CN100587445C - Vehicle wheel alignment check method and system - Google Patents
Vehicle wheel alignment check method and system Download PDFInfo
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- CN100587445C CN100587445C CN200610060798A CN200610060798A CN100587445C CN 100587445 C CN100587445 C CN 100587445C CN 200610060798 A CN200610060798 A CN 200610060798A CN 200610060798 A CN200610060798 A CN 200610060798A CN 100587445 C CN100587445 C CN 100587445C
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Abstract
The related position detection method for vehicle wheel comprises: fixing the target on the wheel, moving vehicle to obtain the target trace data by an image acquirement device; determining the real trace of the target by the image acquirement and process device and the wheel position data. This invention is simple, convenient and well accurate.
Description
Technical field
The present invention relates to the vehicle testing technique field, more particularly, relate to a kind of vehicle wheel alignment check method and system.
Background technology
The automotive wheel location refers to the relative position that automotive wheel is installed as the four-wheel location, represent with the relative angle and the location parameter that are present between automobile suspension system and each moving part, specifically comprise camber angle, toe-in angle, kingpin inclination, kingpin castor angle, wheel geometric center lines, thrust angle, wheel lateral excursion, wheel vertical misalignment etc.The automotive wheel detection and localization is used to detect the automotive wheel positioning states, guaranteeing correct wheel alignment, thereby guarantees the stability of automobile straight-line travelling and turns to lightly, reduces automobile tire and turn to machine members under steam.
Traditional vehicle wheel alignment check method, the benchmark that detects is the orientation angle on rim for automobile wheel plane, personal error when its weak point is the clamping utensil is installed is bigger, and the deformation of rim for automobile wheel simultaneously makes to detect and is subjected to the influence of clamping utensil bigger, thereby can produce very big error.Some orientator provides eccentricity compensation, so that above-mentioned part factor is revised, for example a kind of typical eccentricity compensation mode is to make automotive wheel just leave supporting surface automobile secondary to be measured lifting, keep the other side to visit the thick stick level, the wheel of eccentricity compensation is made in rotation, repeats to regulate spy thick stick level and start test at 90 degree or 180 degree multiple spots, again all the other wheels is repeated lifting after finishing, adjust and the maintenance level, the multiple spot position starts compensating test again.But these eccentricity compensation operations are all very loaded down with trivial details, very difficult.
And, most of orientator is that cross-reference is done wheel alignment between wheel in traditional automotive wheel detection and localization, that is to say that the location of single wheel depends on the position and the attitude of other wheels, therefore the variation that is the opposite wheel is influential to the orientation angle of this wheel, can't can have this error of bringing because of cross-reference with avoiding.
In addition, when utilizing traditional vehicle wheel alignment check method test section positional parameter such as camber angle, employing is based on the sensor of terrestrial gravitation, require very high to testing conditions, for example require the left and right sides difference in height of vehicle location platform not allow to surpass 0.5 millimeter, forward and backward height difference and be no more than 1 millimeter, diagonal line difference in height and be no more than 1 millimeter etc., this has also increased the difficulty that detects.
Summary of the invention
The technical problem to be solved in the present invention is, at the defective that detecting operation is loaded down with trivial details, error is big that prior art exists, provide a kind of simple to operate, detect vehicle wheel alignment check method and system accurately and conveniently.
The technical solution adopted for the present invention to solve the technical problems is: a kind of vehicle wheel alignment check method is provided, may further comprise the steps:
(1) target is fixed on the wheel to be measured;
(2) mobile automobile and absorb the view data of described target movement locus by image acquiring device;
(3) image acquisition and treating apparatus are determined the actual motion track of described target according to the view data of the described target movement locus that is absorbed;
(4) described image acquisition and treating apparatus are determined the actual motion track of described wheel according to the actual motion track of determined target, and calculate the positional parameter of wheel according to the actual motion track of this wheel;
(5) with the wheel alignment parameter output that calculates.
Described vehicle wheel alignment check method also comprises between described step (1) and described step (2):
(11) adjust light emitting devices and respective image deriving means, the light that this light emitting devices is sent can enter the respective image deriving means through described target target surface reflection.
Described mobile automobile moves automobile for the front and back straight line, calculate the wheel movement axis direction at image acquisition described in the described step (4) and treating apparatus by the actual motion track of determined wheel, and determine the positional parameter of wheel according to this wheel movement axis direction.
Described mobile automobile is done divertical motion for making wheel to be measured, decomposites the main pin of automobile direction at image acquisition and treating apparatus described in the described step (4) from the actual motion track of determined wheel, and determines the positional parameter of wheel according to this stub direction.
