CN114778143A - Non-target non-contact automobile four-wheel positioning detection device and detection method - Google Patents
Non-target non-contact automobile four-wheel positioning detection device and detection method Download PDFInfo
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- CN114778143A CN114778143A CN202210530681.7A CN202210530681A CN114778143A CN 114778143 A CN114778143 A CN 114778143A CN 202210530681 A CN202210530681 A CN 202210530681A CN 114778143 A CN114778143 A CN 114778143A
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- 238000001514 detection method Methods 0.000 title claims abstract description 43
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- 239000013598 vector Substances 0.000 claims description 9
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- 230000003287 optical effect Effects 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 25
- 238000000691 measurement method Methods 0.000 abstract description 4
- 238000005299 abrasion Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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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
- 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
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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
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
- G01B2210/26—Algorithms, instructions, databases, computerized methods and graphical user interfaces employed by a user in conjunction with the wheel aligner
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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
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
- G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
- G01B2210/283—Beam projectors and related sensors
- G01B2210/286—Projecting a light pattern on the wheel or vehicle body
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Abstract
The invention discloses a non-target non-contact type automobile four-wheel positioning detection device and a detection method, and belongs to the field of automobile four-wheel positioning. The detection method of the non-target non-contact automobile four-wheel positioning detection device is based on the triangulation principle, and a binocular linear structured light measurement method is adopted to project a plurality of groups of laser lines on the tire tread, obtain three-dimensional dense point cloud data of the tire and the hub, and three-dimensionally restore the actual condition of the wheel. The invention has higher detection accuracy, obtains the related parameters of four-wheel positioning through the spatial plane of the outer edge of the hub, and avoids the influence on the four-wheel positioning measurement due to tire deformation and abrasion. On the other hand, the detection device is controlled to move through the machine, after the space plane of the four wheels of the vehicle is obtained, the four-wheel positioning parameters are calculated through the space geometric relation, the wheel clamp and the target do not need to be manually disassembled and assembled, and the measurement efficiency is greatly improved.
Description
Technical Field
The invention belongs to the field of automobile four-wheel positioning, and particularly relates to a non-target non-contact type automobile four-wheel positioning detection device and a detection method.
Background
When an automobile is designed, the installation among the steering wheel, the main pin and the front axle has an accurate relative position, so that the steering wheel can be automatically aligned immediately after external force acting on the steering wheel disappears, and the abrasion of tires is uniform when the automobile runs.
Nowadays, automobile maintenance manufacturers mostly use four-wheel orientators which take targets as main bodies for measurement, and compared with a traditional pure manual measurement mode, the mode effectively improves the measurement efficiency and the measurement precision, but still has certain limitation in actual use, and the method is mainly characterized in that: before and after measurement, the wheel clamp and the target need to be disassembled and assembled, so that the possibility of damaging the rim in the measurement process exists, and the previous adjustment result can be influenced; due to the particularity of target positioning, cart compensation is needed during measurement, and the working efficiency cannot be completely guaranteed; the manpower is not completely liberated yet. The labor intensity of workers is high, and the detection cost is also high. The detection result is greatly influenced by manual operation, and certain unreliability is brought to the detection result.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a non-target non-contact type automobile four-wheel positioning detection device and a detection method.
In order to achieve the purpose, the invention adopts the following technical scheme to realize the purpose:
a non-target non-contact type automobile four-wheel positioning detection device comprises a platform base, wherein two platform guide rails for placing automobile wheels to be detected are arranged on the platform base, guide rails parallel to the direction of the platform guide rails are respectively arranged on two sides of the platform base, and the guide rails on the two sides are arranged identically;
the guide rail is provided with a synchronous belt and a displacement sensor grating ruler, the synchronous belt is provided with a sliding block, the sliding block is connected with a movable measuring head, the movable measuring head is connected with a liftable shooting device, the shooting device is composed of a connecting plate, a first camera, a laser and a second camera, the connecting plate is arranged in a direction parallel to the platform guide rail, the first camera and the second camera are positioned at two ends of the connecting plate, and the laser is positioned in the middle of the connecting plate;
the first camera, the laser and the second camera are all arranged towards the direction of the platform guide rail.
