WO2022033387A1 - 一种轮图像采集组件、轮定位设备及车轮定位系统 - Google Patents

一种轮图像采集组件、轮定位设备及车轮定位系统 Download PDF

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Publication number
WO2022033387A1
WO2022033387A1 PCT/CN2021/110857 CN2021110857W WO2022033387A1 WO 2022033387 A1 WO2022033387 A1 WO 2022033387A1 CN 2021110857 W CN2021110857 W CN 2021110857W WO 2022033387 A1 WO2022033387 A1 WO 2022033387A1
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WO
WIPO (PCT)
Prior art keywords
wheel
camera
calibration
camera module
vehicle
Prior art date
Application number
PCT/CN2021/110857
Other languages
English (en)
French (fr)
Inventor
张登国
曾敏
王永超
Original Assignee
深圳市道通科技股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市道通科技股份有限公司 filed Critical 深圳市道通科技股份有限公司
Priority to EP21855440.0A priority Critical patent/EP4184115A4/en
Publication of WO2022033387A1 publication Critical patent/WO2022033387A1/zh
Priority to US18/167,877 priority patent/US20230196620A1/en

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Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
    • 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
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30244—Camera pose

Definitions

  • the present application relates to the technical field of four-wheel alignment, and in particular, to a wheel image acquisition assembly, a wheel alignment device and a wheel alignment system.
  • the four-wheel aligner is mainly used to detect the mutual position and angle between the wheels of the vehicle to determine the wheel alignment parameters of the vehicle, so as to guide the vehicle maintenance technician to adjust the wheel alignment parameters to meet the design requirements of the vehicle and realize the smoothness and safety of the vehicle. , reduce car fuel consumption and tire wear.
  • the structure adopted by the wheel alignment equipment is roughly to fix two sets of cameras on both sides of the beam to capture images of the areas where the wheels on both sides of the vehicle are located, and adjust the field of view of the cameras by rotating the beam.
  • the rotation modes of the cameras are all synchronous, and it is complicated to make the field of view of the two cameras cover the areas where the wheels on both sides are located.
  • the embodiments of the present invention aim to provide a wheel image acquisition assembly, a wheel alignment device and a wheel alignment system, which can drive the rotation of the camera module through its own motor assembly to independently adjust the field of view of the camera module.
  • a wheel image acquisition assembly is provided, which is applied to wheel positioning, including: a base, a motor assembly and a camera module:
  • one end of the base is used for connecting the bracket body in the wheel positioning device, and the other end of the base is used for connecting the camera module;
  • a motor assembly installed in the base, includes a motor, and the motor is used to drive the camera module to rotate around a horizontal axis to adjust the pitch angle of the camera module;
  • the camera module is used to capture images of the wheels so that the positions of the wheels relative to the vehicle can be determined.
  • the motor assembly further includes a controller and a processor
  • the processor is connected to the camera module, and the processor is configured to determine the rotation angle according to the image of the wheel collected by the camera module;
  • the controller is connected to the processor, and the controller is used for controlling the motor according to the rotation angle, so as to rotate the camera module.
  • the motor assembly further includes a controller
  • the wheel image acquisition component is used for uploading the image of the wheel collected by the camera module to the processing device in the wheel alignment device to determine the rotation angle;
  • the controller is used for controlling the motor according to the rotation angle, so as to rotate the camera module.
  • the motor assembly further includes a transmission mechanism, and the motor is connected to the camera module through the transmission mechanism.
  • the transmission mechanism includes a first synchronous wheel, a synchronous belt and a second synchronous wheel;
  • the first synchronizing wheel is connected with the motor, the first synchronizing wheel is connected with the second synchronizing wheel through the synchronous belt, and the second synchronizing wheel is coaxially fixed to the camera module;
  • the axis of the second synchronizing wheel is parallel to the horizontal axis
  • the motor is used for driving the first synchronization wheel to rotate, so that the first synchronization wheel drives the second synchronization wheel and the camera module to rotate together through the synchronization belt.
  • the transmission mechanism includes a first transmission wheel and a second transmission wheel
  • the first transmission wheel is connected with the motor, the first transmission wheel is engaged with the second transmission wheel, and the second transmission wheel is coaxially fixed to the camera module;
  • the axis of the second transmission wheel is parallel to the horizontal axis
  • the motor is used to drive the first transmission wheel to rotate, so that the first transmission wheel drives the second transmission wheel and the camera module to rotate together.
  • the base includes a base body and two support brackets disposed on two opposite sides of the base body;
  • the base body is connected to a bracket in the wheel alignment system, and the camera module is rotatably installed between the two support brackets;
  • the motor assembly is mounted on one of the two support brackets.
  • the wheel image capture assembly further includes a first shaft and a second shaft;
  • One end of the first rotating shaft is fixed to the camera module, and the other end is fixed to the second synchronizing wheel;
  • One end of the second rotating shaft is fixed to the camera module, and the other end is rotatably connected to one of the two support frames that is not installed with the motor assembly.
  • the camera module includes two cameras that capture images of two wheels on the same side of the vehicle, respectively; or
  • the camera module includes a camera that captures images of two wheels on the same side of the vehicle.
  • the application also provides a wheel alignment device, comprising:
  • the two wheel image capture assemblies are arranged at both ends of the bracket body at a lateral interval, and when the bracket body is placed relative to the vehicle, two of the wheels
  • the field of view of the camera module of the image acquisition component covers the areas where the wheels on both sides of the vehicle are located;
  • a processing device electrically connected to the two wheel image acquisition assemblies, for controlling the camera modules in the two wheel image capture assemblies to rotate around a horizontal axis to adjust the camera modules in the two wheel image capture assemblies The rotation angle of the group.
  • the processing device is configured to control the camera modules in the two wheel image capturing assemblies to rotate around a horizontal axis synchronously, so as to adjust the rotation angles of the camera modules in the two wheel image capturing assemblies .
  • the camera module of the wheel image acquisition assembly is configured to collect image data of the wheel
  • the processing device is further configured to measure the measurement according to the data collected by the camera modules of the two wheel image acquisition assemblies The wheel state of the vehicle.
  • the wheel alignment device further includes a calibration unit, the calibration unit includes a calibration camera and a calibration target, the calibration camera is provided in one of the two wheel image acquisition assemblies, and the calibration target is set in the other of the two wheel image capture assemblies;
  • the field of view of the calibration camera covers the calibration target, and is electrically connected to the processing device, and the processing device is further configured to determine the relative relationship between the two wheel image acquisition components according to the image data collected by the calibration camera Location.
  • the treatment device is disposed on the stent body.
  • the wheel alignment device further includes a prompter
  • the prompter is electrically connected with the processing device, and is used for prompting the user of the output result of the processing device.
