CN109211146B - Automobile toe-in angle measuring method - Google Patents

Automobile toe-in angle measuring method Download PDF

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CN109211146B
CN109211146B CN201811226658.9A CN201811226658A CN109211146B CN 109211146 B CN109211146 B CN 109211146B CN 201811226658 A CN201811226658 A CN 201811226658A CN 109211146 B CN109211146 B CN 109211146B
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measuring
camera
angle
toe
automobile
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CN109211146A (en
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成毅
廖佳威
刘欢
李泓钰
包佳鑫
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Chengdu Univeristy of Technology
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Chengdu Univeristy of Technology
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    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0025—Measuring of vehicle parts

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  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a method for measuring a toe-in angle of an automobile, which establishes a novel device for measuring the toe-in angle of the automobile and utilizes the device to measure, during measurement, line laser is respectively emitted from two sides to the opposite side, and data are collected by a camera on the opposite side and are sent to a measuring unit to be measured and calculated. During measurement, the camera starts to work, the current image of the camera is obtained from the camera for processing, and after the processing is finished, the image is obtained from the camera for processing once, and so on. Extracting the maximum monochromatic light component of each acquired image, and calculating the monochromatic light component threshold of the image; and then selecting N rows of pixel points on the projection plane, sequentially segmenting each row of pixel points according to a threshold value, segmenting effective pixel points in each row, calculating the central position of the effective pixel points through the effective pixel points, and calculating the offset distance of the line laser projection by using the central position, thereby calculating the offset angle.

