CN114353727B

CN114353727B - Calibration method and system for central line of articulated bus

Info

Publication number: CN114353727B
Application number: CN202110812143.2A
Authority: CN
Inventors: 刘登明; 郭强; 刘阳; 李续胜; 周鹏
Original assignee: Xiangyang Daan Automobile Test Center Co Ltd
Current assignee: Xiangyang Daan Automobile Test Center Co Ltd
Priority date: 2021-07-19
Filing date: 2021-07-19
Publication date: 2023-08-22
Anticipated expiration: 2041-07-19
Also published as: CN114353727A

Abstract

The invention relates to a calibration system of a central line of a hinged passenger car and a method for calibrating the hinged passenger car by using the system, wherein the calibration system comprises a laser measuring device, a width calibrating device, a width measuring device and a cantilever Liang Biaoji device; the laser measuring device is arranged in a license plate frame of the to-be-measured automobile body, the width measuring device is arranged on the side end of the to-be-measured automobile body, and the width calibrating device corresponds to the width measuring device and is arranged on the other side end of the to-be-measured automobile body; the width calibration device comprises a photoelectric sensor and a mounting bracket, and the photoelectric sensor can transversely move along the mounting bracket along with the driving device; the cantilever Liang Biaoji device comprises a base capable of translating along a guide rail, a stand column which is erected on the base, a cantilever beam which can be lifted along with a lifting mechanism is arranged on the stand column, the cantilever beam is vertical to the stand column, a yielding groove is formed in one side of the stand column, and a triaxial calibration rod which can transversely move along with a reciprocating mechanism is arranged on the cantilever beam; the calibration mode is simple, and the calibration precision is high.

Description

Calibration method and system for central line of articulated bus

Technical Field

The invention relates to the technical field of vehicle center line calibration, in particular to a method and a system for calibrating a center line of a hinged passenger car.

Technical Field

The articulated passenger car needs to calibrate the central line of the car body which is stopped at a static level. The vehicle body is formed by connecting two or more carriages through hinges, and compared with the traditional passenger vehicles and commercial vehicles, the structure has more than 2 central lines, and the central lines of the articulated passenger vehicles cannot be measured efficiently by using a common measuring method.

The patent with the publication number of CN109358338A discloses a vehicle calibration method and system, wherein the vehicle to be calibrated is positioned in a preset calibration area by acquiring a vehicle offset angle of the vehicle to be calibrated, an object to be calibrated is arranged on the vehicle to be calibrated, and the vehicle offset angle is an included angle between a vehicle central axis of the vehicle to be calibrated and an area central axis of the calibration area. Based on the vehicle offset angle, the center point of the target plate on the mobile equipment is opposite to the center point of the object to be calibrated, and the object to be calibrated is calibrated.

The prior art can not calibrate the center line of a vehicle body by calibrating objects to be calibrated on the vehicle in the process of moving the target plate, and can not calibrate a plurality of center lines of a plurality of carriages.

Technical proposal

The invention aims to solve the defects of the prior art, thereby providing a calibration system for the central line of the articulated bus, which has the advantages of simple calibration mode and high calibration precision.

The invention also aims at a method for calibrating the hinged passenger car by using the calibration system.

The calibration system for the central line of the articulated bus comprises a laser measuring device, a width calibrating device, a width measuring device and a cantilever Liang Biaoji device for calibrating the central line of the bus body; the laser measuring device is arranged in a license plate frame of the to-be-measured vehicle body, the width measuring device is arranged on the side end of the to-be-measured vehicle body, and the width calibrating device corresponds to the width measuring device and is arranged on the other side end of the to-be-measured vehicle body;

the laser measuring device and the width measuring device both comprise a license plate frame, a triaxial holder arranged on the license plate frame, an angle coding disc arranged on the triaxial holder, and a telescopic rod, wherein the telescopic rod is vertically arranged on the center of the rotation of the angle coding disc and can coaxially rotate along with the angle coding disc; the central axis of the telescopic rod of the laser measuring device is vertical to and intersected with the central axis of the corresponding carriage; a photoelectric receiver III capable of receiving laser emitted by the laser measuring device is arranged at the top end of the width measuring device;

The width calibration device comprises a photoelectric sensor for receiving laser emitted by the width measurement device and a mounting bracket, and the photoelectric sensor can transversely move along the mounting bracket along with the driving device;

the cantilever Liang Biaoji device comprises a base capable of translating along a guide rail, a stand column which is erected on the base, a cantilever beam which can be lifted along with a lifting mechanism is arranged on the stand column, the cantilever beam is vertical to the stand column, a yielding groove is formed in one side of the stand column, and a triaxial calibration rod which can transversely move along with a reciprocating mechanism is arranged on the cantilever beam; the guide rail is paved on the horizontal workbench surface along the length direction of the body to be tested.

The two laser measuring devices are respectively arranged in license plate frames at the front end and the rear end of the two sections of the car bodies of the articulated passenger car, the two width measuring devices are respectively arranged at the side parts of the two sections of the car bodies of the articulated passenger car, the two width calibrating devices are respectively corresponding to the two width measuring devices one by one, and the cantilever Liang Biaoji device is at least one;

the device also comprises a controller for controlling the actions of the laser measuring device, the width calibrating device, the width measuring device and the cantilever Liang Biaoji device; a wireless receiver is arranged on the triaxial holder of the laser measuring device; the three-axis holder of the width measuring device is provided with a wireless transmitter, and the wireless receiver, the wireless transmitter and the controller are in signal intercommunication through a wireless communication module.

Two vertical laser transmitters capable of rotating along with the angle coding disc are arranged on the angle coding disc of the laser measuring device and the width measuring device, the side wall of the top end of the telescopic rod is connected with a vertical laser receiver vertically corresponding to the two vertical laser transmitters through a connecting rod, the top end of the telescopic rod is provided with a supporting plate for installing a motor, and the telescopic rod is made of carbon fiber;

a backup plate is arranged on a telescopic rod of the width measuring device, and two parallel laser range finders are arranged on one side, close to the vehicle body, of the backup plate;

the license plate frame is formed by a bottom plate and a vertical plate connected to one side of the bottom plate; two through holes for corresponding and fixing with bolt mounting holes in the license plate frame are formed in the vertical plate of the license plate frame of the laser measuring device, two screw holes are formed in the two end parts of the bottom plate, and foundation fixing bolts are arranged in each screw hole; the back side of the vertical plate of the license plate frame of the width measuring device is provided with more than one magnetic sucking disc.