Described step (3) comprising:
(31) described image acquisition and treating apparatus be according to the geometric properties and the rule of described target target surface of storage in advance, gathers the view data of its target surface before and after the described target motion from the view data of the described target movement locus that absorbed;
(32) from the view data of the target target surface gathered, extract before and after the described target motion image coordinate of specific characteristic point on its target surface;
(33) according to the image coordinate of the described unique point of setting up in advance and the projective rejection of its physical coordinates on described target target surface, by the image coordinate of specific characteristic point on its target surface before and after the described target motion of being extracted, determine the physical coordinates of the described unique point in described target motion front and back;
(34) calculate the actual motion track of target according to the physical coordinates of described unique point before and after the motion of described target.
Describedly set up the image coordinate of described unique point in advance and the projective rejection of its physical coordinates on described target target surface comprises the steps:
A. set up coordinate system at described target target surface, utilize homogeneous coordinates, the physical coordinates of described unique point is recorded as M (X; Y; 1), image coordinate is recorded as m (x; Y; 1);
B. between the image coordinate of described unique point and physical coordinates, set up projective rejection:
Sm=HM wherein, s is a scalar, H is a transformation matrix;
C. select penalty function, right according to the image coordinate of the described unique point that collects with the physical coordinates of the described unique point that measures, the optimum solution of computational transformation matrix H;
D. by the optimum solution of the transformation matrix H that obtains, set up the image coordinate of described unique point and the projective rejection of physical coordinates.
The present invention also provides a kind of automotive wheel position detecting system, comprise target, image acquiring device, image acquisition and treating apparatus and the output unit that can be fixed on the wheel to be measured, the view data of described target movement locus when wherein image acquiring device absorbs described wheel movement, and this view data imported described image acquisition and treating apparatus; This image acquisition and treating apparatus are according to the view data of the described target movement locus that is received, determine the actual motion track of described target, and determine the actual motion track of this wheel by the actual motion track of determined target, calculating the positional parameter of this wheel, and determined positional parameter is exported through output unit.
Described image acquisition and treating apparatus comprise power supply, image input interface, bottom acquisition control module, image processing module, unique point identification extraction module, visual imaging analysis module, axle computing module and location Calculation module, wherein said image input interface receives the view data of its described target movement locus that absorbs from described image acquiring device, and the view data of this target movement locus is sent to described bottom acquisition control module; This bottom acquisition control module is according to its target geometric properties and rule of storing in advance, from the view data of the described target movement locus that received, gather the view data of its target surface before and after the described target motion, and the view data of this target target surface is sent to described image processing module, after this image processing module filtering, therefrom extract the image coordinate of specific characteristic point on its target surface of described target motion front and back by described unique point identification extraction module; Described visual imaging analysis module is determined the physical coordinates of this unique point of described target motion front and back according to image coordinate and its projective rejection between the physical coordinates on the described target target surface of the described unique point of setting up in advance by the image coordinate of the described unique point of being extracted; Described axle computing module calculates the actual motion track of described target according to this physical coordinates, and determines the actual motion track of this wheel; Described location Calculation module is calculated its positional parameter according to the actual motion track of determined wheel.
Described location Calculation module is calculated the wheel movement axis direction by the actual motion track of described wheel, and determines the positional parameter of wheel according to this wheel movement axis direction.
Described location Calculation module decomposites the main pin of automobile direction from the actual motion track of described wheel, and determines the positional parameter of wheel according to this stub direction.
Described automotive wheel position detecting system also comprises light emitting devices, and the light that this light emitting devices sends enters the respective image deriving means through described target target surface reflection; Described image processing module also is used for the view data of described target target surface is analyzed, and analysis result imported described bottom acquisition control module, by this bottom acquisition control module according to described analysis result respectively through a smooth countdown circuit and described light emitting devices of described image Input Interface Control and described image acquiring device.
Described automotive wheel position detecting system also comprises light emitting devices, and the light that this light emitting devices sends enters the respective image deriving means through described target target surface reflection; Described light emitting devices is the infrared light emitter, and described image acquiring device should be provided with infrared filter by light emitting devices mutually.
Described target is scheduled on the described wheel to be measured by the wheel clamping that can adjust the pinch spacing.
Vehicle wheel alignment check method of the present invention and system, during enforcement, target is fixedly installed on the wheel to be measured, target can be synchronized with the movement with wheel to be measured, during detection with the axis of movement of wheel as the benchmark of measuring, determine the actual motion track of wheel by the actual motion track that detects target, and then determine the positional parameter of wheel by the actual motion track of this wheel.When utilizing the present invention to carry out wheel alignment to detect, need not between wheel, to carry out the cross-reference location, and detect and do not rely on terrestrial gravitation, locating platform is not had too high requirement, simple, convenient and accuracy is high.
The invention will be further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is the arrangement synoptic diagram of automotive wheel position detecting system of the present invention.