  • the present application also provides a wheel alignment system, which is applied to the four-wheel alignment of a vehicle, including a calibration device, two camera devices and a processing system;
  • a first camera device of the two camera devices includes the wheel image capture assembly described above;
  • the second camera device of the two camera devices includes the above-mentioned wheel image acquisition assembly and a calibration camera;
  • the calibration device is attached to the wheels on both sides of the vehicle, the first camera device is arranged on one side of the vehicle, and the field of view of the wheel image acquisition component of the first camera device faces toward the first side of the vehicle.
  • the calibration device on the side of the vehicle is used to collect the first calibration image of the calibration device on one side of the vehicle, the second camera device is arranged on the other side of the vehicle, and the wheel image acquisition component in the second camera device.
  • the field of view of the calibration device on the other side of the vehicle is used to collect a second calibration image of the calibration device on the other side of the vehicle, and the field of view of the calibration camera in the second camera device is directed toward the a first camera device, the calibration camera is used to collect a third calibration image of the first camera device;
  • the processing system is respectively connected with the two camera devices, and the processing system is configured to determine the first position of the wheel on one side of the vehicle relative to the first camera device according to the first calibration image, and according to the first calibration image
  • the second calibration image determines the second position of the wheel on the other side of the vehicle relative to the second camera device, the relative position of the first camera device relative to the second camera device is determined according to the third calibration image, and Based on the first position, the second position and the relative position, position parameters of the wheels of the vehicle are determined.
  • the wheel image acquisition assembly, wheel alignment device and wheel alignment system provided by the present application drive the camera module to rotate through its own motor, so as to adjust the field of view of the camera module independently, and make the two groups of cameras rotate.
  • the field of view covers the area where the wheels are located on both sides and the operation is simple.
  • FIG. 1 is a schematic structural diagram of an image acquisition assembly of a wheel provided by an embodiment of the present invention
  • Figure 2 is an exploded view of the wheel image capture assembly shown in Figure 1;
  • Figure 3 is a schematic cross-sectional view of the wheel image capture assembly shown in Figure 1;
  • FIG. 4 is a schematic structural diagram of a wheel alignment device provided by another embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of the wheel alignment device shown in FIG. 4 from another perspective;
  • FIG. 6 is a system block diagram of the wheel alignment device shown in FIG. 4 measuring the wheels of the vehicle;
  • FIG. 7 is a schematic structural diagram of a wheel alignment system according to another embodiment of the present invention.
  • FIG. 1, FIG. 2 and FIG. 3 is a wheel image acquisition assembly provided by an embodiment of the present invention, including a base 10, a motor assembly 20, and a camera module 30, wherein one end of the base 10 is used for The main body of the bracket in the connection wheel alignment device, the other end of the base 10 is used for connecting the camera module 30 ;
  • the motor assembly 20 is installed in the base 10 , and the motor assembly 20 includes a motor 21 , the motor 21 is used to drive the camera module 30 to rotate around the horizontal axis to adjust the pitch angle of the camera module 30;
  • the camera module 30 is used to collect images of the wheels, so that the wheels are relatively The position of the vehicle is determined.
  • the horizontal axis is an axis parallel to the ground where the vehicle is located, for example, when the wheel image capturing assembly is placed in front of or behind the vehicle, the horizontal axis is an axis parallel to the front or rear of the vehicle; When the wheel image capture assembly is placed on the side of the vehicle, the horizontal axis is the axis parallel to the direction of the vehicle body.
  • the motor assembly 20 includes a processor and a controller, the processor is connected to the camera module 30 , and the processor is configured to determine the rotation according to the image of the wheel collected by the camera module 30 The controller is used to control the rotation of the motor 21 according to the rotation angle, so as to drive the camera module 30 to rotate around the horizontal axis.
  • the processor in the motor assembly 20 can be eliminated, for example, the camera module 30 uploads the captured wheel image to the processing device in the wheel alignment device, and the processing device in the wheel alignment device The wheel image collected by the camera module is processed to determine the rotation angle, and the controller then controls the motor 21 to rotate according to the rotation angle, thereby driving the camera module 30 to rotate around the horizontal axis.
  • the rotation angle refers to the angle at which the camera module needs to be rotated according to the image collected by the camera module, so that the field of view of the camera module can completely cover the wheels on one side of the vehicle.
  • the base 10 includes a base body 11 and two support frames disposed on two opposite sides of the base body 11 .
  • the two support frames are a first support frame 12 and a second support frame 13 respectively.
  • the body 11 is connected to the bracket body in the wheel alignment device, the camera module 30 is rotatably installed between the first support frame 12 and the second support frame 13 , and the motor assembly 20 is installed on the One of the two support frames is described in this application by taking the motor assembly 20 installed in the first support frame 12 as an example.
  • the motor assembly 20 further includes a transmission mechanism 22 through which the motor 21 is connected to the camera module 30 .
  • the transmission mechanism 22 includes a first synchronous wheel 221 , a synchronous belt 222 and a second synchronous wheel 223 , the first synchronous wheel 221 is connected to the motor 21 , and the first synchronous wheel 221 is connected to the second synchronous wheel 221 .
  • the two synchronizing wheels 223 are connected by the synchronous belt 222, the second synchronizing wheel 223 is coaxially fixed to the camera module 30, the axis of the second synchronizing wheel 223 is parallel to the horizontal axis, and the The motor 21 is used to drive the first synchronization wheel 221 to rotate, so that the first synchronization wheel 221 drives the second synchronization wheel 223 and the camera module 30 to rotate together through the synchronization belt 222 .
  • the wheel image capturing assembly further includes a rotating shaft.
  • the number of the rotating shafts is 2, which are a first rotating shaft 41 and a second rotating shaft 42 respectively.
  • One end of the first rotating shaft 41 is connected to the camera module. 30 is coaxially fixed, the other end of the first rotating shaft 41 is fixed on the first synchronizing wheel; one end of the second rotating shaft 42 is coaxially fixed with the camera module 30, and the other end of the second rotating shaft 42 is fixed coaxially with the camera module 30.
  • One end is rotatably connected to the second support frame 13 .
  • first support frame 12 and the second support frame 13 are respectively provided with a first installation hole and a second installation hole through which the first rotating shaft and the second rotating shaft pass.
  • the first support frame 12 includes a first side plate 121 and a first cover plate 122, the first side plate 121 is disposed on one side of the base body 11, and the base body 11.
  • the first side plate 121 and the first cover plate 122 form an accommodation space, and the motor assembly 20 is accommodated in the accommodation space.
  • the second support frame 13 includes a second side plate 131 and a second cover plate 132, the second side plate 131 is disposed on the other side of the base body 11, and the second cover plate 132 is disposed on the other side of the base body 11. the second side plate 131 .