The mounting bracket is of a frame structure formed by welding two upright posts and a plurality of cross beams, the bottom of each upright post is provided with a ball head, the ball heads are fixed in a universal ball head locking mechanism, the universal ball head locking mechanism is fixed on a magnetic chuck bracket, and the magnetic chuck bracket is fixedly connected with a magnetic chuck I;

The universal ball head locking mechanism comprises a spherical groove sleeved at the lower end part of the ball head, a spherical supporting ring sleeved at the upper end part of the ball head and a nut used for fixedly connecting the spherical groove and the spherical supporting ring; the outer wall of the spherical groove is provided with an external thread, and the interior of the spherical groove is provided with a spherical hole I matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring; the nut is internally provided with a step hole, the step hole comprises a large step hole and a small step hole connected to the large step hole, the large step hole is internally provided with an internal thread matched with the external thread of the outer wall of the spherical groove, and the aperture of the small step hole is smaller than the outer diameter of the spherical supporting ring;

the driving device comprises a reciprocating screw rod and a polished rod which are connected between two upright posts side by side, a photoelectric sensor positioning seat sleeve is arranged on the reciprocating screw rod and the polished rod, and a threaded hole and a polished hole which are used for penetrating the reciprocating screw rod and the polished rod are arranged on the photoelectric sensor positioning seat; a tooth pin matched with the spiral groove outside the reciprocating screw rod is arranged in the threaded hole;

symmetrical laser distance meters and level meters are respectively arranged on the two upright posts.

The lifting mechanism comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, a positive and negative bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam is fixedly connected with the nut, and the relief groove is in clearance fit with the cantilever beam;

The lower end face of the cantilever beam is provided with a T-shaped groove, the reciprocating mechanism comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped sliding block sleeved on the reciprocating screw rod, the T-shaped sliding block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the triaxial calibration rod is fixed on the T-shaped sliding block.

The triaxial calibration rod comprises an air pump sucker, a calibration rod body and an alignment device for controlling the calibration rod body to automatically align according to laser beams emitted by the laser measuring device; the air pump sucker is adsorbed on the lower end surface of the T-shaped sliding block;

the alignment device comprises an angle coding disc III and an alignment device, the alignment device is arranged on an output shaft of the angle coding disc III, the alignment device comprises an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism, the Y-axis direction alignment mechanism is arranged on an X-axis direction alignment rod of the X-axis direction alignment mechanism, the Z-axis direction alignment mechanism is arranged on a Y-axis direction alignment rod of the Y-axis direction alignment mechanism, and a tray is arranged on a Z-axis direction alignment rod of the Z-axis direction alignment mechanism; the third angle coding disc is arranged on the air pump sucker, and the axis of the third output shaft of the angle coding disc is level with the central line of the air pump sucker;

The air pump sucking disc is provided with a first attitude sensor for detecting the angle deviation value of X, Y, Z three axes between the upper surface of the air pump sucking disc and the horizontal direction, the first attitude sensor is connected with a first wireless communication module and is used for sending a detection signal of the first attitude sensor to the controller, and the first attitude sensor is processed to control the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism to automatically align according to the angle deviation value of X, Y, Z three axes;

the transition connecting shaft is vertically arranged on the tray, the top end of the transition connecting shaft is vertically connected with the middle part of the calibration rod body, the calibration rod body is of a hollow tube structure, the two end parts of the calibration rod body are respectively provided with a first photoelectric receiver for receiving laser, and the central shafts of the first photoelectric receivers are flush with the central shaft of the calibration rod body; the calibration rod body is provided with a photoelectric receiver II and a laser transmitter III in parallel along the radial direction, and the photoelectric receiver II is positioned at the center of the calibration rod body and is vertical to the transitional connecting shaft.

The system comprises a first wireless communication module, a second wireless communication module, a first attitude sensor, a second attitude sensor, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism, wherein the first attitude sensor is used for detecting the angle deviation value of X, Y, Z triaxial between the upper surface of the tray and the horizontal direction in real time;

The X-axis direction alignment mechanism comprises a support tray fixed on three output shafts of the angle coding disc, an X-axis direction leveling rod is supported on two side walls of the support tray through bearings, one end of the X-axis direction leveling rod penetrates through one side wall of the support tray, an X-axis direction driven gear is arranged at the top end of the X-axis direction leveling rod, an X-axis direction driving gear is arranged on an output shaft of the X-axis direction motor, and the X-axis direction driving gear is meshed with the X-axis direction driven gear;

the Y-axis direction alignment mechanism comprises a Y-axis direction tray, the Y-axis direction tray is vertically fixed on an X-axis direction leveling rod, the Y-axis direction leveling rod is supported on two side walls of the Y-axis direction tray through bearings, one end of the Y-axis direction leveling rod penetrates through one side wall of the Y-axis direction tray, a Y-axis direction driven gear is arranged at the top end of the Y-axis direction leveling rod, a Y-axis direction driving gear is arranged on an output shaft of the Y-axis direction motor, and the Y-axis direction driving gear is meshed with the Y-axis direction driven gear;

the Z-axis direction alignment mechanism comprises a Z-axis direction tray, the Z-axis direction tray is vertically fixed on a Y-axis direction leveling rod, the Z-axis direction leveling rod is supported on two side walls of the Z-axis direction tray through bearings, one end of the Z-axis direction leveling rod penetrates through one side wall of the Z-axis direction tray, a Z-axis direction driven gear is arranged at the top end of the Z-axis direction leveling rod, a Z-axis direction driving gear is arranged on an output shaft of a Z-axis direction motor, and the Z-axis direction driving gear is meshed with the Z-axis direction driven gear;

The X-axis direction wireless signal receiver, the Y-axis direction wireless signal receiver and the Z-axis direction wireless signal receiver are respectively arranged on the supporting tray, the Y-axis direction tray and the Z-axis direction tray.

A protective cover is found outside the alignment device, and a yielding through hole is formed in the middle of the upper end of the protective cover;

the two ends of the air pump sucker are respectively provided with a handle, and the air pump sucker is provided with a sucker air inlet button and a sucker exhaust valve.