Description

Automobile toe-in angle measuring method
Technical Field
The invention relates to an angle measuring method, in particular to an automobile toe-in angle measuring method.
Background
The toe-in of the automobile refers to a distance difference between a front end surface and a rear end surface of a front wheel in the transverse direction of the automobile, and also refers to an included angle between the advancing direction of the automobile body and the plane of the front wheel, which is called a toe-in angle. The toe-in of the front wheel is an important parameter for ensuring the stable and straight running of the automobile and enabling the steering wheel to have the automatic aligning function.
The existing measuring method of the toe-in angle mainly comprises a line drawing method, a measuring scale, a stay wire type measuring method, a laser measuring method and a 3D automobile position indicator. The marking method, the measuring ruler and the pull-wire type measuring method are all measured manually, the measuring precision is low, the error is large, the measuring process is complicated, and the accuracy of electronic measurement cannot be achieved. And the 3D locator instrument is heavy and fixed, and cannot be carried or moved as required. The current laser measurement method adopts a direct light receiving method, and the precision and the reliability are not high.
Disclosure of Invention
The invention aims to provide the automobile toe-in angle measuring device and the automobile toe-in angle measuring method which solve the problems, are quick and simple to install and can improve the measuring precision and accuracy.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows: a method for measuring the toe-in angle of an automobile comprises the following steps:
(1) establishing an automobile front toe angle measuring device:
the automobile toe-in angle measuring device comprises two measuring boxes and a display, wherein the measuring boxes are horizontally arranged and are hollow cuboid, one long side surface of each measuring box is arranged oppositely, a horizontal measuring window is arranged on the long side surface, a projection surface is arranged on the other long side surface of the inner wall of each measuring box, and the projection surfaces and the measuring windows are arranged oppositely and have the same size;
a linear laser and a camera are arranged in the measuring box, the linear laser is horizontally arranged in the center of the measuring window, the transmitting end of the linear laser is aligned with the middle part of the measuring window, the camera is positioned under the linear laser, and the imaging area completely covers the projection surface;
the camera is connected with a measuring unit, the measuring unit is used for acquiring RGB images shot by the camera, processing the RGB images and sending the RGB images to a display, and a power supply for supplying power to each power unit is arranged in the measuring box;
(2) installing an automobile toe-in angle measuring device:
the two measuring boxes are respectively arranged at the positions without shielding in front of two front wheels of an automobile and are connected with the front wheels of the automobile on the same side through connecting rods, the opposite surfaces of the two front wheels are inner surfaces, one end of each connecting rod is fixed at the center of the inner surface of the front wheel on the same side and is parallel to the inner surface, the other end of each connecting rod is connected with the measuring box, the measuring boxes are arranged along the length direction of the connecting rods on the same side, two measuring windows are opposite, the distance from the center of the front wheel to the center of a projection plane is d, and;
(3) starting the automobile toe-in angle measuring device, enabling the two linear lasers to respectively emit vertical linear lasers, project the vertical linear lasers to the projection surface of the opposite side measuring box through the measuring window of the opposite side measuring box, and enabling the two cameras to continuously shoot the projection surface on the same side;
(4) the two measuring units work, a plurality of frames of RGB images are obtained from the camera, and the offset angles of the opposite side tires are respectively calculated, wherein the calculation method of one measuring unit is as follows:
(41) acquiring a current RGB image in a camera;
(42) extracting monochromatic light components with the largest components, and obtaining monochromatic light component threshold values of the RGB images by adopting an iteration method or a maximum variance method;
(43) selecting N rows of pixel points on a projection plane, sequentially dividing each row of pixel points according to a threshold, setting the pixel points larger than the threshold to be 1, setting the rest to be 0, wherein the 1 is an effective pixel point, acquiring the position of the effective pixel point in each row of pixel points, and calculating the central positions of all the effective pixel points;
(44) calculating a straight-line distance between a perpendicular line in the projection plane and the center position in the step (43), wherein the straight-line distance is △ X of the offset distance of the laser projection of the line, and calculating an offset angle theta according to the offset distance;
(45) acquiring the RGB image in the camera again, and repeating the steps (42) to (44) until the offset angle is unchanged, wherein the unchanged offset angle is the toe angle of the front wheel on the opposite side;
(5) and sending the toe-in angles of the two front wheels to a display for displaying.
Preferably, the method comprises the following steps: the measuring window is provided with an optical filter, the optical filter is matched with the wave band light emitted by the linear laser and only passes the wave band light emitted by the linear laser.