Fig. 2 is the structural representation of target of the present invention.
Fig. 3 is the structural representation of image acquisition of the present invention and treating apparatus.
Fig. 4 is the imaging schematic diagram of target target surface of the present invention.
Fig. 5 is location Calculation module of the present invention is calculated wheel alignment parameter according to the wheel movement axis direction a schematic diagram.
Fig. 6 is the schematic diagram of location Calculation module of the present invention according to main pin of automobile direction calculating wheel alignment parameter.
Fig. 7 is the process flow diagram of vehicle wheel alignment check method of the present invention.
Embodiment
As shown in Figure 1, automotive wheel position detecting system of the present invention comprises target 10, light emitting devices (figure does not show), image acquiring device 20, the image acquisition that is connected with image acquiring device 20 and the treating apparatus 30 and the output unit 40 that can be fixed on the automotive wheel.
As shown in Figure 2, target 10 has target surface 12, is used to receive and the light that sends of reflected light emitter.This target surface 12 can be Any shape, and its center is provided with mark (certainly, this mark also can be located at other position of target surface); Also specify on it a plurality of unique points are arranged.Target 10 also can be provided with specular layer on target surface 12, to guarantee intensity of reflected light.This target 10 can be fixed on the automotive wheel by wheel folder 11 in the present embodiment, and this is taken turns folder 11 and has a plurality of pinches 13, and the quantity of pinch 13 is not limit, as long as target 10 firmly can be held on target can be synchronized with the movement with wheel.Adopt wheel folder 11 in the present embodiment with four pinches 13.And the distance between wheel folder 11 pinches 13 can be adjusted, and target 10 can be fixed on the wheel of different sizes, in the wheel alignment detection for use in dissimilar automobiles.Certainly, also can this target 10 be fixed on the automotive wheel by other modes.
Light emitting devices is used to emit beam, and shines on the target surface 12 of each target 10, enters image acquiring device 20 through target surface 12 reflections.This light emitting devices can adopt various monochromatic light emitters to realize, this light emitting devices is the infrared light emitter in the present embodiment, this infrared light emitter can comprise one or more infrared light emission lamps, can shine the target surface 12 of each target 10 as long as guarantee its Infrared of sending.
Image acquiring device 20 is used to absorb the image of target 10 and is converted into view data.This image acquiring device 20 can pass through camera, digital camera or realizations such as analogue camera and analog-to-digital conversion module, and its number is not limit, as long as guarantee accurately to absorb each target 10.But this image acquiring device 20 also corresponding light emitter is provided with filter 21, and the veiling glare when writing down target 10 images to remove disturbs, and the corresponding infrared light emitter of this filter is infrared filter in the present embodiment.
Image acquisition and treating apparatus 30, be used to receive the view data that image acquiring device 20 transmits, therefrom gather the view data of target 10 target surfaces 12, and the actual motion track of described target when determining motor racing, and then the actual motion track of definite wheel and analyze thus and obtain the automotive wheel positional parameter according to these view data.As shown in Figure 3, this image acquisition and treating apparatus 30 comprise power supply, image input interface, light countdown circuit, bottom acquisition control module, image processing module, unique point identification extraction module, visual imaging analysis module, axle computing module and location Calculation module.
Wherein power supply is used for to light emitting devices, image acquiring device 20 and this image acquisition and treating apparatus 30 power supplies (certainly, light emitting devices and image acquiring device 20 also can be self-powered).The image input interface is connected with image acquiring device 20 through connecting line, obtains the view data that it absorbs from this image acquiring device 20, and this view data is sent to the bottom acquisition control module.This bottom acquisition control module is according to the geometric properties and the rule of its target of storing in advance 10 target surfaces 12, from the view data that is received, gather the view data of target 10 target surfaces 12 imagings, and the view data of the target target surface that collects is sent to image processing module, through the image processing module smothing filtering, send into unique point identification extraction module.
Simultaneously, this image processing module also carries out statistical study to filtered view data, and analysis result sent into the bottom acquisition control module, by light countdown circuit and image input interface light emitting devices and image acquiring device 20 are controlled respectively according to these analysis of image data result by the bottom acquisition control module, for example adjust exposure intensity, time, shooting resolution, focal length etc., to obtain target image clearly.
Unique point identification extraction module receives after the view data of the target target surface of filtering, gather according to the geometric properties of predefined target 10 target surfaces 12 and the imaging of rule identification target surface 12, and the data in this set are carried out analyzing and processing, therefrom extract the imaging geometry parameter of preassigned each unique point on corresponding target 10 target surfaces 12, be referred to as image coordinate again, i.e. the coordinate of unique point imaging point on image acquiring device 20 imaging surfaces on the target surface 12.Afterwards, the image coordinate of this unique point is sent into the visual imaging analysis module by unique point identification extraction module.
