CN210464954U - Four-wheel aligner wheel and camera composite calibration support structure - Google Patents
Four-wheel aligner wheel and camera composite calibration support structure Download PDFInfo
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- CN210464954U CN210464954U CN201921498082.1U CN201921498082U CN210464954U CN 210464954 U CN210464954 U CN 210464954U CN 201921498082 U CN201921498082 U CN 201921498082U CN 210464954 U CN210464954 U CN 210464954U
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- 239000002131 composite material Substances 0.000 title claims description 9
- 238000012360 testing method Methods 0.000 claims abstract description 41
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims abstract description 23
- 229910052782 aluminium Inorganic materials 0.000 claims abstract description 23
- 238000005259 measurement Methods 0.000 claims abstract description 11
- 150000001875 compounds Chemical class 0.000 claims abstract description 9
- 230000000903 blocking effect Effects 0.000 claims description 10
- 238000000034 method Methods 0.000 abstract description 8
- 238000007405 data analysis Methods 0.000 abstract description 5
- 239000004411 aluminium Substances 0.000 abstract description 3
- 238000003384 imaging method Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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Abstract
The utility model discloses a four-wheel aligner wheel and compound supporting structure that marks of camera, including the wheel, camera calibration board and test support, the test support mainly comprises square aluminum support, aluminium skin board, fasteners etc, through demarcating the supporting structure with four-wheel aligner wheel and camera are compound to combine together, guarantee to demarcate measuring plane and actual measurement plane and form parallel relation, demarcate the wheel, can be when normally demarcating, demarcate the wheel that accords with camera calibration board demarcation scope, calculate the coordinate of each position point of wheel, utilize the laser instrument to carry out virtual imaging to the wheel, and then confirm main positioning parameter such as camber angle, toe angle, king pin caster angle and king pin inclination of wheel through data analysis, can effectively reduce the loss of precision, ensure test accuracy, it is few to have the time spent of demarcation testing process, And the testing precision is high.
Description
Technical Field
The utility model relates to a non-contact vehicle four-wheel location technical field, concretely relates to four-wheel aligner wheel and compound supporting structure that marks of camera.
Background
The four-wheel aligner has the main functions of keeping the automobile in stable straight line running and light steering, reducing the abrasion of tires and steering parts of the automobile in the running process, and directly influencing the stability, safety, fuel economy, the service life of the tires, the labor intensity of drivers and the like if the wheels are correctly positioned;
the existing four-wheel aligner camera calibration support structure comprises two parts, namely a four-wheel aligner and a camera calibration support, wherein a calibration plate is placed at a position where two cameras can image, internal parameters and external parameters of the two cameras are calibrated and determined, relative positions of a left camera and a right camera and a world coordinate system are obtained, a position relation between the two cameras is determined, and further coordinates of each position point of the calibration plate are determined; then, placing the wheels which accord with the calibration range on a calibration plate, calibrating each position point of the wheels, determining the coordinates of the position points, virtually imaging the wheels by using a laser, and further determining main positioning parameters such as camber angles, toe-in angles, kingpin caster angles, kingpin inclination angles and the like of the wheels through data analysis;
the method has the disadvantages that the calibration process is separated from the actual measurement process, effective combination of targets such as a camera calibration plate and wheels is lacked, the wheels are regarded as visual targets in a general sense, and certain precision loss can be caused to targets outside a visual range during calibration.
Disclosure of Invention
In order to overcome the defect that above-mentioned prior art exists, the utility model aims to provide a four-wheel aligner wheel marks supporting structure with the camera is compound, through mark the supporting structure with four-wheel aligner wheel and camera are compound to combine, a test support of wheel and camera calibration board sharing, fix the wheel on the testboard, mark measuring plane and actual measurement plane and form parallel relation, mark the camera calibration board, obtain the coordinate of each point, the coordinate of each position point of hour calculation wheel, utilize the laser instrument to carry out virtual formation of image to the wheel, and then confirm each location parameter of wheel through data analysis, it is few to have the time spent of demarcation testing process, characteristics that measuring accuracy is high.