Preferably, the method comprises the following steps: the camera comprises a distortionless wide-angle near-focus lens and an area array CCD.
Preferably, the method comprises the following steps: and a charging port for charging a power supply and a switch for controlling the power supply to be switched on and off are arranged on one side of the outer wall of the measuring box.
Preferably, the method comprises the following steps: in step (42), the step of obtaining the threshold value by using an iterative method specifically comprises:
(a) the maximum monochromatic light component and the minimum monochromatic light component of the image are obtained and are respectively marked as ZMAXAnd ZMINLet initial threshold T0＝(ZMAX+ZMIN)/2；
(b) According to the threshold value T0Dividing the image into foreground and background, and respectively calculating average monochromatic light component value Z of bothOAnd ZB；
(c) Find out a new threshold T0+1＝(ZO+ZB)/2；
(d) Repeating the steps (41) to (43) K times to obtain TK+1If T isK＝TK+1Then T isKIs a threshold value.
Preferably, the method comprises the following steps: in step (44), the offset angle is calculated using the following formula:
Figure GDA0002536768810000041
compared with the prior art, the invention has the advantages that: the automobile toe-in angle measuring device is established, line laser is respectively emitted to the opposite sides from the two sides, data are collected by the cameras on the opposite sides, and the data are sent to the measuring unit for measurement and calculation. During measurement, the camera starts to work, the current image of the camera is obtained from the camera for processing, and after the processing is finished, the image is obtained from the camera for processing once, and so on.
When each image is processed, calculating a monochromatic light component threshold value of the RGB image by extracting the maximum monochromatic light component; and selecting N rows of pixel points on the projection plane, sequentially segmenting each row of pixel points according to a threshold value, segmenting effective pixel points in each row, calculating the central position of the effective pixel points, and calculating the offset distance of the linear laser projection by using the central position, thereby calculating the offset angle.
According to the measuring method, the line laser signals are projected to the projection plane through the measuring window and then collected by the camera, the purity of the background in the image processing process is guaranteed through windowing measurement, the interference of ambient light in the direct measuring process is avoided, meanwhile, the response and the image processing inaccuracy of the area array or area array CCD camera when the area array CCD camera directly measures the laser beams are avoided, and the measuring precision and the measuring accuracy are greatly improved.
The filter is additionally arranged on the measuring window, the filter is matched with the wave band light emitted by the linear laser, and the interference of outdoor light can be effectively filtered out only through the wave band light emitted by the linear laser.
During measurement, a frame of current image is taken for processing and calculation, the process is repeated after calculation is completed until the data is not changed, when each frame is processed, one or more rows of pixel points are found, threshold segmentation is carried out on the pixel points in each row to obtain effective pixel points in each row, then all the pixel points are used for calculating the center point, and the center point obtained through calculation is accurate.
The invention adopts the non-distortion wide-angle near-focus lens, the non-distortion is to prevent distortion at the edge of the imaging range of the camera and ensure the accuracy, the wide-angle lens can shorten the object distance when measuring the same range, thus shortening the installation distance between the camera and the imaging surface and further reducing the size of the measuring box, and the near-focus lens is mainly used for obtaining high-definition and accurate images when in near-range imaging.
When the linear laser imaging device is arranged, the linear laser is horizontally arranged above the center of the measuring window, the transmitting end is aligned with the middle of the measuring window, the camera is positioned under the linear laser, the imaging area completely covers the projection surface, the linear laser and the windowing are mainly ensured to be positioned on the same central axis, and therefore the imaging central point and the central point pixel of the camera are ensured to be coincident.
Drawings
FIG. 1 is a schematic view of a one-sided measurement cassette;
FIG. 2 is a schematic view of the installation of the present invention;
FIG. 3 is a schematic view of a side line laser of the present invention being irradiated onto a projection plane through a measurement window;
FIG. 4 is a schematic diagram of the imaging range and the projection plane in the measurement of the present invention.
In the figure: 1. a connecting rod; 2. a measurement box; 3. a projection surface; 4. a line laser; 5. a measurement window; 6. a measuring unit; 7. an area array CCD; 8. a charging port; 9. a switch; 10. a distortion-free wide-angle near-focus lens; 11. an imaging region.
Detailed Description
The invention will be further explained with reference to the drawings.
Example 1: referring to fig. 1 to 4, a method for measuring a toe-in angle of an automobile includes the steps of:
(1) establishing an automobile front toe angle measuring device:
the automobile toe-in angle measuring device comprises two measuring boxes 2 and a display, wherein the measuring boxes 2 are horizontally arranged and are hollow cuboid, one long side surface of each measuring box 2 is oppositely arranged, a horizontal measuring window 5 is arranged on the long side surface, a projection surface 3 is arranged on the other long side surface of the inner wall of each measuring box 2, and the projection surfaces 3 and the measuring windows 5 are oppositely arranged and have the same size;