The method for calibrating the articulated bus by using the calibration system of the technical scheme comprises the following steps of:

step 1: placing the articulated passenger car on a horizontal workbench surface, and installing a laser measuring device, a width calibrating device and a width measuring device at corresponding positions of a body of the articulated passenger car;

step 2: controlling a laser emitter on the width measuring device to emit laser, sequentially reflecting the laser by an isosceles right triangular prism and a plane reflecting mirror and then emitting the laser to one side of the width calibrating device, and driving a photoelectric sensor by a driving device of the width calibrating device to translate until the laser emitted by the width measuring device is received and then stop moving, wherein a horizontal connecting line of a receiving point of the photoelectric sensor and three receiving points of a photoelectric receiver of the width measuring device is a straight line L, and a perpendicular bisector of the straight line L is level with a central line;

Step 3: calibrating an included angle between a connecting line A between the laser points emitted by the plane reflectors of the two laser measuring devices and the corresponding photoelectric sensors and a connecting line B between the laser points emitted by the plane reflectors of the laser measuring devices and the corresponding photoelectric receivers;

step 4: according to the included angle measured in the step 3, controlling an angle coding disc on the laser measuring device to rotate from the photoelectric sensor to the three sides of the photoelectric receiver or rotate from the three sides of the photoelectric receiver to one side of the photoelectric sensor by half of the included angle measured in the step 3, wherein the laser beam emitted by the plane reflecting mirror of the laser measuring device is level with the central line of the corresponding carriage;

step 5: moving the cantilever Liang Biaoji device to the rear part of the hinged passenger car body on the guide rail, and driving the triaxial calibration rod to move left and right along the cantilever beam by the reciprocating mechanism so as to search the laser beam reflected by the plane mirror; when the photoelectric receivers II of the triaxial calibration rod receive the laser beams reflected by the plane mirror, the reciprocating mechanism stops moving, the triaxial calibration rod is rotated to enable the axis of the triaxial calibration rod to coincide with the laser beams reflected by the plane mirror, at the moment, the lifting mechanism moves downwards to drive the triaxial calibration rod to move downwards, the movement is stopped until the triaxial calibration rod touches the top of the articulated bus body, the photoelectric receivers I of the axes at the two ends of the calibration rod body coincide with the laser beams, and at the moment, the position of the calibration rod body is the center line of the corresponding bus body.

In the step 1, the laser beam emitted by the laser measuring device and the central line of the corresponding carriage are required to be ensured to be in the same vertical plane, and the vertical distance from the receiving position of the photoelectric sensor on the width calibrating device to the side part of the corresponding carriage is ensured to be consistent with the vertical distance from the central point of the plane reflecting mirror at the upper end of the width measuring device to the other side part of the corresponding carriage;

in the step 3, a laser transmitter on the laser measuring device is controlled to emit laser beams, the laser beams are sequentially reflected by an isosceles right triangular prism and a plane reflecting mirror and then emitted from the top of a carriage, an angle coding disc on the laser measuring device is controlled to rotate so as to drive the laser beams to scan clockwise or anticlockwise, when the laser beams are scanned to a photoelectric sensor/photoelectric receiver III on the width calibrating device/width measuring device, the angle of the angle coding disc is recorded as zero, and the angle is recorded as an included angle between a connecting line A between a laser point emitted by the plane reflecting mirror of the laser measuring device and a corresponding photoelectric sensor and a connecting line B between the laser point emitted by the plane reflecting mirror of the laser measuring device and the corresponding photoelectric receiver III until the laser beams are scanned to other photoelectric sensor/photoelectric receiver III.

1. The method comprises the steps that the position of a movable sensor on a width calibration device is determined, a laser beam emitted by a laser measuring device rotates to scan the movable sensor on the width calibration device and a photoelectric receiver on the width measurement device to obtain an included angle a in the horizontal projection direction, the laser beam is ensured to be positioned on a vehicle body center line by half of the included angle a, finally, the three-axis standard rod is overlapped with the laser beam, the three-axis standard rod is ensured to be overlapped with the vehicle body center line, the vehicle body center line can be accurately drawn through the position of the three-axis standard rod, the vehicle body center line of another vehicle body can be drawn in the same mode through simple movement of the three-axis standard rod along the length direction, and the method is simple and high in calibration precision.

2. The laser beam emitted from the width measuring device can change in a pitching way through the rotation angle of the plane reflecting mirror, only the other end of the emitted laser beam can be scanned to the movable photoelectric sensor of the width calibrating device through pitching adjustment of the height, the height of a laser point on the plane reflecting mirror is not required to be ensured to be equal to the height of the movable photoelectric sensor of the width calibrating device, and therefore the device structure is simplified, and measurement is simpler and faster; in addition, the laser beam emitted by the laser measuring device can also change in elevation through adjusting the angle of the upper plane reflecting mirror, only the other end of the emitted laser beam is required to be ensured to be capable of respectively scanning the width calibrating device and the width measuring device through adjusting the elevation in elevation, the heights of the laser point on the upper plane reflecting mirror, the movable photoelectric sensor and the photoelectric receiver are not required to be ensured, and the device structure is simplified and the measurement is simpler and faster.

3. The support body guardrail is fixed through universal bulb locking mechanism and can rotate in order to nimble distance H1 and H2 of adjusting two support body guardrails and automobile body, adjusts nimble convenience, easy operation.

4. The system of the scheme can measure the central lines of buses with different models and sizes, and the laser measuring device, the width calibrating device and the width measuring device are detachably connected with the car body and can be conveniently detached for calibrating other vehicles; the system can not only calibrate the vehicle with two carriages, but also calibrate three or more carriages in the same mode, and the calibration system of the scheme has stronger universality.

Drawings

FIG. 1 is a front view of an embodiment of the present invention;

FIG. 2 is a top view of an embodiment of the present invention;

FIG. 3 is a rear view of an embodiment of the present invention;

FIG. 4 is a schematic diagram of a laser measuring device;

FIG. 5 is a schematic view of a part of the structure of a laser measuring device;

FIG. 6 is a measurement schematic diagram of a laser measurement device;

FIG. 7 is a schematic diagram of a width calibration device;

FIG. 8 is a top view of the width calibration device;

FIG. 9 is a side view of the width apparatus;

FIG. 10 is a schematic diagram of the mechanism of the universal ball locking mechanism;

FIG. 11 is a schematic view of the structure of the width measuring device;

FIG. 12 is a schematic view of a portion of a width measuring apparatus;

FIG. 13 is a schematic diagram of a portion of a width measurement device;

FIG. 14 is a schematic diagram of calibration of a width measurement device;

fig. 15 is a schematic view of the structure of the cantilever Liang Biaoji device;

fig. 16 is a schematic view of a part of the structure of the cantilever Liang Biaoji device;

fig. 17 is a measurement schematic of the cantilever Liang Biaoji device;

FIG. 18 is a schematic structural view of a triaxial calibration rod;