Furthermore, the movable measuring head is connected with a lifting platform base, a lifting platform and a connecting shaft located at two ends of the lifting platform are arranged on the lifting platform base, a connecting plate parallel to the direction of the guide rail is arranged at the upper ends of the lifting platform and the connecting shaft, the first camera and the second camera are located at two ends of the connecting plate respectively, and the laser is located in the middle of the connecting plate.
Furthermore, the platform guide rail is arranged on the platform base in a protruding mode.
Furthermore, the included angle between the optical axes of the first camera and the second camera is 0-90 degrees.
Further, the light width of the laser line structure projected by the laser is less than 0.5 mm.
Further, the synchronous belt is driven by a servo motor.
A detection method of a non-target non-contact automobile four-wheel positioning detection device comprises the following steps:
stopping the automobile to be tested on the platform base, wherein four wheels of the automobile are respectively positioned on the two platform guide rails;
starting a synchronous belt to move on a guide rail, driving a movable measuring head to slide on the guide rail through a sliding block by the synchronous belt, driving a shooting device to move on the guide rail by the movable measuring head, adjusting the height of the liftable shooting device according to the position of an automobile hub, shooting the wheel hub and the tire by a first camera and a second camera when the preset position is reached, and simultaneously emitting a plurality of groups of lasers to scan the geometric structures of the wheel hub and the tire by a laser to obtain three-dimensional dense point cloud data of the front wheel tire and the wheel hub;
moving a preset distance, moving the front wheel to the rear wheel, shooting the geometric structures of the hub and the tire by the first camera and the second camera, transmitting a plurality of groups of laser lines by the laser to scan the hub and the tire, acquiring three-dimensional dense point cloud data of the rear wheel tire and the hub, and completing the acquisition of the front wheel and the rear wheel; meanwhile, a displacement sensor grating ruler records position information in real time;
based on tire and wheel hub three-dimensional dense point cloud data, a vehicle four-wheel space plane is constructed, and the roll angles and toe-in angles of the front wheel and the rear wheel are solved by utilizing a space geometric relationship.
Further, the solving process of the roll angles of the front wheel and the rear wheel is as follows:
acquiring three-dimensional dense point cloud data of a tire and a hub;
extracting the contour of the laser image which is not projected, and acquiring an annular boundary area of the hub and the tread;
processing three-dimensional point clouds in an annular boundary region of the hub and the tire tread, extracting a circular outline position of the boundary region in a three-dimensional point cloud picture, and fitting a spatial plane outline of the outer edge of the hub by a least square method on the basis of a corresponding three-dimensional coordinate point to obtain a spatial plane and a corresponding plane equation;
and acquiring a plane normal vector on the frame, and calculating an included angle between the space normal vector of the space plane and the plane normal vector on the frame, namely the camber angle of the wheel.
Compared with the prior art, the invention has the following beneficial effects:
the non-target non-contact type automobile four-wheel positioning detection device adopts non-contact measurement, only one side of the detection device needs to be provided with a single movable measuring head, compared with the structure that double measuring heads are arranged on the same side, the structure is simplified, the cost is saved, and the device is used for realizing the measurement of automobile four-wheel positioning parameters, and is rapid and accurate. The non-target non-contact automobile four-wheel positioning detection device is simple in structure, achieves non-target measurement, and avoids errors caused by manual measurement. Before and after measurement, a wheel clamp and a target need to be disassembled and assembled, the possibility of damaging a rim in the measurement process exists, and the previous adjustment result can be influenced; the influence of manual operation is great, and the reliability of measuring result has been improved through machine control detection device removal. On the other hand, the cost is low, non-contact measurement is adopted, only a single movable measuring head needs to be arranged on one side of the detection device, the structure is simplified compared with the structure that double measuring heads are arranged on the same side, and the cost is saved.