  • the first mounting hole is provided on the first side plate 121, and one end of the first rotating shaft 41 passes through the first mounting hole and is coaxially fixed with the second synchronizing wheel 223; the second An installation hole is provided on the second side plate 131 , one end of the second shaft 42 passes through the second installation hole, and the second shaft 42 can rotate relative to the second installation hole.
  • the wheel image capture assembly further includes bearings, the number of which is 2, which are a first bearing 51 and a second bearing 52, and the first bearing 51 is sleeved on the On the first rotating shaft 41 , the first bearing 51 is connected between the first side plate 121 and the first cover plate 122 , and the second bearing 52 is sleeved on the second rotating shaft 42 and the second bearing 52 is connected between the second side plate 131 and the second cover plate 132 .
  • the transmission mechanism may be other transmission mechanisms.
  • the transmission mechanism includes a first transmission wheel and a second transmission wheel, the first transmission wheel is connected to the motor, and the first transmission wheel is connected to the motor.
  • the transmission wheel is engaged with the second transmission wheel, the second transmission wheel is coaxially fixed to the camera module, the axis of the second transmission wheel is parallel to the horizontal axis, and the motor is used to drive the The first transmission wheel rotates, so that the first transmission wheel drives the second transmission wheel and the camera module to rotate together.
  • the transmission mechanism is the cooperation of the first transmission wheel and the second transmission wheel, one end of the first rotating shaft is coaxially fixed to the camera module, and the other end of the first rotating shaft is fixed to the camera module. the second transmission wheel.
  • the camera module 30 includes two cameras, the two cameras are installed on the base 10 in parallel, and the lenses of the two cameras face the same direction, that is, the fields of view of the two cameras The ranges are the same, and the two cameras capture images of the two wheels on the same side of the vehicle, respectively.
  • the camera module 30 includes only one camera, and the images of the two wheels on the same side of the vehicle are captured by one camera.
  • the embodiment of the present invention provides a wheel image acquisition assembly, which can drive the camera module to rotate through its own motor to adjust the pitch angle of the camera module, so as to adaptively adjust the field of view of the camera module according to the wheel position, which is more flexible , which is beneficial for wheel alignment in complex environments.
  • an embodiment of the present invention provides a wheel alignment device, comprising two of the above-mentioned wheel image acquisition assemblies 100 , a bracket body 200 and a processing device 300 , two of the wheel image acquisition components
  • the assemblies 100 are arranged at two ends of the bracket body 200 at a lateral interval.
  • the processing device 300 is electrically connected to the two wheel image capturing assemblies 100 respectively, and is used to control the camera modules 30 in the wheel image capturing assemblies 100 to rotate around the horizontal axis , to adjust the rotation angle of the camera module 30 in the wheel image capture assembly 100 .
  • the camera module 30 of the wheel image collection assembly 100 is used to collect image data of the wheel, and the camera modules 30 of the two wheel image collection assemblies 100 collect wheel image data on both sides of the vehicle respectively.
  • the processing device 300 further It is used to measure the wheel state of the vehicle according to the data collected by the camera modules 30 of the two wheel image collection assemblies 100 .
  • the processing device 300 is used for controlling the camera module 30 of the wheel image capturing assembly 100 to rotate around a horizontal axis, so as to adjust the rotation angle of the camera module 30 in the wheel image capturing assembly 100 .
  • the processing devices respectively control the respective controllers to drive the camera modules to rotate according to the respective rotation angles, At this time, the rotations of the two camera modules are asynchronous.
  • the processing device determines a final rotation angle according to the rotation of the two camera modules, and the final rotation angle can make the field of view of the camera modules of the two wheel image acquisition assemblies respectively cover the wheels on both sides of the vehicle.
  • the processing device simultaneously controls the two controllers to drive the camera modules in the two wheel image acquisition assemblies to rotate synchronously according to the final rotation angle.
  • the camera modules of the two wheel image acquisition assemblies upload the collected image data to the processing device, and the processing device determines the final rotation angle of the camera module according to the image data, and then the processing device determines the final rotation angle of the camera module.
  • the two controllers are controlled to drive the camera modules in the two wheel image acquisition assemblies to rotate synchronously according to the final rotation angle.
  • the processing device 300 is configured to control the camera modules 30 in the two wheel image capturing assemblies 100 to rotate around the horizontal axis synchronously, so as to adjust the cameras in the two wheel image capturing assemblies 100 The rotation angle of the module 30 .
  • the processing device 300 is electrically connected to the two wheel image capturing assemblies, such as wired connection or wireless connection.
  • the measuring the wheel state of the vehicle is specifically locating the wheel, including comprehensively measuring various positioning parameters of the wheel, such as camber angle, toe angle, etc.; Whether the current state of the wheel needs to be fully detected, that is, the above-mentioned positioning of the wheel is further performed.
  • the embodiment of the present application does not limit the algorithm or method for detecting whether the wheel needs to be positioned.
  • the stand body 200 in order to facilitate the movement of the stand body 200 to a position relative to the vehicle, the stand body 200 may be mounted on a movable device, for example, the stand body 200 may be mounted on a stand A roller is provided at the bottom of the stand, and the stand body can be moved to a position relative to the vehicle by manual control, or the stand body can be controlled to move to a position relative to the vehicle through software instructions.
  • a movable device for example, the stand body 200 may be mounted on a stand A roller is provided at the bottom of the stand, and the stand body can be moved to a position relative to the vehicle by manual control, or the stand body can be controlled to move to a position relative to the vehicle through software instructions.
  • the bracket body is positioned relative to the vehicle, which means that the bracket body is positioned at a specified or preset position relative to the vehicle, or the bracket body is positioned at any position within a specified range relative to the vehicle.
  • the bracket body carrying the wheel image capture assembly will have its position relative to the vehicle specified.
  • This regulation can be recorded in the user's operation manual. The user can accurately position the bracket body step by step through its recording steps, or the regulation can be executed by the processing device in the form of an executable program, and the processing device can output control instructions to drive the bracket body to automatically position to a designated or preset position.
  • the bracket body can be placed within a specified range relative to the vehicle. As long as the bracket body is within the specified range, its positioning error can be calibrated through the subsequent wheel state detection algorithm.
  • the wheel alignment device further includes a calibration unit, the calibration unit includes a calibration camera 410 and a calibration target 420, the calibration camera 410 is arranged in one of the two wheel image acquisition components, and the calibration target 420 is arranged in the The other of the two wheel image acquisition components, the field of view of the calibration camera 410 covers the calibration target 420, the calibration camera 410 is used to collect the image data of the calibration target 420, and the calibration camera 410 is connected to the calibration target 420.
  • the processing device 300 is electrically connected, and the processing device 300 is further configured to determine the relative positions of the two wheel image capturing assemblies 100 according to the image data collected by the calibration camera 410 .