FIG. 19 is an exploded view of a triaxial calibration rod;

FIG. 20 is a schematic view of the alignment device;

in the figure: 1-laser measuring device, 2-width calibrating device, 3-width measuring device, 4-cantilever Liang Biaoji device, 5-guide rail, 6-hinged bus body, 7, laser beam, 11, triaxial calibration rod;

111-a license plate frame I, 112-a foundation fixing bolt, 113-a triaxial holder I, 114-an angle coding disc I, 151-a vertical laser transmitter I, 152-a vertical laser transmitter II, 116-a telescopic rod I, 171-a vertical laser receiver I, 172-a vertical laser receiver II, 181-an isosceles right triangular prism I, 182-a plane mirror I, 183-a motor I, 184-a support plate I, 120-a laser transmitter I and 122-a wireless receiver;

211-a magnetic chuck I, 212-a mounting bracket, 213-a level meter, 241-a left laser range finder, 242-a right laser range finder, 215-a reciprocating screw rod, 216-a photoelectric sensor, 217-a universal ball locking mechanism, 271-a ball groove, 272-a ball supporting ring, 273-a nut and 274-a magnetic chuck bracket;

311-a second license plate frame, 312-a second magnetic chuck, 313-a second triaxial holder, 314-a second angle coding disc, 351-a third vertical laser transmitter, 352-a fourth vertical laser transmitter, 316-a second telescopic rod, 371-a third vertical laser receiver, 372-a fourth vertical laser receiver, 318-a second isosceles right angle prism, 382-a second plane mirror, 383-a second motor, 384-a second supporting plate, 385-a third photoelectric receiver, 319-a back plate, 391-a first laser range finder, 392-a second laser range finder, 320-a second laser transmitter, 321-a power supply and 322-a wireless transmitter;

411-base, 412-upright, 413-elevating mechanism, 414-reciprocating mechanism, 415-cantilever beam.

1100. Air pump suction cup, 1101, handle, 1102, suction cup air intake button, 1103, suction cup air discharge valve, 1104, shield, 1105, battery, 1106, attitude sensor one, 1107, angle encoding disk three, 1108, support tray, 1109, X-axis direction leveling rod, 1110, X-axis direction driven gear, 1111, X-axis direction driving gear, 1112, X-axis direction motor, 1113, X-axis direction wireless signal receiver, 1114, Y-axis direction tray, 1115, Y-axis direction leveling rod, 1116, Y-axis direction driven gear, 1117, Y-axis direction driving gear, 1118, Y-axis direction motor, 1119, Y-axis direction wireless signal receiver, 1120, Z-axis direction tray, 1121, Z-axis direction leveling rod, 1122, Z-axis direction driven gear, 1123, Z-axis direction driving gear, 1124, Z-axis direction motor, 1125, Z-axis direction wireless signal receiver, 1126, tray, 1127, transition axis, 1128, attitude sensor two, 1129, wireless communication module one, 1130, calibration rod body, 1131, 1132, 1133, three laser emitters; 1134. photoelectric receiver two, 1135, wireless communication module two.

Detailed Description

The invention provides a calibration method and a calibration system for a central line of an articulated bus, wherein the central line is used for installing a vehicle GPS device.

In order to facilitate understanding of the method and system according to the present embodiment, a detailed description will be given of a structure for implementing the method according to the present embodiment.

Embodiment one:

as shown in fig. 1-3, the system comprises two laser measuring devices 1 respectively positioned at the central positions of the front and rear parts of the articulated passenger car 6, two width calibrating devices 2 which are far away from the laser measuring devices 1 and positioned on the side walls of the carriage, and two width measuring devices 3 which are oppositely arranged on the carriage and the width calibrating devices 2, wherein a guiding slide rail 5 which is paved on a horizontal working table surface along the length direction of a to-be-detected vehicle body is arranged on the guiding slide rail 5, a cantilever Liang Biaoji device 4 is arranged on the guiding slide rail 5, the guiding slide rail 5 plays a guiding role, and the cantilever Liang Biaoji device 4 is ensured to move along the length direction of the articulated vehicle body along with the guiding track 5.

According to the scheme, the laser beam is emitted by the width measuring device 3 along the width direction of the vehicle body, the width direction is the direction perpendicular to the central line of the vehicle body, the laser beam emitted by the width measuring device 3 can be adjusted in a pitching mode in the vertical direction through the motor two 383, so that the width calibrating device 2 moves on the guide sliding rail 5 to receive the laser beam emitted by the width measuring device 3, and the position of the photoelectric sensor 216 on the width calibrating device 2 is determined; then the laser measuring device 1 emits the laser beam 7 to the width calibrating device 2 to enable the photoelectric sensor 216 to receive the laser, the angle of the angle code disc I114 at the moment is recorded as 0, the angle code disc I114 continuously rotates horizontally, the motor I183 drives the plane mirror I182 to pitch so that the laser beam 7 emits the laser beam to the width measuring device 3 and receives the laser, and the angle of the angle code disc I114 horizontally rotates is recorded as a; then, the half of the backward rotation angle a of the laser beam 7 emitted by the laser measuring device 1 ensures that the laser beam coincides with the central line of the vehicle body; finally, by vertically moving the cantilever beam 415 on the cantilever Liang Biaoji device 4 and rotating the triaxial calibration rod 418, the photoelectric sensors at the two ends of the triaxial calibration rod are coaxial with the laser beam 7, and by calibrating the triaxial calibration rod 11, the vehicle body center line can be calibrated. Likewise, another carriage can be marked with the body center line in the same manner, wherein the number of the cantilever Liang Biaoji devices 4 can be one, so as to mark the body center lines of the two carriages respectively by moving on the guide slide rail 5.

The method and the system can automatically detect the position relation between the triaxial calibration rod and the vehicle center line through the cantilever Liang Biaoji device on the vehicle, and then draw the vehicle center line according to the triaxial calibration rod. The calibration method of the scheme is high in automation degree and accuracy. The calibration method is a main invention point of the scheme.