The detection method of the non-target non-contact automobile four-wheel positioning detection device is based on the triangulation principle, and utilizes a binocular linear structured light measurement method to project a plurality of groups of laser lines on the tire tread, obtain three-dimensional dense point cloud data of the tire and the wheel hub, and three-dimensionally restore the actual condition of the wheel. The invention has higher inspection accuracy, the traditional method is to measure the tread to determine the four-wheel positioning parameters, but the tire can be worn and deformed during the driving process of the automobile, and the pattern of the tread can also influence the measurement. According to the invention, the related parameters of four-wheel positioning are obtained through the spatial plane of the outer edge of the hub, so that the influence of tire deformation and abrasion on four-wheel positioning measurement is avoided. On the other hand, the measurement efficiency is improved. Due to the particularity of target positioning, the traditional method needs cart compensation when measuring, and the working efficiency cannot be completely guaranteed. According to the invention, the detection device is controlled by a machine to move, after the spatial plane of four wheels of the vehicle is obtained, the four-wheel positioning parameters are calculated by using the spatial geometrical relationship, the wheel clamp and the target do not need to be manually disassembled and assembled, and the measurement efficiency is greatly improved.
Drawings
FIG. 1 is an oblique view of the inspection device of the present invention;
FIG. 2 is a front view of the inspection device of the present invention;
FIG. 3 is a block diagram of a measuring head of the present invention;
FIG. 4 is a schematic representation of the detection performed by the apparatus of the present invention;
FIG. 5 is an enlarged view of a portion of the device of the present invention during testing;
FIG. 6 is a diagram of the orientation relationship between simulated planes of the upper plane of the frame;
FIG. 7 is a view showing an azimuth relationship of a toe-in angle of a front wheel;
FIG. 8 is a diagram of the orientation of the kingpin inclination.
Wherein: 1-a platform base; 2-a platform rail; 3-a servo motor; 4-a pulley fixed shaft; 5-a synchronous pulley; 6-a guide rail; 7-displacement sensor grating ruler; 8-a slide block; 9-moving the measuring head; 10-a lifter base; 11-a lifting platform; 12-a first camera; 13-a laser; 14-a second camera; 15-a connecting shaft; 16-synchronous belt.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The invention is described in further detail below with reference to the accompanying drawings:
referring to fig. 1 and 2, fig. 1 is an oblique view and a front view of the detection device of the present invention, which includes four synchronous pulley fixing shafts 4, two synchronous pulley fixing shafts 4 are fixed in a servo motor 3 and are bilaterally symmetrical, each synchronous pulley fixing shaft 4 is provided with a bearing hole for mounting a rolling bearing, the servo motor 3 is connected with one of the two synchronous pulleys 5 through a key, a synchronous belt 16 is mounted on the two synchronous pulleys 5 on the same side, the synchronous belt is in a tightened state, a guide rail 6 is fixed on a platform base 1 through a bolt connection to ensure that the guide rail 6 is located inside the synchronous belt 16, the guide rail 6 is provided with a movable measurement head 9, the upper portion of the movable measurement head 9 is provided with a bar gear to be meshed with the synchronous belt 16, a first camera 12, a second camera 14 and a laser 13 are connected to the lifting platform base 10 through screws to form a measurement head, the measurement heads are all fixed on the lifting platform base 10 through screw connections, first camera 12, second camera 14 are arranged for laser 13 symmetry, and first camera 12, second camera 14, laser 13, elevating platform base 10, removal measuring head 9, guide rail 6, hold-in range 16, 2 synchronous pulley 5 of each side of platform base 1 constitute a set of measuring device, and the measuring device of platform base 1 both sides is for platform guide rail 6 symmetrical arrangement. And a displacement sensor grating ruler 7 is arranged on the guide rail 6, and the position information of the slide block 8 on the guide rail 6 is detected in real time. The tail of the servo motor 3 faces the inner side of the platform base 1. The moving head 9 is arranged singly on one side. The angle between the optical axes of the first camera 12 and the second camera 14 varies between 0-90 deg.. The laser 13 projects a laser line structured light width of less than 0.5 mm.
