横梁，所述紧固件可为螺栓或任何具有锁紧功能的零部件。
在本实施例中，为实现所述轮图像采集组件与横梁的稳定连接，所述安装座210可固定于所述轮图像采集组件的侧部，所述安装座构造成“U”型结构，所述横梁的一端与所述轮图像采集组件的侧部抵接，所述横梁的收容于所述U型结构，所述横梁的上端、下端、及背部分别与所述U型结构的三个安装面相接触，在所述紧固件为螺栓时，所述安装座和所述横梁上分别设有与所述螺栓相配合的螺纹孔，此时只需拧紧所述螺栓即可将所述安装座固定于所述横梁。
所述横梁的背部为所述横梁远离所述车辆的一面。
可以理解，所述安装座也可以固定于所述轮图像采集组件的其他部位，在此，本申请不做任何限制，只需通过紧固件可将安装座固定于所述横梁即可。
在无需使用所述轮图像采集组件时，将所述安装座从所述横梁上拆卸，从而将所述轮图像采集组件收纳起来，以延长所述轮图像采集组件的寿命。
在一种实施方式中，所述安装座也可省略，所述轮图像采集组件通过自身的壳体实现与横梁的连接。
所述定位辅助图像采集组件也可通过一个辅助安装座将定位辅助图像采集组件可拆卸地固定于所述横梁，其安装方式与轮图像采集组件安装于横梁的方式类似，在此将不再进行赘述。只需保证所述定位辅助图像采集组件的视野能覆盖所述车辆即可。
在本实施例中，所述横梁35的中部为所述横梁35两端之间的任意一部分，所述定位辅助图像采集组件可位于所述轮图像采集组件200a及所述轮图像采集组件200b之间的任意位置，例如，定位辅助图像采集组件位于所述轮图像采集组件200a及所述轮图像采集组件200b之间，并且所述定位辅助图像采集组件分别与所述轮图像采集组件200a及所述轮图像采集组件200b的距离相等。
在一实施方式中，所述横梁组件30还包括第二滑轨36，所述第二滑轨36与所述横梁35平行设置，所述挂载件50安装于所述第二滑轨36，且可沿所述第二滑轨36在水平方向上移动，从而使标定元件可滑动地安装于所述横梁。
所述标定元件可滑动地安装于横梁是为适应不同的车辆驾驶辅助系统。
请一并参阅图14和图15，所述横梁35可通过微调组件40沿水平方向相对于所述立架组件20左右移动。所述微调组件40安装于所述螺母安装座26，所述微调组件40包括旋钮41，传动齿轮42，固定板43和齿条44，所述微调组件40通过所述固定板43固定于所述螺母安装座26。
所述旋钮41安装于所述固定板43上，所述传动齿轮42固定安装于所述旋钮41的底端，所述固定板43位于所述旋钮41和所述传动齿轮42之间，且所述固定板43压设于所述安装座31的上端。所述齿条44固定于所述安装座31上，所述传动齿轮42和所述齿条44啮合。
所述旋钮41可绕第四旋转轴线O4转动，所述传动齿轮42的旋转轴线与所述旋钮41的旋转轴线重合，所述旋钮41和所述传动齿轮42可以一同绕所述第四旋转轴线O4转动。
在所述旋钮41转动时，所述安装座31可相对所述螺母安装座26在一定范围内左右移动。
可以通过手动控制所述旋钮41，实现所述横梁组件30左右移动和止动。
请一并参阅图16和图17，在一些实施例中，为使所述安装座31左右移动地更稳定，在所述螺母安装座26上设置有第三滑轨263，所述安装座31上固设有与所述第三滑轨263相配合的第三滑块313。
所述横梁组件30通过所述安装座31上的第三滑块313与所述第三滑轨263的配合连接于所述螺母座组件26。
可选的，所述微调组件40还包括锁紧机构(未标示)，用于将所述安装座31固定于所述螺母座组件26。所述锁紧机构安装于所述固定板43，所述锁紧机构包括紧固环45和锁紧螺栓46，所述紧固环45套设于所述旋钮41，所述锁紧螺栓46安装于所述紧固环45的两端。
需要将所述横梁组件30相对于所述螺母座组件26左右移动时，转动所述锁紧螺栓46，使得所述紧固环45松开所述旋钮41，转动所述旋钮41，可使得所述横梁组件30沿水平方向相对于所述螺母座组件26左右移动，到达需要位置时，转动所述锁紧螺栓46紧固所述旋钮41，使得所述横梁组件30固定在需要的位置。
横梁的移动和旋转是为便于所述车辆测量设备对所述车辆进行测量。
处理器300可通过输出器600提示用户横梁35所需移动的距离或转动的角度，由操作者根据所需移动的距离或转动的角度对横梁组件30进行手动移动或转动。也可通过处理器的软件指令控制横梁移动。