  • the relative position of the calibration camera and the wheel image capture assembly installed thereon is known or obtainable, and the relative position of the calibration target and the wheel image capture assembly installed thereon is known or obtainable learned.
  • the number of the calibration targets 420 is 2, the two calibration targets 420 are arranged in parallel, and the two calibration targets 420 are both facing the same direction.
  • the calibration target 420 protrudes outward from the base body 10, so as to avoid some features on the wheel image acquisition assembly installed with the calibration target from obscuring all the images. Describe the calibration target.
  • the wheel alignment device may also include a prompter 500 .
  • the prompter 500 is electrically connected to the processing device 300 for prompting the user of the output result of the processing device 300, and the prompter may include at least one of a display screen, a sounder, and the like.
  • the processing device 300 may be disposed on the bracket main body 200, and the bracket main body 200 may also be provided with a mounting slot for accommodating the processing device 200 and the transmission line electrically connected to the wheel image capturing assembly 100. .
  • the processing device 300, the prompter 500 and the transmission line are all arranged in an external component, and the external component is attached to the outer surface of the bracket body. It can be understood that when the external component is attached to the bracket body, the processing device 300 can be wirelessly connected with the wheel image capturing assembly 100 .
  • the support body 200 can also be provided with a power supply device, which is used to supply power to the wheel image capture component, the processing device, the prompter, etc.
  • the power supply device includes a battery, and the battery can be a zinc-manganese battery, an alkali batteries, nickel-cadmium batteries and lithium batteries, or rechargeable batteries.
  • the power supply device is detachably mounted on the bracket body, or the power supply device is fixedly mounted on the bracket body.
  • the wheel image acquisition component can drive the camera module to rotate through its own motor, so as to adjust the field of view of the camera module independently, so that the wheel alignment device can control the two wheels through the processing device.
  • the camera module of the image acquisition assembly is rotated to adjust the field of view of the camera modules of the two-wheel image acquisition assembly, the operation is simple, the flexibility is high, and the wheel state of the vehicle can be better measured.
  • the wheel image capturing assembly 100 can be applied to a wheel alignment system.
  • the wheel alignment system includes two camera devices 600a, 600b, a calibration device 700, and a processing system 800.
  • the first camera device 600a in the two camera devices 600a, 600b includes the above-mentioned wheel image acquisition assembly 100.
  • the second camera device 600b in the camera devices 600a and 600b includes the above-mentioned wheel image acquisition assembly 100 and the calibration camera 420; the calibration device 700 is attached to the wheels on both sides of the vehicle, and the first camera device 600a is arranged on the On one side of the vehicle, the field of view of the wheel image capture component of the first camera device 600a faces the calibration device 700 on the vehicle side, and the wheel image capture component of the first camera device 600a is used to capture the The first calibration image of the calibration device 700 on one side of the vehicle, the second camera device 600b is disposed on the other side of the vehicle, and the field of view of the wheel image acquisition component in the second camera device 600b is toward the The calibration device 700 on the other side of the vehicle, the field of view of the calibration camera 420 in the second camera device 600b faces the first camera device 600a, and the second camera device 600b is used to capture the other side of the vehicle.
  • the second calibration image of the calibration device 700 on one side, and the calibration camera 420 is used to collect the third calibration image of the first camera device.
  • the processing system 800 is respectively connected with the two camera devices 600a, 600b, and the processing system 800 is configured to determine the relative relationship between the wheels on the vehicle side relative to the first camera device according to the first calibration image 600a and the second position of the wheel on the other side of the vehicle relative to the second camera device 600b is determined according to the second calibration image, and the first camera device is determined according to the third calibration image 600a determines the position parameter of the wheel of the vehicle with respect to the relative position of the second camera device 600b and according to the first position, the second position and the relative position.
  • the relative positions of the calibration camera and the second camera device are known or knowable, so that the processing system can determine the relative position of the first camera device 600a for the first camera device 600a according to the third calibration image.
  • the relative position of the second camera device 600b is known or knowable, so that the processing system can determine the relative position of the first camera device 600a for the first camera device 600a according to the third calibration image. The relative position of the second camera device 600b.
  • a calibration target can also be set on the first camera device 600a, and the relative positions of the first camera device and the second camera device can be determined by collecting an image of the calibration target by the calibration camera.
  • the calibration target is The relative position to the first camera device is also known or known.
  • the above-mentioned calibration device 700 is a target board, and target elements for positioning are correspondingly provided on the target board.
  • the target elements may be geometric shapes such as circles, triangles, or trapezoids.
  • the acquisition assembly 100 and the camera device 600 can know the position of the wheel through the target element.
  • the camera module is driven to rotate by its own motor, so as to adjust the field of view of the camera module independently, so that the field of view of the two sets of cameras covers the area where the wheels on both sides are located.