In order to achieve the above purpose, the technical solution of the present invention is realized as follows:
the utility model provides a four-wheel aligner wheel and compound supporting structure that marks of camera, includes test support and camera calibration board, the test support includes horizontal table face and vertical board face, the camera calibration board passes through the connecting piece and installs on the vertical board face of test support still be provided with the fixed subassembly of wheel on the horizontal table face, the wheel is placed test on the fixed subassembly of wheel, a test support of wheel and camera calibration board sharing guarantees that the actual measurement plane of wheel is parallel with the demarcation measurement plane of camera calibration board.
Preferably, the test support still includes the bearing diagonal, the square aluminum support is constituteed to horizontal mesa, vertical face and bearing diagonal, is connected with one deck aluminium skin board through the fastener on horizontal mesa, vertical face, and the square aluminum support is formed by the roof beam fixed connection of a plurality of square aluminum section cutting preparation.
Preferably, the beam is made by cutting a square aluminum profile with the section size of 30mmX30 mm.
Preferably, the connecting piece is an L-shaped bayonet arranged at the edge of the aluminum skin plate connected with the vertical plate surface.
Preferably, the wheel fixing assembly comprises a left radial stopper, a right radial stopper and a front section blocking piece, the left radial stopper, the right radial stopper and the front section blocking piece are fixedly installed on the plane of the test bench, the left radial stopper and the right radial stopper fix the left side and the right side of the wheel to prevent the wheel from shaking left and right, and the front section blocking piece is fixed on the test bench to block the outer side of the wheel to prevent the wheel from shaking outwards to ensure the accuracy of measured data.
Preferably, anterior segment keep off the position spare and include stopper and slide rail, the slide rail is fixed to be set up on horizontal table surface, the stopper sets up on the slide rail, with slide rail sliding connection, still be provided with on the stopper and run through the stopper and take the screwed shrinkage pool, spacing screw and shrinkage pool threaded connection realize the limit function of stopper through the tight different positions in spacing screw top on the slide rail.
Preferably, one side surface of the wheel is parallel to the calibration surface of the camera calibration plate.
The utility model has the advantages that:
because the utility model provides a four-wheel aligner wheel and camera compound calibration support structure, through combining together four-wheel aligner wheel and camera compound calibration support structure, wheel and camera calibration board share a test support, the test support comprises square aluminum support, aluminium skin board, fastener etc., fix camera calibration board and wheel on the test support, calibration measuring plane and actual measuring plane form parallel relation, then place the calibration board in the position that two cameras can all form images, through measuring the coordinate of each position point of calibration board, calibrate and confirm the internal parameter and external parameter of two cameras, obtain the relative position of left and right cameras and world coordinate system, confirm the positional relation between two cameras, calculate the coordinate of each position point of wheel simultaneously, utilize the laser to virtually form images to the wheel, and then main positioning parameters such as camber angle, toe-in angle, kingpin caster angle and kingpin inclination angle of the wheel are determined through data analysis, and the method has the characteristics of short time for calibrating and detecting processes and high testing precision.
Drawings
Fig. 1 is a schematic view of the overall structural design scheme of a wheel and camera calibration plate test support.
Fig. 2 is a schematic view of a fixing structure of the camera calibration plate.
Fig. 3 is a schematic structural view of a vertical plate surface.
Fig. 4 is a schematic view of a wheel fixing structure.
Fig. 5 is a schematic structural view of a front-end blocking member.
Fig. 6 is a schematic view of the stopper structure.