本发明实施例提供的车辆测量设备能随意移动，占地空间小，既可以实现对车辆的标定又可以用来测量车辆的轮状态，且测量的精度及可靠性高。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以 进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (14)

  1. 一种车辆测量设备，其特征在于，包括：
    支架组件；
    两个轮图像采集组件，所述两个图像采集组件横向间隔设置于所述支架组件的两端，以使所述支架组件被置于相对于所述车辆的位置时，所述两个轮图像采集组件的视野范围分别覆盖车辆两侧的轮所处区域；
    处理器，与所述两个轮图像采集组件连接以接收所述两个轮图像采集组件采集的数据，用于在所述支架组件被置于相对于所述车辆的位置时，根据所述两个轮图像采集组件所采集的数据，测量所述车辆的轮状态；
    标定元件，承载于所述支架组件，用于标定所述车辆的驾驶辅助系统。
  2. 根据权利要求1所述的车辆测量设备，其特征在于，所述支架组件包括底座、立架组件以及横梁；
    所述立架组件一端安装于所述底座，所述横梁安装于所述立架组件，所述横梁用于挂载所述标定元件及所述两个轮图像采集组件。
  3. 根据权利要求2所述的车辆测量设备，其特征在于，所述两个轮图像采集组件分别设置于所述横梁的两端。
  4. 根据权利要求3所述的车辆测量设备，其特征在于，所述两个轮图像采集组件分别固定连接于所述横梁的两端。
  5. 根据权利要求3或4所述的车辆测量设备，其特征在于，所述轮图像采集组件包括两个相机，所述两个相机的视野范围分别覆盖车辆同一侧的两个轮所处区域；或者
    所述轮图像采集组件包括一个相机，所述一个相机的视野范围覆盖车辆同一侧的两个轮所处区域。
  6. 根据权利要求2至5任一项所述的车辆测量设备，其特征在于，
    所述车辆测量设备还包括校准单元，所述校准单元包括校准相机和校准目标；
    所述校准相机设置于所述两个轮图像采集组件中的一个，所述校准目标设置于所述两个轮图像采集组件中的另一个；
    所述校准相机的视野范围覆盖所述校准目标，其与所述处理器电连接；
    所述处理器还用于根据所述校准相机所采集的图像数据确定所述两个轮图像采集组件的相对位置。
  7. 根据权利要求2至6任一项所述的车辆测量设备，其特征在于，所述车辆测量设备还包括定位辅助结构，所述定位辅助结构安装于所述横梁；
    所述定位辅助结构包括定位辅助轮图像采集组件，所述定位辅助轮图像采集组件用于采集所述车辆的图像，其与所述处理器电连接；
    所述处理器还用于根据所述定位辅助轮图像采集组件所采集的图像对所述支架组件进行定位。
  8. 根据权利要求7所述的车辆测量设备，其特征在于，所述定位辅助轮图像采集组件安装于所述横梁的两端之间的部分。
  9. 根据权利要求2至6任一项所述的车辆测量设备，其特征在于，所述车辆测量设备还包括定位辅助结构；
    所述定位辅助结构为激光器，用于发射激光至车辆或车辆所在地面，以对所述支架组件进行定位。
  10. 根据权利要求2至9任一项所述的车辆测量设备，其特征在于，所述处理器安装于所述立架组件。
  11. 根据权利要求2至10任一项所述的车辆测量设备，其特征在于，所述支架组件还包括挂载件；
    所述挂载件安装于所述横梁，所述横梁通过所述挂载件挂载所述标定元件。
  12. 根据权利要求11所述的车辆测量设备，其特征在于，所述横梁设置有横向滑轨，所述挂载件安装于所述横向滑轨，所述挂载件可沿所述横向滑轨移动。
  13. 根据权利要求2至12任一项所述的车辆测量设备，其特征在于，所述横梁可沿竖直方向相对于所述立架组件移动；和/或
    所述横梁可绕竖直方向相对于所述立架组件转动；和/或
    所述横梁可沿其长度方向相对于所述立架组件移动。
  14. 根据权利要求1至13任意一项所述的车辆测量设备，其特征在于，所述车辆测量设备还包括输出器；
    所述输出器与所述处理器电连接，用于提示用户所述处理器的输出结果。
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