In the visual imaging analysis module, set up the imaging geometry parameter of specific characteristic point on target 10 target surfaces 12 and the projective rejection of space three-dimensional geometric parameter in advance, wherein the space three-dimensional geometric parameter refers to the physical coordinates of unique point on the target target surface.As shown in Figure 4, specific characteristic point A, the B on target 10 target surfaces 12, C, D imaging point on the imaging surface of image acquiring device 20 are respectively a, b, c, d.Set up coordinate system with the center of being labeled as on target 10 target surfaces 12, utilize homogeneous coordinates to be recorded as M (X the physical coordinates (be coordinate that A, B, C, D order) of unique point on target 10 target surfaces 12; Y; 1), the image coordinate on imaging surface (being the coordinate of picture point a, b, c, d) is recorded as m (x; Y; 1),, have according to the projective geometry theorem:
s·m＝H·M (1)
Wherein, s is a scalar, and H is a transformation matrix.
When setting up projective rejection, unique point directly measures in the physical coordinates of target 10 target surfaces 12, can have error unavoidably, thus need employing right than the physical coordinates and the image coordinate of multi-characteristic points, and select suitable penalty function, in the hope of the optimum solution of H.The respective coordinates that for example provides the individual unique point of n (n 〉=4) (as A, B, C, D point) is to (M
i, m
i) (i=1 ..., n), can obtain the equation more than 8, according to these equation solutions H, make
∑|s·m
i-H·M
i|
2＝Min.(2)
This method of finding the solution H has multiple, and present embodiment adopts following method:
Note z=[H
11, H
12, H
13, H
21, H
22, H
23, H
31, H
32, H
33]
T(H wherein
JkElement for the capable k row of H matrix j), equation (1) is rewritten as
L
i·z＝0(3)
L wherein
i=[M
i T0
T-x
iM
i T0
TM
T-y
iM
i T], 0
TBe three-dimensional row vector.x
i, y
iBe horizontal stroke, the ordinate of the i image coordinate of ordering, M
iBe the physical coordinates of i point on target 10 target surfaces 12.
To obtaining n the equation suc as formula (3), form a system of equations from the respective coordinates of the individual unique point of n (n 〉=4), this system of equations can be write:
L
2nz9·z＝0。
According to matrix theory, L
2nz9 TL
2nz9The pairing proper vector of minimal eigenvalue be exactly the H that separates of formula (2), so set up the image coordinate of unique point and the relation of physical coordinates, promptly set up the projective rejection of unique point and its picture point on imaging surface on target 10 target surfaces 12.
The visual imaging analysis module is after the imaging geometry parameter that receives unique point is image coordinate, according to the image coordinate of the unique point of its foundation and the projective rejection of physical coordinates, after H made quadrature and decompose, can obtain unique point was physical coordinates at the space three-dimensional geometric parameter of target 10 target surfaces 12.
Its physical coordinates of going up unique point can be calculated the actual motion track of target by the axle computing module successively by after the calculating of visual imaging analysis module and sending into a computing module before and after the target motion.The space three-dimensional geometric parameter of forward and backward unique point is respectively M if target moves
1, M
2, then according to the rigid motion rule, the actual motion track of target is:
M
2＝Q·M
1+t (4)
Wherein Q is an orthogonal matrix, and t is a translation vector.
The physical coordinates that provides the individual unique point motion of n (n 〉=4) front and back is to (M
1i, M
2i) (i=1 ..., n), can find the solution the Q and the t that satisfy formula (4).But owing to there is inevitably disturbing factor such as picture noise, finds the solution the Q that satisfies formula (4) and t and be converted into and select suitable penalty function to ask the optimum solution of Q, t, at this moment, it is right than the physical coordinates of multi-characteristic points to adopt as much as possible.At different penalty functions, will constitute the different computing modules of finding the solution, for example:
Max{|M
2i-Q·M
1i-t
i|}＝Min. S.T.?Q*Q
T＝1(5)
∑|M
2i-Q·M
1i-t
i|＝Min. S.T.?Q*Q
T＝1(6)
Max{|M
2i-Q·M
1i-t
i|
2}＝Min.?S.T.?Q*Q
T＝1(7)
Max{|M
2i-Q·M
1i-t
i|
F}＝Min.?S.T.?Q*Q
T＝1(8)
∑|M
2i-Q·M
1i-t
i|
F＝Min. S.T.Q*Q
T＝1(9)。
Be that example describes to find the solution formula (9) below:
Translation vector t=∑ (M in the formula (9)
2i)/n-∑ (M
1i)/n;
Note E=[M
1-∑ (M
1i)/n], F=[M
2-∑ (M
2i)/n], to matrix EF
TDo svd and obtain u, w, v, promptly satisfy uwv
T=EF
TSo, orthogonal matrix
Q＝v·diag(1，1，det(v·u
T))·u
T
Wherein det (R) is for asking the determinant of matrix R, diag (r) diagonal matrix of vectorial r as the diagonal of a matrix element of serving as reasons.