Wherein: 1. the device comprises a wheel, 2, a camera calibration plate, 3, a test support, 31, a horizontal table top, 32, a vertical plate surface, 33, an inclined support, 4, an aluminum skin plate, 5, a square aluminum support, 6, a fastener, 7, a connecting piece, 8, a test table, 9a, a left radial stopper, 9b, a right radial stopper, 10, a front-section stop piece, 101, a sliding rail, 102, a stopper and 103, and a limit screw.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following further describes the technical solution of the present invention with reference to the accompanying drawings and embodiments:
referring to fig. 1-6, a four-wheel aligner wheel and camera composite calibration support structure comprises a test support 3 and a camera calibration plate 2, wherein the test support 3 comprises a horizontal table surface 31 and a vertical plate surface 32, the camera calibration plate 2 is mounted on the vertical plate surface 32 of the test support 3 through a connecting piece 7, a wheel fixing component is further arranged on the horizontal table surface 31, wheels are placed on the wheel fixing component for testing, the wheels 1 and the camera calibration plate 2 share one test support 3, and an actual measurement plane of the wheels 1 is ensured to be parallel to a calibration measurement plane of the camera calibration plate 2, so that the wheels meeting a calibration range can be measured while being calibrated;
the test support 3 further comprises an inclined support 33, the horizontal table surface 31, the vertical plate surface 32 and the inclined support 33 form a square aluminum support 5, the horizontal table surface 31 and the vertical plate surface 32 are connected with a layer of aluminum skin plate 4 through fasteners 6, and the square aluminum support 5 is formed by fixedly connecting beams made of a plurality of square aluminum sections; the beam is made by cutting a square aluminum section with the section size of 30mmX30 mm;
the connecting piece 7 is an L-shaped bayonet arranged at the edge of the aluminum skin plate 4 connected with the vertical plate surface 32, when the camera calibration plate 2 is clamped, the position of the camera calibration plate 2 is fixed, so that a camera can calibrate the coordinates of each position point on the camera calibration plate 2, meanwhile, laser can be guaranteed to be irradiated on the camera calibration plate 2, and the coordinates of each position point of the wheel are calculated;
the wheel fixing assembly comprises a left radial stopper 9a, a right radial stopper 9b and a front section blocking piece 10, the left radial stopper 9a, the right radial stopper 9b and the front section blocking piece 10 are all fixedly installed on the plane of the test bench 8, the left radial stopper 9a and the right radial stopper 9b fix the left side and the right side of the wheel 1 to avoid the left-right shaking of the wheel 1, and the front section blocking piece 10 is fixed on the test bench to block the outer side of the wheel to prevent the outward shaking of the wheel and ensure the accuracy of measured data;
the calibration plane is fixed with the wheel in a combined manner and keeps consistent with the center height of a laser array formed by combining a plurality of lasers;
the front-section gear piece 10 comprises a stopper 102 and a slide rail 101, the slide rail 101 is fixedly arranged on the horizontal table surface 31, the stopper 102 is arranged on the slide rail 101 and is in sliding connection with the slide rail 101, a concave hole which penetrates through the stopper and is provided with threads is further arranged on the stopper 102, a limiting screw 103 is in threaded connection with the concave hole, and the limiting screw 103 is tightly pressed against different positions on the slide rail to realize the limiting function of the stopper 102;
the inner surface of the sliding rail 101 is rough, so that when the bottom end of the limiting screw 103 is tightly propped against the sliding rail 101, enough friction force is generated, and the limiting performance of the limiter 102 is ensured.
The utility model discloses a theory of operation is: fixing a wheel 1 and a camera calibration plate 2 on a test support 3, wherein the wheel 1 and the camera calibration plate 2 share one test support 3, fixing the wheel 1 on a horizontal table surface 31, a calibration measurement plane and an actual measurement plane form a parallel relation, then placing the test support 3 at a position where two cameras can image the camera calibration plate 2, calibrating and determining internal parameters and external parameters of two cameras by measuring coordinates of each position point of the camera calibration plate 2, obtaining relative positions of a left camera and a right camera and a world coordinate system, determining the position relation between the two cameras, and simultaneously calculating the coordinates of each position point of the wheel; and then, virtually imaging the wheel 1 by using a laser, and further determining main positioning parameters such as a camber angle, a toe-in angle, a kingpin caster angle, a kingpin inclination angle and the like of the wheel through data analysis.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (7)
1. The utility model provides a four-wheel aligner wheel and compound supporting structure that marks of camera which characterized in that: including test support (3) and camera calibration board (2), test support (3) include horizontal mesa (31) and vertical face (32), install on vertical face (32) of test support (3) camera calibration board (2) through connecting piece (7) still be provided with the fixed subassembly of wheel on horizontal mesa (31), the wheel is placed test on the fixed subassembly of wheel, test support (3) of wheel (1) and camera calibration board (2) sharing, the actual measurement plane of guaranteeing wheel (1) is parallel with the demarcation measurement plane of camera calibration board (2).
2. The four-wheel aligner wheel and camera composite calibration support structure according to claim 1, wherein: the test support (3) further comprises an inclined support (33), the square aluminum support (5) is composed of a horizontal table board (31), a vertical board surface (32) and the inclined support (33), a layer of aluminum skin plate (4) is connected to the horizontal table board (31) and the vertical board surface (32) through fasteners (6), and the square aluminum support (5) is formed by fixedly connecting a plurality of square aluminum section bars.