As shown in fig. 4, the laser measurement device 1 includes a license plate frame 111, a three-axis cradle head 113 arranged on the license plate frame 111, an angle code disc 114 arranged on the three-axis cradle head 113, and a telescopic rod 116, wherein the telescopic rod 116 stands on the rotation center of the angle code disc 114 and can coaxially rotate along with the angle code disc 114, a laser transmitter 120 which can rotate along with the angle code disc 114 is also arranged on the angle code disc 114, the telescopic rod 116 is of a hollow structure, windows are arranged at two ends, an isosceles right triangular prism 181 is arranged at the window at the lower end, a plane reflector 182 which can rotate along with a motor 183 is arranged at the window at the upper end, and a laser beam 7 emitted by the laser transmitter 120 is opposite to the midpoint of the hypotenuse of the isosceles right triangular prism 181 and is reflected along the central line of the telescopic rod 116 and then is emitted on the plane reflector 182; the central axis of the first telescopic rod 116 is vertical to and intersected with the central axis of the corresponding carriage; the first license plate frame 111 is formed by a bottom plate and a vertical plate connected to one side of the bottom plate into a bending structure; two through holes for corresponding and fixing with bolt mounting holes in the license plate frame are formed in the vertical plate of the license plate frame one 111, two screw holes are formed in the two end portions of the bottom plate, foundation fixing bolts 112 are mounted in each screw hole, the foundation fixing bolts 112 are placed on the license plate frame one 111, one end of each foundation fixing bolt is supported on the test platform, and a stable supporting surface is formed with the foundation fixing bolts 112; the function of the three-axis tripod head I113 is to level the license plate frame in the X and Y directions, so that the three-axis tripod head and the angle coding disc I114 connected with the three-axis tripod head are ensured to be level.

As shown in fig. 5, the first vertical laser transmitter (Y direction) 151 and the second vertical laser transmitter (X direction) 152 mounted on the first angle encoding disk 114 emit vertical calibration laser beams upwards, and coordinate with the corresponding first vertical laser receiver (Y direction) 171 and second vertical laser receiver (X direction) 172 to calibrate, so as to ensure that the first telescopic rod 116 is perpendicular to the horizontal plane; if the telescoping rod one 116 is not vertically replaced, wherein the telescoping rod one 116 is a vertical reference calibration rod.

As shown in fig. 6, the first laser transmitter 120 is placed on the first angle encoder 114, the horizontal laser beam 7 emitted by the first laser transmitter 120 is injected into the first isosceles right triangular prism 181 to change the angle by 90 ° and then is injected into the first plane mirror 182 after being changed into a vertical beam, the first plane mirror 182 is driven by the first motor 183 placed on the first support plate 184 to rotate clockwise or counterclockwise, and at this time, the light reflected by the first plane mirror 182 realizes the pitching of the angle of the light along with the clockwise or counterclockwise rotation of the first plane mirror 182.

It should be noted that, the first laser transmitter 120 is configured to transmit laser to the width calibration device and the width measurement device through the rotation angle coding disc to record the horizontal projection included angle a, that is, the horizontal rotation angle of the angle coding disc, without controlling the laser beam to be located at the same height as the device a and the width calibration device, so as to simplify the limitation condition of the measurement angle, simplify the device structure, and simplify the measurement mode.

As shown in fig. 7-9, two magnetic suction cups 211 are adsorbed on the side surface of a passenger car body, a magnetic suction cup bracket 274 is installed on one side, far away from the car body, of the two magnetic suction cups 211, a universal ball head locking mechanism 217 is installed on the magnetic suction cup bracket 274, the universal ball head locking mechanism is connected with a vertical installation support 212, the installation support 212 is of a frame structure formed by welding two upright posts and a plurality of cross beams, a ball head is arranged at the bottom of each upright post, the ball head is fixed in the universal ball head locking mechanism 217, a reciprocating screw 215 is connected between the two upright posts, a movable photoelectric sensor 216 capable of moving along the reciprocating screw 215 is arranged on the reciprocating screw 215, a polish rod parallel to the reciprocating screw 215 is arranged between the two upright posts, a threaded hole and a polish hole for penetrating the reciprocating screw 215 and the polish rod are formed in a positioning seat of the photoelectric sensor 216, and a tooth pin matched with a spiral groove outside the reciprocating screw 215 is arranged in the threaded hole. Two levels 213, left laser rangefinder 241, right laser rangefinder 242 are set separately on the outer sides of the two columns. Adjusting the level and the vertical of the mounting bracket 212 by using a level meter 213, and fine-adjusting the position of one of the magnetic sucking discs 211 by using the level meter until the level is adjusted in place, and then fine-adjusting the vertical by using a ball head until the adjustment is completed; the left laser distance meter 241 and the right laser distance meter 242 are used for measuring the distance from the vehicle body, and when h1=h2 is satisfied, the width calibration device 2 is determined to be installed and calibrated. The movable photosensor 216 on the mounting bracket 212 moves left and right along the reciprocating screw 215 in a direction parallel to the vehicle body.

As shown in fig. 10, the universal ball lock mechanism 217 includes a spherical groove 271 sleeved on the lower end of the ball, a spherical backing ring 272 sleeved on the upper end of the ball, and a nut 273 for fixedly connecting the spherical groove 271 and the spherical backing ring 272; the outer wall of the spherical groove 271 is provided with external threads, and the interior of the spherical groove is provided with a spherical hole I matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring 272; the nut is internally provided with a step hole, which comprises a large step hole and a small step hole connected to the large step hole, wherein the large step hole is internally provided with an internal thread matched with the external thread of the outer wall of the spherical groove 271, and the aperture of the small step hole is smaller than the outer diameter of the spherical supporting ring 272; after the mounting bracket 212 is adjusted to be horizontal and vertical by the level gauge 213, the quick locking nut 273 is rotated, so that the ball-shaped supporting ring 272 presses the ball head at the lower end of the mounting bracket 212 into the external thread ball-shaped groove 271, and the mounting bracket 212 is fixed by using the friction force of the pressing.

As shown in fig. 11-14, a second magnetic chuck 312 is connected with a second license plate frame 311, a second triaxial holder 313 is arranged on the second license plate frame 311, one end of a second angle encoding disk 314 is fixed with a second telescopic rod 316, and the other end of the second angle encoding disk is connected with the second triaxial holder 313; the third vertical laser transmitter (Y direction) 351 and the fourth vertical laser transmitter (X direction) 352 are arranged on the second angle coding disc 314, the third vertical laser receiver (Y direction) 371 and the fourth vertical laser receiver (X direction) 372 are upwards transmitted, whether the second telescopic rod 316 is vertical to the horizontal plane or not is calibrated, and whether the rod body is deformed or not is judged; the laser beam emitted by the second laser emitter 320 is reflected by the second isosceles right triangular prism 318 for 90 degrees and then vertically irradiates onto the second plane mirror 382; a motor two 383 placed on a supporting plate two 384 drives a plane mirror two 382 to rotate by an angle, at the moment, the angle of the laser beam reflected on the mirror surface of the motor two 383 changes in a pitching mode, the plane of the laser beam emitted by the laser emitter is perpendicular to the center line of the vehicle body, and the height of the other end of the laser beam can be adjusted through a pitching mechanism; the second license plate frame 311 is provided with a power source 321 for providing working power for the second triaxial holder 313, the second angle encoding disk 314, the second laser transmitter 320 and the second motor 383.