a linear laser 4 and a camera are arranged in the measuring box 2, the linear laser 4 is horizontally arranged in the center of the measuring window 5, the transmitting end of the linear laser is aligned with the middle of the measuring window 5, the camera is positioned under the linear laser 4, and the imaging area 11 completely covers the projection surface 3;
the camera is connected with a measuring unit 6, the measuring unit 6 is used for acquiring RGB images shot by the camera, processing the RGB images and sending the RGB images to a display, and a power supply for supplying power to each power unit is arranged in the measuring box 2;
(2) installing an automobile toe-in angle measuring device:
the method comprises the following steps that two measuring boxes 2 are respectively arranged at the positions without shielding in front of two front wheels of an automobile and are connected with the front wheels of the automobile on the same side through connecting rods 1, the opposite surfaces of the two front wheels are inner surfaces, one ends of the connecting rods 1 are fixed at the centers of the inner surfaces of the front wheels on the same side and are parallel to the inner surfaces, the other ends of the connecting rods are connected with the measuring boxes 2, the measuring boxes 2 are arranged along the length direction of the connecting rods 1 on the same side, two measuring windows 5 are opposite, the distance from the centers of the front wheels to the center of a projection surface;
(3) starting the automobile toe-in angle measuring device, enabling the two linear lasers 4 to respectively emit vertical linear lasers, project the vertical linear lasers to the projection surface 3 of the opposite side measuring box 2 through the measuring window 5 of the opposite side measuring box 2, and enabling the two cameras to continuously shoot the projection surface 3 on the same side;
(4) the two measuring units 6 work to acquire multiple frames of RGB images from the camera and respectively calculate the offset angle of the opposite side tire, wherein the calculation method of one measuring unit 6 is as follows:
(41) acquiring a current RGB image in a camera;
(42) extracting monochromatic light components with the largest components, and obtaining monochromatic light component threshold values of the RGB images by adopting an iteration method or a maximum variance method;
(43) selecting N rows of pixel points on the projection plane 3, sequentially dividing each row of pixel points according to a threshold, setting the pixel points larger than the threshold to be 1, setting the rest to be 0, wherein the pixel points of the 1 are effective pixel points, acquiring the positions of the effective pixel points in each row of pixel points, and calculating the central positions of all the effective pixel points;
(44) calculating a straight-line distance between a perpendicular line in the projection plane 3 and the center position in the step (43), wherein the straight-line distance is an offset distance △ X of the laser projection of the line, and calculating an offset angle theta according to the offset distance;
(45) acquiring the RGB image in the camera again, and repeating the steps (42) to (44) until the offset angle is unchanged, wherein the unchanged offset angle is the toe angle of the front wheel on the opposite side;
(5) and sending the toe-in angles of the two front wheels to a display for displaying.
In this embodiment: the measuring window 5 is provided with an optical filter, the optical filter is matched with the wave band light emitted by the linear laser 4, and only the wave band light emitted by the linear laser 4 passes through the optical filter; the camera comprises a distortionless wide-angle near-focus lens 10 and an area array CCD 7; and a charging port 8 for charging a power supply and a switch 9 for controlling the power supply to be turned on and off are arranged on one side of the outer wall of the measuring box 2.
In step (42), the step of obtaining the threshold value by using an iterative method specifically comprises:
(a) the maximum monochromatic light component and the minimum monochromatic light component of the image are obtained and are respectively marked as ZMAXAnd ZMINLet initial threshold T0＝(ZMAX+ZMIN)/2；
(b) According to the threshold value T0Dividing the image into foreground and background, and respectively calculating average monochromatic light component value Z of bothOAnd ZB；
(c) Find out a new threshold T0+1＝(ZO+ZB)/2；
(d) Repeating the steps (41) to (43) K times to obtain TK+1If T isK＝TK+1Then T isKIs a threshold value.
In step (44), the offset angle is calculated using the following formula:
Figure GDA0002536768810000071
for convenience of understanding, the front wheel of the automobile is divided into a left front wheel and a right front wheel, the center point of the inner surface of the left front wheel is A, the perpendicular line in the projection plane 3 of the measurement box 2 is A1, the distance between the point A and the line A1 is D, the wheel base of the two front wheels is X, when the automobile is started, the linear laser 4 at the right front wheel irradiates the measurement box 2 at the left side, the linear laser 4 at the right front wheel irradiates the projection plane 3 in the left measurement box 2 to be necessarily deviated due to the existence of a front beam angle, the central position point A2 of projection is calculated according to the method of the invention, and the linear distance between the A2 and the line A1 is △ X, so that the deviation angle is calculated.
The right front wheel calculation method is the same. Shown as point B, line B1, center point B2.