Thus, the axle computing module calculates the actual motion track of target according to the physical coordinates of unique point on the target surface before and after the target motion.Because of target is fixedly installed on the wheel to be measured, so the actual motion track of target is the actual motion track of wheel, the kinematic parameter of the target that records is the kinematic parameter of wheel to be measured.Therefore, can obtain the actual motion track of wheel and then definite wheel movement axis direction (being target axis of movement direction) according to the actual motion track of target.
The capable k row of the j of the orthogonal matrix Q that note obtains thus (j, k=1 ..., 3) element be Q
Jk, get nn
1=Q
32-Q
23, nn
2=Q
13-Q
31, nn
3=Q
21-Q
12
So the direction vector of target axis of movement is:
N=[nn
1Nn
2Nn
3]/norm ([nn
1Nn
2Nn
3]), wherein norm (r) is the mould of vectorial r.
The axis computing module is sent the actual motion track of its wheel that calculates into the location Calculation module, the location Calculation module obtains the wheel movement axis direction or decomposites the main pin of automobile direction from this actual motion track, can determine each positional parameter of wheel according to this wheel movement axis direction, stub direction.Wheel movement axis direction n=(n1 when for example, caravan is taken turns the front and back rectilinear motion; N2; Stub direction e=(e1 when n3), wheel steering moves; E2; E3), with reference to Fig. 5 and shown in Figure 6, then:
Camber angle θ
Camber=cos
-1(n2) * 180/pi;
Toe-in angle θ
Toe=tan
-1(n3/n1) * 180/pi;
Kingpin castor angle θ
Caster=tan
-1(e3/e2) * 180/pi;
Kingpin inclination θ
SAI=tan
-1(e1/e2) * 180/pi; Wherein pi is a circular constant.
According to definition of industry, then can obtain:
Thrust angle=(off hind wheel toe-in angle-left rear wheel toe-in angle) ÷ 2;
Total toe-in=(the off-front wheel toe-in angle+the near front wheel toe-in angle) of front-wheel;
Total toe-in=(the off hind wheel toe-in angle+left rear wheel toe-in angle) of trailing wheel;
Left side wrapping angle=(the near front wheel flare+the near front wheel Kingpin inclination);
Right wrapping angle=(off-front wheel flare+off-front wheel Kingpin inclination).
The space three-dimensional geometric coordinate of the parameter of comprehensive a plurality of wheels and target also can obtain parameters such as vehicle geometric center lines, wheel lateral excursion, wheel vertical misalignment.
The location Calculation module is sent the positional parameter that obtains into output unit 40, exports demonstration in real time, thereby realizes the automotive wheel location.This output unit 40 can be display device, as has the computing machine of man-machine interface, and standard database and positional parameter that the operator is selected are presented on the screen, also can be printing equipment, and directly the positional parameter real time print of determining comes out.
This image acquisition and treating apparatus 30 also are provided with database, with the geometric properties of the target target surface of storing different shape in advance and localization criteria of rule and positional parameter etc.In addition, this image acquisition and treating apparatus 30 also can be provided with other interface module, to carry out data transmission with other external unit.
This image acquisition and treating apparatus 30 can be realized also available computer realization with image acquisition and processing capacity with the equipment that has image acquisition and processing capacity merely.
Automotive wheel position detecting system of the present invention also can be provided with location runway 50 when implementing, move so that automotive wheel is limited on the runway, thereby avoid taking place the phenomenon generation that target 10 leaves the picked-up scope of image acquiring device 20.This location runway 50 can be made of two parallel-plates, also can be directly spacing by graticule.
When utilizing vehicle wheel alignment check method of the present invention that automotive wheel is detected, can select the target shape in advance to determine to calculate benchmark.Selecting target surface 12 as shown in Figure 2 in the present embodiment is octagonal target 10.During detection, as shown in Figure 7, at first at step S400, automobile is sailed on the runway 50 of location, utilize wheel folder 11 with target 10 fixed clamp on rim for automobile wheel to be measured, make target 10 to be synchronized with the movement, detect simultaneously at four wheels in the present embodiment, so a target is installed respectively on four wheels with wheel to be measured.