The first laser range finder 391 and the second laser range finder 392 are placed on the backup plate 319, the distance to the vehicle body is measured by the laser range finder, the second rotary angle coding disc 314 ensures that H3 = H4, and the laser beam on the width measuring device 3 is ensured to be emitted perpendicular to the center line of the vehicle body; in addition, it is necessary to satisfy h3=h4=h1=h2, and to ensure that the photoelectric sensor 216 of the width calibration device 2 and the photoelectric receiver three 385 of the width measurement device 3 are respectively at equal distances from the vehicle body, and thus to ensure that the two are respectively at equal distances from the center line of the vehicle body. The first telescopic rod 116 and the second telescopic rod 316 are made of carbon fiber materials.

As shown in fig. 15-17, a base 411 is disposed on a guide rail 5 and can move along the guide rail 5, a slider matched with the guide rail 5 is disposed at the bottom of the base 411, and a stand column 412 is connected to the base 411 and can rotate around the center of the circle; the cantilever beam 415 is fixedly connected with the lifting mechanism 413, and the lifting mechanism 413 can realize the larger-range up-and-down movement of the cantilever beam 415 along the upright post 412; the cantilever beam 415 is provided with a triaxial calibration rod 11 which can transversely move along with the reciprocating mechanism 414; the lifting mechanism 413 comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, a positive and negative bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam 415 is fixedly connected with the nut, and the relief groove is in clearance fit with the cantilever beam 415; the lower end face of the cantilever beam 415 is provided with a T-shaped groove, the reciprocating mechanism 414 comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped sliding block sleeved on the reciprocating screw rod, the T-shaped sliding block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the triaxial calibration rod 11 is fixed on the T-shaped sliding block. The reciprocating screw rod is connected with the output shaft of the driving motor.

As shown in fig. 18 to 19, the triaxial calibration rod 11 is provided with a second photoelectric receiver 1134 for receiving photoelectric signals; the index bar 1130 above the triaxial index bar 11 may be rotated by an angle. The triaxial calibration rod 11 comprises an air pump sucker 1100, a calibration rod body 1130 and an alignment device for controlling the calibration rod body to automatically align according to the laser 7 emitted by the laser measuring device 1; two ends of the air pump sucker 1100 are respectively provided with a handle 1101, a sucker exhaust valve 1103 on the air pump sucker 1100 can exhaust air in the air pump sucker 1100 to form pressure difference of the air pump sucker 1100 for absorbing a vehicle body, the air pump sucker 1100 is fixed on the vehicle body when the air pump sucker 1100 is used, and a sucker air inlet button 1102 has the function of enabling air to enter the air pump sucker 1100 to enable the internal pressure and the external pressure of the air pump sucker 1100 to be consistent, and at the moment, the sucker 1 is separated from the vehicle body; the air pump chuck 1100 is provided with a battery 1105 for providing working power to the third angle encoding disk 1107, the X-direction motor 1112, the Y-direction motor 1118, the first attitude sensor 1106, the second attitude sensor 1128, the first wireless communication module 1129, the second wireless communication module 1135, and the like. The outer part of the alignment device is provided with a protective cover 1104, the middle part of the upper end of the protective cover is provided with a yielding through hole, the protective cover 1104 plays a role in protecting all parts inside, the alignment device comprises an angle coding disc III 1107 and an alignment device, the alignment device is arranged on an output shaft of the angle coding disc III 1107 and comprises an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism, the Y-axis direction alignment mechanism is arranged on an X-axis direction alignment rod 1109 of the X-axis direction alignment mechanism, the Z-axis direction alignment mechanism is arranged on a Y-axis direction alignment rod 1115 of the Y-axis direction alignment mechanism, and a tray 1126 is arranged on a Z-axis direction alignment rod 1121 of the Z-axis direction alignment mechanism; the transition connecting shaft 1127 is vertically erected on the tray 1126, the top end of the transition connecting shaft 1127 is vertically connected with the middle part of the calibration rod body 1130, the calibration rod body 1130 is of a hollow tube structure, two end parts are connected with a first photoelectric receiver 1131 for receiving laser through a supporting frame 1132, and the central axes of the first photoelectric receivers 1131 are level with the central axis of the calibration rod body 1130;

The third 1107 angle coding plate is arranged on the air pump sucker 1100, and the axis of the output shaft of the third 1107 angle coding plate is level with the central line of the air pump sucker 1100; the air pump sucker 1100 is provided with a first attitude sensor 1106 for detecting an angle deviation value of X, Y, Z three axes between the upper surface of the air pump sucker 1100 and the horizontal direction, the first attitude sensor 1106 is connected with a first 1129 wireless communication module and is used for sending detection signals of the first attitude sensor 1106 to a controller, and the first attitude sensor 1106 is processed to control an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism to automatically align according to the angle deviation value of X, Y, Z three axes.