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Abstract

一种轮图像采集组件，包括：基座(10)、马达组件(20)以及相机模组(30)，其中，基座(10)的一端用于连接轮定位设备中的支架主体，基座(10)的另一端用于连接相机模组(30)；马达组件(20)，安装于基座(10)内，包括马达（21），马达（21）用于驱动相机模组(30)绕水平轴线转动，以调节相机模组(30)的俯仰角；相机模组(30)用于采集车轮的图像，以使车轮相对于车辆的位置被确定。轮图像采集组件可以通过自身的马达（21）驱动相机模组(30)转动以调整相机模组(30)的视野范围，更灵活，利于复杂环境中对轮定位。

Description

一种轮图像采集组件、轮定位设备及车轮定位系统
本申请要求于2020年8月13日提交中国专利局、申请号为202010813729.6、申请名称为“一种轮图像采集组件、轮定位设备及车轮定位系统”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
本申请涉及四轮定位技术领域，尤其涉及一种轮图像采集组件、轮定位设备及车轮定位系统。
背景技术
四轮定位仪主要用于检测车辆车轮之间的相互位置和角度，以确定车辆车轮定位参数，从而指导车辆维修技师调整车轮定位参数，以满足车辆设计要求，实现车辆行驶的平顺性、安全性，减少汽车油耗和轮胎磨损。
目前轮定位设备所采用的结构，大致为在横梁的两侧分别固定两组摄像头，以分别拍摄车辆两侧车轮所处区域的图像，通过横梁的转动来调节摄像头的视野范围，此时两组摄像头的转动方式均是同步的，在使两组摄像头的视野范围覆盖两侧的轮所处区域的操作比较复杂。
发明内容
本发明实施例旨在提供一种轮图像采集组件、轮定位设备及车轮定位系统，能使通过自身的马达组件来驱动其相机模组的转动，以单独调整其相机模组的视野范围。
本发明实施例解决其技术问题采用以下技术方案：提供一种轮图像采集组件，应用于车轮定位，包括：基座、马达组件以及相机模组：
其中，所述基座的一端用于连接轮定位设备中的支架主体，所述基座的另一端用于连接所述相机模组；
马达组件，安装于所述基座内，包括马达，所述马达用于驱动所述相机模组绕水平轴线转动，以调节所述相机模组的俯仰角；
所述相机模组用于采集车轮的图像，以使所述车轮相对于所述车辆的位置被确定。
在一些实施例中，所述马达组件还包括控制器和处理器；
所述处理器与所述相机模组连接，所述处理器用于根据所述相机模组采集的车轮的图像确定转动角度；
所述控制器连接所述处理器，所述控制器用于根据所述转动角度控制马达，以使所述相机模组转动。
在一些实施例中，所述马达组件还包括控制器；
所述车轮图像采集组件用于将所述相机模组采集到的车轮的图像上传至 所述轮定位设备中的处理装置，以确定转动角度；
所述控制器用于根据所述转动角度控制所述马达，以使所述相机模组转动。
在一些实施例中，所述马达组件还包括传动机构，所述马达通过所述传动机构连接于所述相机模组。
在一些实施例中，所述传动机构包括第一同步轮、同步带及第二同步轮；
所述第一同步轮与所述马达相连，所述第一同步轮与所述第二同步轮之间通过所述同步带相连，所述第二同步轮同轴固定于所述相机模组；
所述第二同步轮的轴线与所述水平轴线平行；
所述马达用于驱动所述第一同步轮转动，以使得所述第一同步轮通过所述同步带带动所述第二同步轮及所述相机模组一并转动。
在一些实施例中，所述传动机构包括第一传动轮和第二传动轮；
所述第一传动轮与所述马达相连，所述第一传动轮与所述第二传动轮相啮合，所述第二传动轮同轴固定于所述相机模组；
所述第二传动轮的轴线与所述水平轴线平行；
所述马达用于驱动所述第一传动轮转动，以使得所述第一传动轮带动所述第二传动轮及所述相机模组一并转动。
在一些实施例中，所述基座包括基座本体以及设置于所述基座本体两相对侧的两个支撑架；
所述基座本体连接于所述车轮定位系统中的支架，所述相机模组可转动地安装于所述两个支撑架之间；
所述马达组件安装于所述两个支撑架中的一个。
在一些实施例中，所述轮图像采集组件还包括第一转轴和第二转轴；
所述第一转轴的一端与所述相机模组固定，另一端固定于第二同步轮；
所述第二转轴的一端固定于所述相机模组，另一端转动连接于所述两个支撑架中未安装马达组件中的一个支撑架。
在一些实施例中，所述相机模组包括两个相机，所述两个相机分别采集车辆同一侧的两个轮的图像；或者
所述相机模组包括一个相机，所述一个相机采集车辆同一侧两个轮的图像。
本申请还提供一种轮定位设备，包括：
支架主体；
两个上述的轮图像采集组件，两个所述轮图像采集组件横向间隔设置于所述支架主体的两端，所述支架主体被置于相对于所述车辆的位置时，两个所述轮图像采集组件的相机模组的视野范围分别覆盖车辆两侧的轮所处区域；
处理装置，与两个所述轮图像采集组件电连接，用于控制两个所述轮图像采集组件中的相机模组绕水平轴线转动，以调节两个所述轮图像采集组件中的相机模组的转动角度。
在一些实施例中，所述处理装置用于控制两个所述轮图像采集组件中的相机模组同步绕水平轴线转动，以调节两个所述轮图像采集组件中的相机模组的转动角度。
在一些实施例中，所述轮图像采集组件的相机模组用于采集车轮的图像数据，所述处理装置还用于根据两个所述轮图像采集组件的相机模组所采集的数据，测量所述车辆的轮状态。
在一些实施例中，所述轮定位设备还包括标定单元，所述标定单元包括标定相机和标定目标，所述标定相机设置于所述两个轮图像采集组件中的一个，所述标定目标设置于所述两个轮图像采集组件中的另一个；
所述标定相机的视野范围覆盖所述标定目标，并与所述处理装置电连接，所述处理装置还用于根据所述标定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，所述处理装置设置于所述支架主体。
在一些实施例中，所述轮定位设备还包括提示器；
所述提示器与所述处理装置电连接，用于提示用户所述处理装置的输出结果。
本申请还提供一种车轮定位系统，应用于车辆的四轮定位，包括标定装置、两个相机装置及处理系统；
两个所述相机装置中的第一相机装置包括上述的轮图像采集组件；
两个所述相机装置中的第二相机装置包括上述的轮图像采集组件以及标定相机；
所述标定装置依附于所述车辆的两侧的车轮上，所述第一相机装置设置于所述车辆的一侧，所述第一相机装置的轮图像采集组件的视野范围朝向所述车辆一侧的标定装置，用于采集所述车辆一侧的标定装置的第一标定图像，所述第二相机装置设置于所述车辆的另一侧，所述第二相机装置中的轮图像采集组件的视野范围朝向所述车辆另一侧的标定装置，用于采集所述车辆另一侧的标定装置的第二标定图像，所述第二相机装置中的所述标定相机的视野范围朝向所述第一相机装置，所述标定相机用于采集所述第一相机装置的第三标定图像；
所述处理系统分别与所述两个相机装置连接，所述处理系统用于根据第一标定图像确定所述车辆一侧的车轮相对于所述第一相机装置的第一位置，根据所述第二标定图像确定车辆另一侧的车轮相对于所述第二相机装置的第二位置，根据所述第三标定图像确定所述第一相机装置相对于所述第二相机装置的相对位置，并根据所述第一位置、所述第二位置和所述相对位置，确定所述车辆的车轮的位置参数。