Secondly at step S401, adjust the position of light emitting devices and respective image deriving means, the light that light emitting devices is sent can enter the respective image deriving means through the reflection of target target surface.Present embodiment adopts four groups of light emitting devices and image acquiring device 20, and every group jointly towards a target, and the light that makes each light emitting devices send enters a corresponding image acquiring device through the target reflection that it shone.These four groups of light emitting devices and image acquiring device 20 can be positioned at the both sides of vehicle front in twos, also can be located at automobile both sides or rear, can aim at a target 10 as long as guarantee every group of light emitting devices and image acquiring device 20.For easy to detect and accurate, adopt four groups of light emitting devices and image acquiring device that four wheels are detected simultaneously in the present embodiment, during enforcement, also can adopt one group or two groups of light emitting devices and image acquiring device successively four wheels to be detected.
Then at step S402, start light emitting devices, image acquiring device 20 and image acquisition and treating apparatus 30, the front and back straight line moves automobile, each image acquiring device 20 constantly absorbs the view data of each target 10 movement locus simultaneously, and the view data of picked-up is sent to image acquisition and treating apparatus 30.The degree of accuracy that moves forward and backward the distance of automobile and detection is relevant: distance is long more, and it is high more to detect degree of accuracy.Generally just can satisfy the accuracy requirement greater than 10cm.
At step S403, image acquisition and treating apparatus 30 are according to the geometric properties and the rule of described target 10 target surfaces of storing in advance 12, from the view data that is received, gather the view data of target 10 its target surfaces 12 of motion front and back, from the view data of these target 10 target surfaces 12, extract the image coordinate of preassigned unique point on target 10 its target surfaces 12 of motion front and back, (the target shape of Xuan Zeing is different in advance according to the projective rejection of the image coordinate of unique point on target 10 target surfaces of being set up 12 and physical coordinates, this projective rejection also can be different), obtain the physical coordinates of unique point on the target 10 motion front and back target surfaces 12, and then analyze the actual motion track that draws target 10.
Because of target 10 is to be fixedly installed on the wheel, so the actual motion track of target 10 is the actual motion track of wheel, can determines the wheel movement axis direction, and then calculate the toe-in angle and the camber angle of wheel according to the actual motion track of wheel.So,,, determine the toe-in angle and the camber angle of wheel by the wheel movement axis direction according to the actual motion track calculating wheel movement axis direction of wheel at step S404.
Measure other parameter as need, for example kingpin castor angle, kingpin inclination etc., then behind the position that arranges each device, at step S405, vehicle steering is turned an angle,, make automotive wheel do divertical motion as 5～45 degree (guaranteeing that image acquiring device 20 can obtain the clear and accurate image and get final product), each image acquiring device 20 still constantly absorbs the view data of each target 10 movement locus, and the view data of picked-up is sent to image acquisition and treating apparatus 30.
Then at step S406, image acquisition and treating apparatus 30 are according to the geometric properties and the rule of described target 10 target surfaces of storing in advance 12, from the view data that is received, gather the view data of target 10 its target surfaces 12 of motion front and back, from the view data of these target 10 target surfaces 12, extract the image coordinate of preassigned unique point on target 10 its target surfaces 12 of motion front and back, according to the image coordinate of unique point and the projective rejection of physical coordinates on target 10 target surfaces of being set up 12, obtain the physical coordinates of unique point on target 10 its target surfaces 12 of motion front and back, and then analyze the actual motion track that draws target 10, determine the axis of movement direction of target 10.
Because of target 10 is to be fixedly installed on the wheel,, thus, can decomposite the main pin of automobile direction according to the actual motion track of wheel so the actual motion track of target 10 is the actual motion track of wheel.So, at step S407, decomposite the main pin of automobile direction from the actual motion track of wheel, determine kingpin castor angle, kingpin inclination of wheel etc. according to the main pin of automobile direction.
Above-mentioned steps S402-S404 and step S405-S407 can carry out separately behind the position that arranges each device, also can carry out and carry out order successively and not limit.Can calculate other uncertain wheel alignment parameter according to step S404 and the definite wheel alignment parameter of step S407.
At last,, determined these positional parameters are sent to output unit output, realize the automotive wheel detection and localization at step S408.
The foregoing description of automotive wheel position detecting system of the present invention and method enters respective image deriving means to target target surface emission light, target target surface with this light reflection by light emitting devices, guarantees that image acquiring device obtains the accuracy of view data.In addition, also can not establish light emitting devices, and directly absorb the target movement locus by the higher image acquiring device of precision, perhaps by the target automatic light source, image acquiring device directly absorbs the target movement locus.
Vehicle wheel alignment check method of the present invention and system, during enforcement, target is fixedly installed on the wheel to be measured, target can be synchronized with the movement with wheel to be measured, during detection with the axis of movement of wheel as the benchmark of measuring, determine the actual motion track of wheel by the actual motion track that detects target, and then determine the positional parameter of wheel by the actual motion track of this wheel.When utilizing the present invention to carry out wheel alignment to detect, need not between wheel, to carry out the cross-reference location, and detect and do not rely on terrestrial gravitation, locating platform is not had too high requirement, simple, convenient and accuracy is high.