Referring to FIG. 3, FIG. 3 is a block diagram of a measuring head of the present invention; the lifting platform base 10 is provided with a lifting platform 11 and a connecting shaft 15 positioned at two ends of the lifting platform 11, the upper ends of the lifting platform 11 and the connecting shaft 15 are provided with a connecting plate parallel to the direction of the guide rail 6, two ends of the connecting plate are respectively provided with a first camera 12 and a second camera 14, and the middle of the connecting plate is provided with a laser 13.
The working principle of the detection device is as follows:
under the acting force of the synchronous belt 16, the sliding block 8 moves linearly along the guide rail 6, the displacement sensor grating ruler 7 on the sliding block 8 detects the position of the sliding block 8 in real time, and the two groups of measuring devices use the two servo motors 3 to ensure that the sliding block 8 can move independently along the guide rail 6. When laser scanning positioning is carried out, the laser 13 projects a group of laser lines, the first camera 12 and the second camera 14 synchronously acquire images, and the lifting platform 11 is adjusted up and down according to the automobile hub position through a hydraulic principle to complete image acquisition work;
the measuring head removes and predetermines the distance, removes the rear wheel from the front wheel, and when camera fixed position was unchangeable, carry out two mesh cameras and shoot, the geometric construction of tire is strafed to the laser. Based on the triangulation principle, a binocular linear structured light measurement method is adopted to project a plurality of groups of laser lines on the tire tread and obtain three-dimensional dense point cloud data of the tire and the wheel hub. According to the position information recorded by the displacement sensor grating ruler 7 on the sliding block 8 in real time, the four-wheel positioning angle detection of the front wheel and the rear wheel is completed through the movement of the sliding block 8 on the track 6. The position information recorded by the displacement sensor grating ruler 7 in real time is used for reflecting the relative position information between the spatial planes of the outer edges of the hubs of the four built tires.
And acquiring a picture at the same position, and scanning the hub and the tread by using laser to construct three-dimensional information.
Referring to fig. 4 and 5, when detecting, two wheels of the vehicle are respectively placed on the platform rail 2, and the synchronous belt 16 is used to drive the sliding block 8 to move along the rail 6, and the detection process is as follows:
taking and processing of tire photographs ·:
the platform guide rail 2 is slightly raised relative to the platform base 1, and the automobile to be tested stops on the platform guide rail 2. 2 sides of platform guide rail outwards have one set of guide rail facility to be used for removing binocular camera, and the facility of both sides is based on axis symmetry, specifically drives synchronous pulley 5 by servo motor 3 and moves on guide rail 6, and servo motor 3 is at 5 avris of synchronous pulley, and synchronous pulley 5 drives through hold-in range 16 and removes measuring head 9 and slide on guide rail 6 for binocular camera moves on the guide rail, carries out the picture collection to wheel hub.
Adjusting the position of the camera:
be equipped with displacement sensor grating chi 7 and removal measuring head 9 on the guide rail 6, displacement sensor grating chi 7 is established between two guide rail band pulleys 4 for carry out position location to two mesh cameras. The remaining body part is a binocular camera supported by the elevating platform base 10, the elevating platform 11 moves up and down, and a connecting shaft 15 is added for fixing to ensure that the binocular camera is kept horizontal. Above the lifting table 11 are two cameras: the relative positions of the first camera 12 and the second camera 14 are always fixed and the orientations of the two cameras are the same, so that the two cameras are used for simulating binocular vision to acquire relatively accurate images.