本发明的有益效果：本申请提供的一种轮图像采集组件、轮定位设备及车轮定位系统，通过自身的马达驱动相机模组转动，以单独调整相机模组的视野范围，在使两组摄像头的视野范围覆盖两侧的轮所处区域的操作简单。
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是本发明其中一实施例提供的一种车轮的图图像采集组件的结构示意图；
图2是图1所示的轮图像采集组件的爆炸图；
图3是图1所示的轮图像采集组件的横截面示意图；
图4是本发明另一实施例提供的轮定位设备的结构示意图；
图5是图4所示的轮定位设备的另一视角的结构示意图；
图6是图4所示的轮定位设备对车辆的轮进行测量的系统框图；
图7是本发明又一实施例提供的一种车轮定位系统的结构示意图。
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。
请一并参阅图1图2和图3，为本发明实施例提供的一种轮图像采集组件，包括基座10、马达组件20以及相机模组30，其中，所述基座10的一端用于连接轮定位设备中的支架主体，所述基座10的另一端用于连接所述相机模组30；所述马达组件20安装于所述基座10内，所述马达组件20包括马达21，所述马达21用于驱动所述相机模组30绕水平轴线转动，以调节所述相机模组30的俯仰角；所述相机模组30用于采集车轮的图像，以使所述车轮相对于所述车辆的位置被确定。
在本申请实施例中，所述水平轴线为平行于车辆所处地面的轴线，例如， 当轮图像采集组件置于车辆前方或后方时，所述水平轴线为平行于车头或车尾的轴线；当轮图像采集组件置于车辆的侧方时，水平轴线为平行于车身方向的轴线。
在一些实施例中，所述马达组件20包括处理器和控制器，所述处理器与所述相机模组30连接，所述处理器用于根据所述相机模组30采集的车轮的图像确定转动角度，所述控制器用于根据所述转动角度控制所述马达21转动，以驱动所述相机模组30绕水平轴线转动。
在一些其他实施例中，所述马达组件20中的处理器可以取消，例如，所述相机模组30将采集的车轮图像上传至轮定位设备中的处理装置，由轮定位设备中的处理装置对所述相机模组采集的车轮图像进行处理，从而确定转动角度，所述控制器再根据所述转动角度控制所述马达21转动，从而驱使所述相机模组30绕水平轴线转动。
在本申请实施例中，所述转动角度是指根据相机模组采集的图像确定相机模组所需转动的角度，从而使得相机模组的视野范围能完全覆盖车辆一侧的轮。
所述基座10包括基座本体11以及设置于所述基座本体11两相对侧的两个支撑架，两个支撑架分别为第一支撑架12和第二支撑架13，所述基座本体11连接于所述轮定位设备中的支架主体，所述相机模组30可转动地安装于所述第一支撑架12和第二支撑架13之间，所述马达组件20安装于所述两个支撑架中的一个，本申请以所述马达组件20安装于所述第一支撑架12内为例进行说明。
所述马达组件20还包括传动机构22，所述马达21通过所述传动机构连接所述相机模组30。具体地，所述传动机构22包括第一同步轮221、同步带222及第二同步轮223，所述第一同步轮221与所述马达21相连，所述第一同步轮221与所述第二同步轮223之间通过所述同步带222相连，所述第二同步轮223同轴固定于所述相机模组30，所述第二同步轮223的轴线与所述水平轴线平行，所述马达21用于驱动所述第一同步轮221转动，以使得所述第一同步轮221通过所述同步带222带动所述第二同步轮223及所述相机模组30一并转动。
在本实施例中，所述轮图像采集组件还包括转轴，所述转轴的数量为2，分别为第一转轴41和第二转轴42，所述第一转轴41的一端与所述相机模组30同轴固定，所述第一转轴41的另一端固定于所述第一同步轮；所述第二转轴42的一端与所述相机模组30同轴固定，所述第二转轴42的另一端转动连接于所述第二支撑架13。
可以理解，所述第一支撑架12和所述第二支撑架13上分别开设有供所述第一转轴和所述第二转轴穿过的第一安装孔和第二安装孔。
在本实施例中，所说第一支撑架12包括第一侧板121和第一盖板122，所述第一侧板121设置于所述基座本体11的一侧，所述基座本体11、所述第 一侧板121及所述第一盖板122形成收容空间，所述马达组件20收容于所述收容空间。所述第二支撑架13包括第二侧板131和第二盖板132，所述第二侧板131设置于所述基座本体11的另一侧，所述第二盖板132盖设于所述第二侧板131。
所述第一安装孔设于所述第一侧板121上，所述第一转轴41的一端穿设所述第一安装孔并与所述第二同步轮223同轴固定；所述第二安装孔设于所述第二侧板131上，所述第二转轴42的一端穿设所述第二安装孔，且所述第二转轴42可相对所述第二安装孔转动。
为方便所述相机模组30的转动，所述轮图像采集组件还包括轴承，所述轴承的数量为2，分别为第一轴承51和第二轴承52，所述第一轴承51套设于所述第一转轴41上，且所述第一轴承51连接于所述第一侧板121和所述第一盖板122之间，所述第二轴承52套设于所述第二转轴42上，且所述第二轴承52连接于所述第二侧板131与所述第二盖板132之间。
在一些其他实施例中，所述传动机构可以为其他传动机构，例如，所述传动机构包括第一传动轮和第二传动轮，所述第一传动轮与所述马达相连，所述第一传动轮与所述第二传动轮相啮合，所述第二传动轮同轴固定于所述相机模组，所述第二传动轮的轴线与所述水平轴线平行，所述马达用于驱动所述第一传动轮转动，以使得所述第一传动轮带动所述第二传动轮及所述相机模组一并转动。
可以理解，当所述传动机构为第一传动轮与第二传动轮的配合时，所述第一转轴的一端同轴固定于所述相机模组，所述第一转轴的另一端固定于所述第二传动轮。
在本申请实施例中，所述相机模组30包括两个相机，所述两个相机并行安装于所述基体10，且所述两个相机的镜头朝向相同，即所述两个相机的视野范围相同，所述两个相机分别采集车辆同一侧的两个轮的图像。
在其他一些实施例中，所述相机模组30只包括一个相机，通过一个相机采集车辆同一侧两个轮的图像。
本发明实施例提供的一种轮图像采集组件，能通过自身的马达驱动相机模组转动，以调节相机模组的俯仰角，以根据车轮位置适应性地调整相机模组的视野范围，更灵活，有利于在复杂的环境中对轮定位。
请一并参阅图4和图5，为本发明其中一实施例提供一种轮定位设备，包括两个上述的轮图像采集组件100、支架主体200和处理装置300，两个所述轮图像采集组件100横向间隔设置于所述支架主体200的两端，在所述支架主体200被置于相对于所述车辆的位置时，两个所述轮图像采集组件100的相机模组30的视野范围分别覆盖车辆两侧的轮所处区域，所述处理装置300分别与两个所述轮图像采集组件100电连接，用于控制所述轮图像采集组件100中的相机模组30绕水平轴线转动，以调节所述轮图像采集组件100中的相机模组30的转动角度。