Claims (13)
1, a kind of vehicle wheel alignment check method is characterized in that, may further comprise the steps:
(1) target is fixed on the wheel to be measured;
(2) mobile automobile and absorb the view data of described target movement locus by image acquiring device;
(3) image acquisition and treating apparatus are determined the actual motion track of described target according to the view data of the described target movement locus that is absorbed;
(4) described image acquisition and treating apparatus are determined the actual motion track of described wheel according to the actual motion track of determined target, and calculate the positional parameter of wheel according to the actual motion track of this wheel;
(5) with the wheel alignment parameter output that calculates.
2, vehicle wheel alignment check method according to claim 1 is characterized in that, also comprises between described step (1) and described step (2):
(11) adjust light emitting devices and respective image deriving means, the light that this light emitting devices is sent can enter the respective image deriving means through described target target surface reflection.
3, vehicle wheel alignment check method according to claim 1, it is characterized in that, described mobile automobile moves automobile for the front and back straight line, calculate the wheel movement axis direction at image acquisition described in the described step (4) and treating apparatus by the actual motion track of determined wheel, and determine the positional parameter of wheel according to this wheel movement axis direction.
4, according to claim 1 or 3 described vehicle wheel alignment check methods, it is characterized in that, described mobile automobile is done divertical motion for making wheel to be measured, from the actual motion track of determined wheel, decomposite the main pin of automobile direction at image acquisition and treating apparatus described in the described step (4), and determine the positional parameter of wheel according to this stub direction.
According to the described vehicle wheel alignment check method of one of claim 1-3, it is characterized in that 5, described step (3) comprising:
(31) described image acquisition and treating apparatus be according to the geometric properties and the rule of described target target surface of storage in advance, gathers the view data of its target surface before and after the described target motion from the view data of the described target movement locus that absorbed;
(32) from the view data of the target target surface gathered, extract before and after the described target motion image coordinate of specific characteristic point on its target surface;
(33) according to the image coordinate of the described unique point of setting up in advance and the projective rejection of its physical coordinates on described target target surface, by the image coordinate of specific characteristic point on its target surface before and after the described target motion of being extracted, determine the physical coordinates of the described unique point in described target motion front and back;
(34) calculate the actual motion track of target according to the physical coordinates of described unique point before and after the motion of described target.
6, vehicle wheel alignment check method according to claim 5 is characterized in that, describedly sets up the image coordinate of described unique point in advance and the projective rejection of its physical coordinates on described target target surface comprises the steps:
A. set up coordinate system at described target target surface, utilize homogeneous coordinates, the physical coordinates of described unique point is recorded as M (X; Y; 1), image coordinate is recorded as m (x; Y; 1);
B. between the image coordinate of described unique point and physical coordinates, set up projective rejection:
Sm=HM wherein, s is a scalar, H is a transformation matrix;
C. select penalty function, right according to the image coordinate of the described unique point that collects with the physical coordinates of the described unique point that measures, the optimum solution of computational transformation matrix H;
D. by the optimum solution of the transformation matrix H that obtains, set up the image coordinate of described unique point and the projective rejection of physical coordinates.
7, a kind of automotive wheel position detecting system, it is characterized in that, comprise target, image acquiring device, image acquisition and treating apparatus and the output unit that can be fixed on the wheel to be measured, the view data of described target movement locus when wherein image acquiring device absorbs described wheel movement, and this view data imported described image acquisition and treating apparatus; This image acquisition and treating apparatus are according to the view data of the described target movement locus that is received, determine the actual motion track of described target, and determine the actual motion track of this wheel by the actual motion track of determined target, calculating the positional parameter of this wheel, and determined positional parameter is exported through output unit.
8, automotive wheel position detecting system according to claim 7, it is characterized in that, described image acquisition and treating apparatus comprise power supply, image input interface, bottom acquisition control module, image processing module, unique point identification extraction module, visual imaging analysis module, axle computing module and location Calculation module, wherein said image input interface receives the view data of its described target movement locus that absorbs from described image acquiring device, and the view data of this target movement locus is sent to described bottom acquisition control module; This bottom acquisition control module is according to its target geometric properties and rule of storing in advance, from the view data of the described target movement locus that received, gather the view data of its target surface before and after the described target motion, and the view data of this target target surface is sent to described image processing module, after this image processing module filtering, therefrom extract the image coordinate of specific characteristic point on its target surface of described target motion front and back by described unique point identification extraction module; Described visual imaging analysis module is determined the physical coordinates of this unique point of described target motion front and back according to image coordinate and its projective rejection between the physical coordinates on the described target target surface of the described unique point of setting up in advance by the image coordinate of the described unique point of being extracted; Described axle computing module calculates the actual motion track of described target according to this physical coordinates, and determines the actual motion track of this wheel; Described location Calculation module is calculated its positional parameter according to the actual motion track of determined wheel.