Recognizing and capturing the wheel hub photo:
because the machine can not recognize the three-dimension of the photos, two photos at two different positions are needed, so that the computer can restore the actual condition of the wheel in three dimensions according to the two photos at different angles. Between the first camera 12 and the second camera 14, there is a laser 13, and the laser 13 can make the three-dimensional reduction of the hub more accurate. In actual use, the pictures taken by the binocular camera must completely encompass the entire automobile hub. The accuracy of the final result can be influenced by the using degree of the laser, and the more laser scribes are used, the more the finally established three-dimensional hub model is accurate.
Based on the collected data, the method for solving each angle of the vehicle comprises the following steps of;
1) after the space plane of four wheels of the vehicle is obtained, the roll angles, the toe angles and the like of the front wheel and the rear wheel are calculated by utilizing the space geometric relationship.
2) Based on the triangulation principle, a binocular linear structured light measurement method is adopted to project a plurality of groups of laser lines on the tire tread and obtain three-dimensional dense point cloud data of the tire and the hub. And (3) extracting the outline of the laser image which is not projected by a digital image processing method to obtain an annular boundary area of the hub and the tread.
And processing point clouds in the boundary area of the hub and the tire tread, after extracting the circular outline position of the boundary area in the three-dimensional point cloud picture, fitting the outline by using a least square method on the basis of the three-dimensional coordinate points to obtain a space plane and solving a plane equation of the space plane. And obtaining a space normal vector OA of the plane according to a plane equation, wherein if the normal vector of the plane on the frame is n ═ 0,1 and 0, an included angle between OA and the plane on the frame is the camber angle of the wheel. The camber angles of the front wheel and the rear wheel can be solved in sequence. Referring to fig. 6, fig. 6 shows an orientation relationship between simulation planes of the upper plane of the vehicle frame, where the x-axis is a vehicle body transverse direction, the y-axis is a vehicle frame upper plane normal direction, and the z-axis is a vehicle forward direction, and then an included angle between OA and Oy is a wheel camber angle.
ab. cd, ef and gh are projection vectors of rotating shafts of the four wheels on the plane of the frame respectively, perpendicular lines of ab and cd are made to intersect at a point o in the plane of the frame respectively, perpendicular lines of ef and gh are made to intersect at a point p, and the point o and the point p are connected. As shown in fig. 7, the included angle between ob and op is the front toe angle of the left front wheel, and the included angle between oc and op is the front toe angle of the right front wheel.
After the parameters of camber, toe-in of front wheel and toe-in of rear wheel are obtained, the steering wheel fixer is taken down and the brake fixer is installed to make four wheels keep brake state at the same time so as to raise measurement accuracy. And respectively and uniformly rotating the steering wheel by 10 degrees leftwards and rightwards, and measuring relevant parameters of the kingpin of the vehicle. As shown in FIG. 8, E ' OD ' A ' is the plane of the kingpin axis, which passes through point O and is parallel to the Oz axis. OA' is the kingpin axis. By definition, angle F 'OE' is the kingpin inclination angle and angle F 'OC' is the kingpin caster angle, both of which can be determined from a planar trigonometric relationship.
The above contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention should not be limited thereby, and any modification made on the basis of the technical idea proposed by the present invention falls within the protection scope of the claims of the present invention.
Claims (8)
1. A non-target non-contact automobile four-wheel positioning detection device is characterized by comprising a platform base (1), wherein two platform guide rails (2) for placing automobile wheels to be detected are arranged on the platform base (1), guide rails (6) parallel to the direction of the platform guide rails (2) are respectively arranged on two sides of the platform base (1), and the guide rails (6) on the two sides are arranged identically;
a synchronous belt (16) and a displacement sensor grating ruler (7) are arranged on the guide rail (6), a sliding block (8) is arranged on the synchronous belt (16), a movable measuring head (9) is connected onto the sliding block (8), the movable measuring head (9) is connected with a liftable shooting device, the shooting device is composed of a connecting plate, a first camera (12), a laser (13) and a second camera (14), the connecting plate is arranged in a direction parallel to the platform guide rail (2), the first camera (12) and the second camera (14) are positioned at two ends of the connecting plate, and the laser (13) is positioned in the middle of the connecting plate;
the first camera (12), the laser (13) and the second camera (14) are all arranged towards the direction of the platform guide rail (2).