所述轮图像采集组件100的相机模组30用于采集车轮的图像数据，两个所述轮图像采集组件100的相机模组30分别采集车辆两侧的车轮图像数据，所述处理装置300还用于根据两个所述轮图像采集组件100的相机模组30所采集的数据，测量所述车辆的轮状态。
所述处理装置300用于控制所述轮图像采集组件100的相机模组30绕水平轴线转动，以调节所述轮图像采集组件100中的相机模组30的转动角度。例如，两个轮图像采集组件100分别通过自身的处理器确定各自的相机模组的转动角度后，再由所述处理装置分别控制各自的控制器以根据各自的转动角度驱动相机模组转动，此时，两个相机模组的转动非同步。或所述处理装置根据两个相机模组的转动确定一个最终的转动角度，该最终的转动角度可以使两个所述轮图像采集组件的相机模组的视野范围分别覆盖车辆两侧的轮所处区域，所述处理装置同时控制两个控制器以根据最终的转动角度驱动两个所述轮图像采集组件中的相机模组同步转动。或两个所述轮图像采集组件的相机模组将所采集的图像数据上传至所述处理装置，所述处理装置根据图像数据，确定相机模组的最终的转动角度，再由所述处理装置同时控制两个控制器以根据最终的转动角度驱动两个所述轮图像采集组件中的相机模组同步转动。在本申请实施例中，所述处理装置300用于控制两个所述轮图像采集组件100中的相机模组30同步绕水平轴线转动，从而调节两个所述轮图像采集组件100中的相机模组30的转动角度。
所述处理装置300与两个所述轮图像采集组件电连接，如有线连接或无线连接。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。
在一些实施例中，为方便所述支架主体200移动至相对于所述车辆的位置，可将所述支架主体200安装于一个可活动的设备上，例如，将支架主体安装于一个立架上，在该立架的底部设置有滚轮，可通过手动控制将支架主体移动至相对于车辆的位置，或者可以通过软件指令控制支架主体移动至相对于车辆的位置。
本申请实施例中，支架主体被置于相对于车辆的位置是指支架主体被置于相对于车辆的指定或者预设位置，或者支架主体被置于相对于车辆的指定范围内的任意位置。为了能够使轮图像采集组件定位准确，进而不影响相机模组采集图像的精度，通常承载轮图像采集组件的支架主体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主体进行精准定位，或者该规定可以可执行程序的方式由处理装置执行，处理装置可以输出控制指令以驱动支架主体自动定位至指定或预设位置。或者，轮检测算法允许一定的误差，则可以将支架主体置于相对于车辆的指定范围内，支 架主体只要在该指定范围内，则可以通过后续的轮状态检测算法对其定位误差进行校准。
所述轮定位设备还包括标定单元，所述标定单元包括标定相机410和标定目标420，所述标定相机410设置于所述两个轮图像采集组件中的一个，所述标定目标420设置于所述两个轮图像采集组件中的另一个，所述标定相机410的视野范围覆盖所述标定目标420，所述标定相机410用于采集所述标定目标420的图像数据，所述标定相机410与所述处理装置300电连接，所述处理装置300还用于根据所述标定相机410所采集的图像数据确定所述两个轮图像采集组件100的相对位置。
在本申请实施例中，所述标定相机与其安装的轮图像采集组件的相对位置是已知的或可获知的，所述标定目标与其安装的轮图像采集组件的相对位置是已知的或可获知的。
在本申请实施例中，所述标定目标420的数量为2，两个所述标定目标420平行设置，且两个所述标定目标420均朝向同一方向。为方便所述标定相机410更容易采集所述标定目标420的图像，所述标定目标420自所述基体10向外凸显，以避免安装有标定目标的轮图像采集组件上的某些特征遮挡所述标定目标。
在一些实施例中，所述轮定位设备还可以包括提示器500。所述提示器500与所述处理装置300电连接，用于提示用户所述处理装置300的输出结果，所述提示器可包括显示屏、发声器等中的至少一种。
其中，所述处理装置300可以设置于所述支架主体200，所述支架主体200还可以设置有用于收容所述处理装置200及其与所述轮图像采集组件100电性连接的传输线的安装槽。或者处理装置300、提示器500及传输线皆布置在外置部件中，外置部件依附于支架主体的外表面上。可以理解，当外置部件依附于支架主体时，所述处理装置300可以与轮图像采集组件100无线连接。可以理解，所述支架主体200上还可以设置有供电装置，该供电装置用于为轮图像采集组件、处理装置和提示器等供电，该供电装置包括电池，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主体，或者供电装置固定安装于支架主体。
本发明实施例提供的一种轮定位设备，由于轮图像采集组件可通过自身的马达驱动相机模组转动，以单独调整相机模组的视野范围，使得轮定位设备可通过处理装置控制两个轮图像采集组件的相机模组转动，以调节两个轮图像采集组件的相机模组的视野范围，操作简单，灵活性高，可以更好地测量车辆的轮状态。
请参阅图7，所述轮图像采集组件100可应用于车轮定位系统。所述车轮定位系统包括两个相机装置600a，600b、标定装置700以及处理系统800，两个所述相机装置600a，600b中的第一相机装置600a包括上述的轮图像采集组件100，两个所述相机装置600a，600b中的第二相机装置600b包括上述的轮 图像采集组件100以及标定相机420；所述标定装置700依附于车辆的两侧的车轮上，所述第一相机装置600a设置于所述车辆的一侧，所述第一相机装置600a的轮图像采集组件的视野范围朝向所述车辆一侧的标定装置700，所述第一相机装置600a的轮图像采集组件用于采集所述车辆一侧的所述标定装置700的第一标定图像，所述第二相机装置600b设置于所述车辆的另一侧，所述第二相机装置600b中的轮图像采集组件的视野范围朝向所述车辆另一侧的标定装置700，所述第二相机装置600b中的所述标定相机420的视野范围朝向所述第一相机装置600a，所述第二相机装置600b用于采集所述车辆另一侧的所述标定装置700的第二标定图像，所述标定相机420用于采集所述第一相机装置的第三标定图像。其中，所述处理系统800分别与所述两个相机装置600a，600b连接，所述处理系统800用于根据所述第一标定图像确定所述车辆一侧的车轮相对于所述第一相机装置600a的第一位置，并且根据所述第二标定图像确定车辆另一侧的车轮相对于所述第二相机装置600b的第二位置，并且根据所述第三标定图像确定所述第一相机装置600a对于所述第二相机装置600b的相对位置，并根据所述第一位置、所述第二位置和所述相对位置，确定所述车辆的车轮的位置参数。
在本申请实施例中，所述标定相机与所述第二相机装置的相对位置时已知的或可获知的，从而所述处理系统可以根据第三标定图像确定所述第一相机装置600a对于所述第二相机装置600b的相对位置。
可以理解的是，也可以在所述第一相机装置600a上设置标定标靶，通过标定相机采集标定标靶的图像确定第一相机装置与第二相机装置的相对位置，此时，标定标靶与第一相机装置的相对位置也是可知的或可获知的。