3. The four-wheel aligner wheel and camera composite calibration support structure according to claim 2, wherein: the beam is made by cutting a square aluminum profile with the section size of 30mmX30 mm.
4. The four-wheel aligner wheel and camera composite calibration support structure according to claim 1, wherein: the connecting piece (7) is an L-shaped bayonet, and the camera calibration board (2) is detachably mounted on the vertical board surface (32) through the L-shaped bayonet.
5. The four-wheel aligner wheel and camera composite calibration support structure according to any one of claims 1 to 4, wherein: the wheel fixing assembly comprises a left radial stopper (9a), a right radial stopper (9b) and a front section blocking piece (10), wherein the left radial stopper (9a), the right radial stopper (9b) and the front section blocking piece (10) are fixedly mounted on the plane of a test bench (8), the left radial stopper (9a) and the right radial stopper (9b) are used for fixing the left side and the right side of a wheel (1) to avoid the left side and the right side of the wheel (1) to shake, the front section blocking piece (10) is fixed on the test bench to block the outer side of the wheel, the wheel is prevented from shaking outwards, and the accuracy of measured data is ensured.
6. The four-wheel aligner wheel and camera composite calibration support structure according to claim 5, wherein: anterior segment gear piece (10) include stopper (102) and slide rail (101), slide rail (101) are fixed to be set up on horizontal mesa (31), stopper (102) set up on slide rail (101), with slide rail (101) sliding connection, still be provided with on stopper (102) and run through the stopper and take the screwed shrinkage pool, stop screw (103) and shrinkage pool threaded connection, through stop screw (103) top tight different positions on the slide rail realize the limit function of stopper (102).
7. The four-wheel aligner wheel and camera composite calibration support structure according to claim 6, wherein: one side surface of the wheel (1) is parallel to the calibration surface of the camera calibration plate (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921498082.1U CN210464954U (en) | 2019-09-10 | 2019-09-10 | Four-wheel aligner wheel and camera composite calibration support structure |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921498082.1U CN210464954U (en) | 2019-09-10 | 2019-09-10 | Four-wheel aligner wheel and camera composite calibration support structure |
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| CN210464954U true CN210464954U (en) | 2020-05-05 |
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| CN201921498082.1U Expired - Fee Related CN210464954U (en) | 2019-09-10 | 2019-09-10 | Four-wheel aligner wheel and camera composite calibration support structure |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113610929A (en) * | 2021-08-09 | 2021-11-05 | 西安外事学院 | Camera and multi-line laser combined calibration method |
| CN113933080A (en) * | 2021-09-27 | 2022-01-14 | 江苏徐工工程机械研究院有限公司 | Engineering machine tool driver's cabin H point calibration device |
| WO2022111297A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市道通科技股份有限公司 | Calibration rack and calibration device |
-
2019
- 2019-09-10 CN CN201921498082.1U patent/CN210464954U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022111297A1 (en) * | 2020-11-27 | 2022-06-02 | 深圳市道通科技股份有限公司 | Calibration rack and calibration device |
| CN113610929A (en) * | 2021-08-09 | 2021-11-05 | 西安外事学院 | Camera and multi-line laser combined calibration method |
| CN113610929B (en) * | 2021-08-09 | 2023-08-18 | 西安外事学院 | Combined calibration method of camera and multi-line laser |
| CN113933080A (en) * | 2021-09-27 | 2022-01-14 | 江苏徐工工程机械研究院有限公司 | Engineering machine tool driver's cabin H point calibration device |
| CN113933080B (en) * | 2021-09-27 | 2024-05-31 | 江苏徐工工程机械研究院有限公司 | Engineering machine tool driver's cabin H point calibration device |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200819 Address after: No.18, Yudou Road, Yuhua street, hi tech Zone, Xi'an City, Shaanxi Province Patentee after: Xi'an Longteng Zhixing Electronic Information Technology Co.,Ltd. Address before: 710077 No. 18 fish Road, Yanta District, Shaanxi, Xi'an Patentee before: XI'AN INTERNATIONAL University |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200505 |
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| CF01 | Termination of patent right due to non-payment of annual fee |