2. The target-free non-contact automobile four-wheel positioning detection device according to claim 1, wherein the moving measuring head (9) is connected with a lifting platform base (10), a lifting platform (11) and a connecting shaft (15) located at two ends of the lifting platform (11) are arranged on the lifting platform base (10), a connecting plate parallel to the direction of the guide rail (6) is arranged at the upper ends of the lifting platform (11) and the connecting shaft (15), the first camera (12) and the second camera (14) are respectively located at two ends of the connecting plate, and the laser (13) is located in the middle of the connecting plate.
3. The non-target non-contact automobile four-wheel positioning detection device according to claim 1, characterized in that the platform guide rail (2) is arranged on the platform base (1) in a protruding manner.
4. The non-target non-contact four-wheel positioning detection device for the automobile according to claim 1, wherein the included angle between the optical axes of the first camera (12) and the second camera (14) is 0-90 °.
5. The non-target non-contact automobile four-wheel positioning detection device according to claim 1, characterized in that the laser (13) projects laser line structured light with a width less than 0.5 mm.
6. The non-target non-contact automobile four-wheel positioning detection device according to claim 1, characterized in that the synchronous belt (16) is driven by a servo motor (3).
7. The detection method based on the target-free non-contact automobile four-wheel positioning detection device of any one of claims 1-6 is characterized by comprising the following operations:
the method comprises the following steps that an automobile to be tested is stopped on a platform base (1), and four wheels of the automobile are respectively located on two platform guide rails (2);
starting a synchronous belt (16) to move on a guide rail (6), driving a movable measuring head (9) to slide on the guide rail (6) by the synchronous belt (16) through a sliding block (8), driving a shooting device to move on the guide rail (6) by the movable measuring head (9), adjusting the height of the liftable shooting device according to the position of an automobile hub, shooting the automobile hub and the tire by a first camera (12) and a second camera (14) when the automobile hub reaches a preset position, and simultaneously, emitting a plurality of groups of laser beams by a laser (13) to scan the geometric structures of the automobile hub and the tire to obtain three-dimensional dense point cloud data of the front wheel tire and the automobile hub;
moving a preset distance, moving the front wheel to the rear wheel, shooting the geometric structures of the hub and the tire by a first camera (12) and a second camera (14), scanning the hub and the tire by a laser (13) emitting a plurality of groups of laser lines, acquiring three-dimensional dense point cloud data of the rear wheel tire and the hub, and completing the acquisition of the front wheel and the rear wheel; meanwhile, a displacement sensor grating ruler (7) records position information in real time;
based on tire and wheel hub three-dimensional dense point cloud data, a vehicle four-wheel space plane is constructed, and the roll angles and toe-in angles of the front wheel and the rear wheel are solved by utilizing a space geometric relationship.
8. The detection method of the target-free non-contact four-wheel positioning detection device for the automobile according to claim 7, wherein the solution process of the roll angles of the front wheels and the rear wheels comprises the following steps:
acquiring three-dimensional dense point cloud data of a tire and a hub;
extracting the contour of the laser image which is not projected, and acquiring an annular boundary area of the hub and the tread;
processing three-dimensional point clouds in an annular boundary region of the hub and the tire tread, extracting a circular outline position of the boundary region in a three-dimensional point cloud picture, and fitting a spatial plane outline of the outer edge of the hub by a least square method on the basis of a corresponding three-dimensional coordinate point to obtain a spatial plane and a corresponding plane equation;
and acquiring a plane normal vector on the frame, and calculating an included angle between the space normal vector of the space plane and the plane normal vector on the frame, namely the camber angle of the wheel.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115930842A (en) * | 2023-03-09 | 2023-04-07 | 荣成康派斯新能源车辆股份有限公司 | Caravan wheel axle locator and wheel axle locating detection method thereof |
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