Claims (4)

1. A method for measuring the toe-in angle of an automobile is characterized in that: the method comprises the following steps:
(1) establishing an automobile front toe angle measuring device:
the automobile toe-in angle measuring device comprises two measuring boxes and a display, wherein the measuring boxes are horizontally arranged and are hollow cuboid, one long side surface of each measuring box is arranged oppositely, a horizontal measuring window is arranged on the long side surface, a projection surface is arranged on the other long side surface of the inner wall of each measuring box, and the projection surfaces and the measuring windows are arranged oppositely and have the same size;
a linear laser and a camera are arranged in the measuring box, the linear laser is horizontally arranged in the center of the measuring window, the transmitting end of the linear laser is aligned with the middle part of the measuring window, the camera is positioned under the linear laser, and the imaging area completely covers the projection surface;
the camera is connected with a measuring unit, the measuring unit is used for acquiring RGB images shot by the camera, processing the RGB images and sending the RGB images to a display, and a power supply for supplying power to each power unit is arranged in the measuring box;
the measuring window is provided with an optical filter, the optical filter is matched with the wave band light emitted by the linear laser, and only the wave band light emitted by the linear laser passes through the optical filter;
(2) installing an automobile toe-in angle measuring device:
the two measuring boxes are respectively arranged at the positions without shielding in front of two front wheels of an automobile and are connected with the front wheels of the automobile on the same side through connecting rods, the opposite surfaces of the two front wheels are inner surfaces, one end of each connecting rod is fixed at the center of the inner surface of the front wheel on the same side and is parallel to the inner surface, the other end of each connecting rod is connected with the measuring box, the measuring boxes are arranged along the length direction of the connecting rods on the same side, two measuring windows are opposite, the distance from the center of the front wheel to the center of a projection plane is d, and;
(3) starting the automobile toe-in angle measuring device, enabling the two linear lasers to respectively emit vertical linear lasers, project the vertical linear lasers to the projection surface of the opposite side measuring box through the measuring window of the opposite side measuring box, and enabling the two cameras to continuously shoot the projection surface on the same side;
(4) the two measuring units work, a plurality of frames of RGB images are obtained from the camera, and the offset angles of the opposite side tires are respectively calculated, wherein the calculation method of one measuring unit is as follows:
(41) acquiring a current RGB image in a camera;
(42) extracting monochromatic light components with the largest components, and obtaining monochromatic light component threshold values of the RGB images by adopting an iteration method or a maximum variance method;
(43) selecting N rows of pixel points on a projection plane, sequentially dividing each row of pixel points according to a threshold, setting the pixel points larger than the threshold to be 1, setting the rest to be 0, wherein the 1 is an effective pixel point, acquiring the position of the effective pixel point in each row of pixel points, and calculating the central positions of all the effective pixel points;
(44) calculating a straight-line distance between a perpendicular line in the projection plane and the center position in the step (43), wherein the straight-line distance is △ X of the offset distance of the laser projection of the line, and calculating an offset angle theta according to the offset distance;
(45) acquiring the RGB image in the camera again, and repeating the steps (42) to (44) until the offset angle is unchanged, wherein the unchanged offset angle is the toe angle of the front wheel on the opposite side;
(5) and sending the toe-in angles of the two front wheels to a display for displaying.
2. The automotive toe angle measurement method according to claim 1, characterized in that: the camera comprises a distortionless wide-angle near-focus lens and an area array CCD.
3. The automotive toe angle measurement method according to claim 1, characterized in that: and a charging port for charging a power supply and a switch for controlling the power supply to be switched on and off are arranged on one side of the outer wall of the measuring box.
4. The automotive toe angle measurement method according to claim 1, characterized in that: in step (42), the step of obtaining the threshold value by using an iterative method specifically comprises:
(a) the maximum monochromatic light component and the minimum monochromatic light component of the image are obtained and are respectively marked as ZMAXAnd ZMINLet initial threshold T0＝(ZMAX+ZMIN)/2；
(b) According to the threshold value T0Dividing the image into foreground and background, and respectively calculating average monochromatic light component value Z of bothOAnd ZB；
(c) Find out a new threshold T0+1＝(ZO+ZB)/2；
(d) Repeating the steps (41) to (43) K times to obtain TK+1If T isK＝TK+1Then T isKIs a threshold value.
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CN109708901A (en) * 2019-01-21 2019-05-03 刘波 Automobile steering roller locating and detecting device

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US3901604A (en) * 1973-11-19 1975-08-26 Bear Manufacturing Corp Apparatus for use in aligning wheels
CN201697790U (en) * 2010-06-24 2011-01-05 深圳市安车检测技术有限公司 Toe-in platform measuring system
CN103499311B (en) * 2013-09-23 2016-03-02 安徽农业大学 A kind of automobile camber angle method for real-time measurement in the process of moving
CN204421853U (en) * 2015-03-06 2015-06-24 中国人民解放军军械工程学院 Wheel positioning parameter measuring device
CN108288065B (en) * 2017-01-09 2021-06-11 南京理工大学 Four-wheel aligner detection method based on image analysis
CN108303042A (en) * 2017-12-31 2018-07-20 南京沃宇机电有限公司 A kind of measurement method at front wheel toe-in of automobile angle

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