9, automotive wheel position detecting system according to claim 8 is characterized in that, described location Calculation module is calculated the wheel movement axis direction by the actual motion track of described wheel, and determines the positional parameter of wheel according to this wheel movement axis direction.
10, according to Claim 8 or 9 described automotive wheel position detecting systems, it is characterized in that described location Calculation module decomposites the main pin of automobile direction from the actual motion track of described wheel, and determine the positional parameter of wheel according to this stub direction.
11, according to Claim 8 or 9 described automotive wheel position detecting systems, it is characterized in that, also comprise light emitting devices, the light that this light emitting devices sends enters the respective image deriving means through described target target surface reflection; Described image processing module also is used for the view data of described target target surface is analyzed, and analysis result imported described bottom acquisition control module, by this bottom acquisition control module according to described analysis result respectively through a smooth countdown circuit and described light emitting devices of described image Input Interface Control and described image acquiring device.
12, according to claim 7,8 or 9 described automotive wheel position detecting systems, it is characterized in that, also comprise light emitting devices, the light that this light emitting devices sends enters the respective image deriving means through described target target surface reflection; Described light emitting devices is the infrared light emitter, and described image acquiring device should be provided with infrared filter by light emitting devices mutually.
According to claim 7,8 or 9 described automotive wheel position detecting systems, it is characterized in that 13, described target is scheduled on the described wheel to be measured by the wheel clamping that can adjust the pinch spacing.
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| US8341848B2 (en) * | 2005-09-28 | 2013-01-01 | Hunter Engineering Company | Method and apparatus for vehicle service system optical target assembly |
| CN101382471B (en) * | 2008-10-16 | 2010-11-17 | 深圳市元征科技股份有限公司 | Method and system for detecting four-wheel positioning for automobile |
| CN102175467B (en) * | 2011-01-26 | 2013-01-09 | 深圳市米勒沙容达汽车科技有限公司 | Wheel axle locator and method for location detection of wheel axle |
| CN102620943B (en) | 2011-01-30 | 2015-06-03 | 国际商业机器公司 | Method for adjusting parameter of Kalman filter during wheel detection and apparatus thereof |
| CN102735456A (en) * | 2012-07-05 | 2012-10-17 | 烟台高易电子科技有限公司 | Small target 3D (three-dimensional) automobile four-wheel position finder |
| CN102735457B (en) * | 2012-07-06 | 2014-12-24 | 烟台高易电子科技有限公司 | 3D (three-dimensional) four-wheel position finder and measuring method thereof |
| CN103134695B (en) * | 2013-02-05 | 2016-06-01 | 上海鼎盛汽车检测设备有限公司 | The reflection dish being applied in three-dimensional four-wheel aligner system |
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| CN104236926B (en) * | 2014-09-01 | 2018-07-17 | 深圳市圳天元科技开发有限责任公司 | It is a kind of to can be used in two columns or the small four-wheel aligner method for cutting lifting machine and position indicator system |
| KR101943873B1 (en) | 2014-12-17 | 2019-01-30 | 스냅-온 인코포레이티드 | Live ride height measurement |
| CN104483144B (en) * | 2014-12-18 | 2017-09-05 | 厦门大学 | A kind of automobile 3D four wheel locating parameter detection methods based on machine vision of robust |
| CN105719286A (en) * | 2016-01-18 | 2016-06-29 | 深圳市三杰宜科技有限公司 | Method and system for measuring tire |
| EP3472555B1 (en) | 2016-08-16 | 2021-05-19 | Snap-On Incorporated | Vehicle wheel alignment method and system |
| CN107192343B (en) * | 2017-07-04 | 2023-08-18 | 华中科技大学 | Six-degree-of-freedom displacement measuring device and method for suspension characteristic test wheel |
| CN108917690B (en) * | 2018-05-29 | 2020-08-28 | 深圳先进技术研究院 | Calculation method and measurement device for automobile king pin angle |
| US11698250B2 (en) | 2018-09-13 | 2023-07-11 | Snap-On Incorporated | Wheel aligner with improved accuracy and no-stop positioning, using a drive direction calculation |
| CN111259971A (en) * | 2020-01-20 | 2020-06-09 | 上海眼控科技股份有限公司 | Vehicle information detection method and device, computer equipment and readable storage medium |
| CN113933071A (en) * | 2021-12-08 | 2022-01-14 | 南通莱奥电子科技有限公司 | Automobile lifting running platform detection system based on image 3D four-wheel position indicator |
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