As shown in fig. 20, the X-axis direction alignment mechanism comprises a supporting tray 1108 fixed on the output shaft of an angle coding disc three 1107, an X-axis direction leveling rod 1109 is supported on two side walls of the supporting tray 1108 through bearings, one end of the X-axis direction leveling rod 1109 passes through one side wall of the supporting tray 1108, an X-axis direction driven gear 1110 is arranged at the top end of the supporting tray, an X-axis direction driving gear 1111 is arranged on the output shaft of an X-axis direction motor 1112, the X-axis direction driving gear 1111 is meshed with the X-axis direction driven gear 1110, the rotating speed of the motor is too fast, and the speed is reduced through the speed reduction of the gears, so that the leveling can be conveniently realized; the Y-axis direction aligning mechanism comprises a Y-axis direction tray 1114, the Y-axis direction tray 1114 is vertically fixed on an X-axis direction leveling rod 1109, the Y-axis direction leveling rod 1115 is supported on two side walls of the Y-axis direction tray 1114 through bearings, one end of the Y-axis direction leveling rod 1115 penetrates through one side wall of the Y-axis direction tray 1114, a Y-axis direction driven gear 1116 is arranged at the top end of the Y-axis direction leveling rod, a Y-axis direction driving gear 1117 is arranged on an output shaft of a Y-axis direction motor 1118, and the Y-axis direction driving gear 1117 is meshed with the Y-axis direction driven gear 1116; the Z-axis direction aligning mechanism comprises a Z-axis direction tray 1120, the Z-axis direction tray 1120 is vertically fixed on a Y-axis direction leveling rod 1115, a Z-axis direction leveling rod 1121 is supported on two side walls of the Z-axis direction tray 1120 through bearings, one end of the Z-axis direction leveling rod 1121 penetrates through one side wall of the Z-axis direction tray 1120, a Z-axis direction driven gear 1122 is arranged at the top end of the Z-axis direction tray, a Z-axis direction driving gear 1123 is arranged on an output shaft of a Z-axis direction motor 1124, and the Z-axis direction driving gear 1123 is meshed with the Z-axis direction driven gear 1122. The support tray 1108, the Y-axis direction tray 1114, and the Z-axis direction tray 1120 are respectively provided with an X-axis direction wireless signal receiver (model TAK-LORA-01) 1113, a Y-axis direction wireless signal receiver (model TAK-LORA-01) 1119, and a Z-axis direction wireless signal receiver (model TAK-LORA-01) 1125. The X-axis direction wireless signal receiver 1113 receives the X-axis direction angle signal emitted from the attitude sensor one 1106, transmits the X-axis direction angle signal to the X-axis direction motor 1112, and makes the Y-axis direction tray 1114 support plate on the X-axis direction leveling rod 1109 in a horizontal state by the meshing transmission of the X-axis direction driving gear 1111 and the X-axis direction driven gear 1110; the Y-axis wireless signal receiver 1119 receives a Y-axis angle signal transmitted by the attitude sensor I1106, transmits the Y-axis angle signal to the Y-axis motor 1118, and enables the Z-axis tray 1120 support plate on the Y-axis leveling rod 1115 to be in a horizontal state through the meshing transmission of the Y-axis driving gear 1117 and the Y-axis driven gear 1116; similarly, the Z-axis wireless signal receiver 1125 receives a Z-axis angle signal emitted from the attitude sensor 1106, and transmits the Z-axis angle signal to the Z-axis motor 1124, and the pallet 1126 on the Z-axis leveling rod 1121 is in a horizontal state by the meshing transmission of the Z-axis driving gear 1123 and the Z-axis driven gear 1122, so that the transitional connection shaft 1127 is in a vertical state.

The second attitude sensor 1128 for detecting the angle deviation value of the X, Y, Z triaxial between the upper surface of the tray 1126 and the horizontal direction in real time is arranged on the tray 1126, the second attitude sensor 1128 is connected with the second wireless communication module 1135 and is used for sending the detection signal of the second attitude sensor 1128 to the controller, the controller compares the detection signal of the second attitude sensor 1128 with the detection signal of the first attitude sensor 1106 to obtain an angle difference value, and the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism are controlled to conduct difference compensation according to the angle difference value. The gesture sensor two 1128 and the gesture sensor one 1106 form a measured closed loop, and the signal of the gesture sensor two 1128 continuously corrects the angle difference value of the gesture sensor one 1106; ensuring that the transition joint shaft 1127 is in a vertical state; the gesture sensor two 1128 is placed at the end of the closed loop, the measured data is more accurate, the gesture sensor one 1106 is placed at the front end of the closed loop, the measured data is fed back to the executing part, and the angle of the transition connecting shaft 1127 on the tray 1126 has larger error due to accumulated error of the mechanism, and the measuring precision can be improved through the comparison of the front end and the rear end of the closed loop.

The calibration rod body 1130 is provided with a second photoelectric receiver 1134 and a third laser emitter 1133 in parallel along the radial direction, and the second photoelectric receiver 1134 is positioned at the center of the calibration rod body 1130 and is perpendicular to the transition connecting shaft 1127.

Embodiment two:

all actions of the invention are controlled by the controller. The controller is a PLC. The laser measuring device 1, the width calibrating device 2, the width measuring device 3, the cantilever Liang Biaoji device 4 and the like cooperate together. The input end of the controller is connected with a first vertical laser receiver 171, a second vertical laser receiver 172, a photoelectric sensor 216, a third vertical laser receiver 371, a fourth vertical laser receiver 372, a third photoelectric receiver 385, a first attitude sensor 1106, a second attitude sensor 1128, a first photoelectric receiver 1131 and a second photoelectric receiver 1134 in parallel, and the output end of the controller is connected with a first angle coding disc 114, a first vertical laser emitter 151, a second vertical laser emitter 152, a first motor 183, a first laser emitter 120, a driving motor of a reciprocating screw 215, a second angle coding disc 314, a third vertical laser emitter 351, a fourth vertical laser emitter 352, a second motor 383, a second laser emitter 320, a driving motor of a lifting mechanism 413 and a reciprocating mechanism 414, a third angle coding disc 1107, a third X-axis motor 1112, a second Y-axis motor 1118 and a second Z-axis motor 1124; the first triaxial holder 113 is provided with a wireless receiver 122, the second triaxial holder 314 is provided with a wireless transmitter 322, and the wireless receiver 122, the wireless transmitter 322 and the controller are in signal intercommunication through a wireless communication module.

The controller controls the second laser emitter 320 of the width measuring device 3 to emit the photoelectric sensor 216 of the laser scanning width calibrating device, and simultaneously controls the driving motor to drive the reciprocating screw rod 215 to rotate, and adjusts the position of the photoelectric sensor 216 to stop the photoelectric sensor 216 at a position opposite to the width measuring device 3; the controller controls the first angle coding disc 114 to rotate, simultaneously controls the first laser transmitter 120 to transmit the laser beam 7, scans the photoelectric sensor 216 and the third photoelectric receiver 385, obtains an included angle a or an included angle B between a connecting line A between a laser point emitted by a plane reflecting mirror of the two laser measuring devices 1 and the corresponding photoelectric sensor 216 and a connecting line B between a laser point emitted by a plane reflecting mirror of the laser measuring device 1 and the corresponding third photoelectric receiver 385, finally controls the first angle coding disc 114 to rotate back to a zero position, then rotates again by an included angle a or a half of an included angle B, at this time, the laser beam 7 emitted by the laser measuring device 1 is corresponding to the central line of the vehicle body, then controls the three-axis calibration rod 11 to rotate until the first photoelectric receiver 1131 on the central line of the calibration rod body 1130 receives the laser beam 7, at this time, the calibration rod body 1130 is flush with the central line of the vehicle body, controls the lifting mechanism 413 to descend to be contacted with the vehicle roof, and then draws the central line of the vehicle body.