应当理解的是，上述的标定装置700，其为标靶板，标靶板上对应设置有用于定位的标靶元件，标靶元件可以是圆形、三角形或者梯形等几何形状，所述轮图像采集组件100和所述相机装置600可通过所述标靶元件获知车轮的位置。
本申请实施例提供的一种车轮定位系统，通过自身的马达驱动相机模组转动，以单独调整相机模组的视野范围，在使两组摄像头的视野范围覆盖两侧的轮所处区域的操作简单。
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 (16)

  1. 一种轮图像采集组件，应用于车辆的车轮定位，其特征在于，包括基座、马达组件以及相机模组：
    其中，所述基座的一端用于连接轮定位设备中的支架主体，所述基座的另一端用于连接所述相机模组；
    马达组件，安装于所述基座内，包括马达，所述马达用于驱动所述相机模组绕水平轴线转动，以调节所述相机模组的俯仰角；
    所述相机模组用于采集车轮的图像，以使所述车轮相对于所述车辆的位置被确定。
  2. 根据权利要求1所述的轮图像采集组件，其特征在于，
    所述马达组件还包括控制器和处理器；
    所述处理器与所述相机模组连接，所述处理器用于根据所述相机模组采集的车轮的图像确定转动角度；
    所述控制器连接所述处理器，所述控制器用于根据所述转动角度控制马达，以使所述相机模组转动。
  3. 根据权利要求1所述的轮图像采集组件，其特征在于，
    所述马达组件还包括控制器；
    所述车轮图像采集组件用于将所述相机模组采集到的车轮的图像上传至所述轮定位设备中的处理装置，以确定转动角度；
    所述控制器用于根据所述转动角度控制所述马达，以使所述相机模组转动。
  4. 根据权利要求2或3所述的轮图像采集组件，其特征在于，
    所述马达组件还包括传动机构，所述马达通过所述传动机构连接于所述相机模组。
  5. 根据权利要求4所述的轮图像采集组件，其特征在于，
    所述传动机构包括第一同步轮、同步带及第二同步轮；
    所述第一同步轮与所述马达相连，所述第一同步轮与所述第二同步轮之间通过所述同步带相连，所述第二同步轮同轴固定于所述相机模组；
    所述第二同步轮的轴线与所述水平轴线平行；
    所述马达用于驱动所述第一同步轮转动，以使得所述第一同步轮通过所述同步带带动所述第二同步轮及所述相机模组一并转动。
  6. 根据权利要求4所述的轮图像采集组件，其特征在于，
    所述传动机构包括第一传动轮和第二传动轮；
    所述第一传动轮与所述马达相连，所述第一传动轮与所述第二传动轮相啮合，所述第二传动轮同轴固定于所述相机模组；
    所述第二传动轮的轴线与所述水平轴线平行；
    所述马达用于驱动所述第一传动轮转动，以使得所述第一传动轮带动所述第二传动轮及所述相机模组一并转动。
  7. 根据权利要求5所述的轮图像采集组件，其特征在于，
    所述基座包括基座本体以及设置于所述基座本体两相对侧的两个支撑架；
    所述基座本体连接于所述车轮定位系统中的支架，所述相机模组可转动地安装于所述两个支撑架之间；
    所述马达组件安装于所述两个支撑架中的一个。
  8. 根据权利要求7所述的轮图像采集组件，其特征在于，
    所述轮图像采集组件还包括第一转轴和第二转轴；
    所述第一转轴的一端与所述相机模组固定，另一端固定于第二同步轮；
    所述第二转轴的一端固定于所述相机模组，另一端转动连接于所述两个支撑架中未安装马达组件中的一个支撑架。
  9. 根据权利要求1所述的轮图像采集组件，其特征在于，
    所述相机模组包括两个相机，所述两个相机分别采集车辆同一侧的两个轮的图像；或者
    所述相机模组包括一个相机，所述一个相机采集车辆同一侧两个轮的图像。
  10. 一种轮定位设备，其特征在于，包括：
    支架主体；
    两个如权利要求1-9任一项所述的轮图像采集组件，两个所述轮图像采集组件横向间隔设置于所述支架主体的两端，所述支架主体被置于相对于所述车辆的位置时，两个所述轮图像采集组件的相机模组的视野范围分别覆盖车辆两侧的轮所处区域；
    处理装置，与两个所述轮图像采集组件电连接，用于控制所述轮图像采集组件中的相机模组绕水平轴线转动，以调节所述轮图像采集组件中的相机模组的转动角度。
  11. 根据权利要求10所述的轮定位设备，其特征在于，所述处理装置用于控制两个所述轮图像采集组件中的相机模组同步绕水平轴线转动，以调节两个所述轮图像采集组件中的相机模组的转动角度。
  12. 根据权利要求10所述的轮定位设备，其特征在于，
    所述轮图像采集组件的相机模组用于采集车轮的图像数据，所述处理装置还用于根据两个所述轮图像采集组件的相机模组所采集的数据，测量所述车辆的轮状态。
  13. 根据权利要求10所述的轮定位设备，其特征在于，
    所述轮定位设备还包括标定单元，所述标定单元包括标定相机和标定目标，所述标定相机设置于所述两个轮图像采集组件中的一个，所述标定目标设置于所述两个轮图像采集组件中的另一个；
    所述标定相机的视野范围覆盖所述标定目标，并与所述处理装置电连接，所述处理装置还用于根据所述标定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。
  14. 根据权利要求10所述的轮定位设备，其特征在于，
    所述处理装置设置于所述支架主体。
  15. 根据权利要求10所述的轮定位设备，其特征在于，所述轮定位设备还包括提示器；
    所述提示器与所述处理装置电连接，用于提示用户所述处理装置的输出结果。
  16. 一种车轮定位系统，应用于车辆的四轮定位，其特征在于，包括标定装置、两个相机装置及处理系统；
    两个所述相机装置中的第一相机装置包括如权利要求1-9任意一项所述的轮图像采集组件；
    两个所述相机装置中的第二相机装置包括如权利要求1-9任意一项所述的轮图像采集组件以及标定相机；
    所述标定装置依附于所述车辆的两侧的车轮上，所述第一相机装置设置于所述车辆的一侧，所述第一相机装置的轮图像采集组件的视野范围朝向所述车辆一侧的标定装置，用于采集所述车辆一侧的标定装置的第一标定图像，所述第二相机装置设置于所述车辆的另一侧，所述第二相机装置中的轮图像采集组件的视野范围朝向所述车辆另一侧的标定装置，用于采集所述车辆另一侧的标定装置的第二标定图像，所述第二相机装置中的所述标定相机的视野范围朝向所述第一相机装置，所述标定相机用于采集所述第一相机装置的第三标定图像；
    所述处理系统分别与所述两个相机装置连接，所述处理系统用于根据第一标定图像确定所述车辆一侧的车轮相对于所述第一相机装置的第一位置，根据 所述第二标定图像确定车辆另一侧的车轮相对于所述第二相机装置的第二位置，根据所述第三标定图像确定所述第一相机装置相对于所述第二相机装置的相对位置，并根据所述第一位置、所述第二位置和所述相对位置，确定所述车辆的车轮的位置参数。
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