The following describes the calibration process of the center line of the articulated bus in the scheme:

step 1: placing the articulated passenger car 6 on a horizontal workbench surface, and installing the laser measuring device 1, the width calibrating device 2 and the width measuring device 3 at the corresponding positions of the body of the articulated passenger car 6; the step is to ensure that the laser beam 7 emitted by the laser measuring device 1 and the central line of the corresponding carriage are in the same vertical plane, and simultaneously ensure that the vertical distance from the receiving position of the photoelectric sensor 216 on the width calibrating device 2 to the side part of the corresponding carriage is consistent with the vertical distance from the central point of the plane mirror at the upper end of the width measuring device 3 to the other side part of the corresponding carriage;

the laser measuring device 1 is placed in front of and behind the license plate of the passenger car, and a telescopic rod I116 of the laser measuring device is vertical to the horizontal plane through a triaxial cradle head I113; the width calibration device 2 is placed at the rear part of a carriage, is fixed on the side surface of the carriage by utilizing a first magnetic chuck 211, and adjusts a universal ball locking mechanism 217 through a level meter 213 so that the mounting bracket 212 is vertical to the horizontal plane; the width measuring device 3 is placed at the position opposite to the vehicle body of the width calibrating device, is fixed on the side surface of the vehicle body by using the second magnetic chuck 312, and is perpendicular to the horizontal plane by using the second triaxial holder 313.

Step 2: controlling a laser emitter on the width measuring device 3 to emit laser, sequentially reflecting the laser by an isosceles right triangular prism and a plane reflecting mirror and then emitting the laser to one side of the width calibrating device 2, and driving the photoelectric sensor 216 by a driving device of the width calibrating device 2 to translate until the laser emitted by the width measuring device 3 is received and then stop moving, wherein a horizontal connecting line between a receiving point of the photoelectric sensor 216 and a receiving point of a photoelectric receiver III 385 of the width measuring device 3 is a straight line L, and a perpendicular bisector of the straight line L is parallel to a central line Y;

step 3: the laser beam 7 reflected by the plane mirror one 182 at the top end of the telescopic rod one 116 is emitted to the opposite side, the angle coding disc one 114 rotates to drive the laser beam reflected by the plane mirror one 182 to scan clockwise or anticlockwise, when the laser beam scans to the photoelectric sensor three 385 (or the photoelectric sensor 216), the angle coding disc one 114 stops rotating, the angle is set to be an initial value 0, and then the photoelectric sensor 216 (or the photoelectric sensor three 385) is scanned and stopped, at this time, an included angle a and an included angle b can be measured, and it is noted that the included angle a and the included angle b are rotation angles of the angle coding disc one 114, namely, the projection angle of the laser beam 7 in the horizontal direction between the photoelectric sensor 216 and the photoelectric receiver three 385 is scanned; the included angle a is the included angle between the line a between the laser spot emitted by the plane mirror of the laser measuring device 1 on the carriage one and the corresponding photoelectric sensor 216 and the line B between the laser spot emitted by the plane mirror of the laser measuring device 1 and the corresponding photoelectric receiver three 385, and the angle B is the included angle between the line C between the laser spot emitted by the plane mirror of the laser measuring device 1 on the carriage two and the line D between the laser spot emitted by the plane mirror of the laser measuring device 1 and the corresponding photoelectric receiver three 385.

Step 4: according to the included angle measured in the step 3, the angle coding disc on the laser measuring device 1 is controlled to rotate from the photoelectric sensor 216 to the photoelectric receiver three 385 side or rotate from the photoelectric receiver three 385 side to the photoelectric sensor 216 side by half of the included angle measured in the step 3, and at the moment, the laser beam 7 emitted by the plane reflecting mirror of the laser measuring device 1 is level with the central line of the corresponding carriage;

step 5: moving the cantilever Liang Biaoji device 4 to the rear part of the articulated bus body 6 on the guide rail 5, and driving the triaxial calibration rod 11 to move left and right along the cantilever beam 415 by the reciprocating mechanism 414 to search for the laser beam reflected by the plane mirror one 182; when the second photoelectric receiver 1134 of the triaxial calibration rod 11 receives the laser beam 7 reflected by the plane mirror, the reciprocating mechanism 414 stops moving, rotates the triaxial calibration rod 11 to enable the axis of the triaxial calibration rod 11 to coincide with the laser beam 7 reflected by the plane mirror, at this time, the lifting mechanism 413 moves downwards to drive the triaxial calibration rod 11 to move downwards until touching the roof of the articulated bus body 6, the first photoelectric receivers 1131 of the two end axes of the calibration rod body 1130 coincide with the laser beam 7, and at this time, the position of the calibration rod body 1130 is the center line of the corresponding bus body.

The invention ensures that the movable sensor 216 receives the laser beam emitted by the second laser emitter 320 along the width direction by moving on the reciprocating screw rod 215; the movable sensor 216 of the laser beam scanning width calibration device emitted by the laser measuring device and the rotation angle are measured by the photoelectric receiver III 385 of the scanning width measuring device, so that the rotation included angle a in the horizontal direction is measured, and the laser beam is ensured to be positioned on the central line of the vehicle body by half of the rotation included angle a of the laser beam; the body center line can be calibrated by moving the triaxial alignment rod 418 to coincide with the laser beam; similarly, the cantilever Liang Biaoji device is moved on the guide sliding rail 5 to drive the triaxial calibration rod to move, the triaxial calibration rod calibrates the central line of another carriage in the same mode, and the method of the scheme can accurately and rapidly calibrate the central line of each carriage of the articulated carriage, and has the advantages of simple calibration mode and high calibration precision of the central line.

The laser beam emitted from the width measuring device can be scanned to the width calibrating device on the opposite surface of the vehicle body in a pitching mode, the laser beam emitted from the laser measuring device can be scanned in a pitching mode to calibrate the width calibrating device and the width measuring device, the fact that the emitting end of the device and the receiving end of the other device are located at the same height is not required, calibrating procedures are simplified, device structures are simplified, and the calibrating method is simpler and faster.

The support body guardrails are fixed through the universal ball head locking mechanism and can rotate to flexibly adjust the distances H1 and H2 between the two support body guardrails and the vehicle body, and the support body guardrails are flexible and convenient to adjust and simple to operate.

Claims

1. A calibration system of a central line of a hinged passenger car is characterized in that: the device comprises a laser measuring device (1), a width calibrating device (2), a width measuring device (3) and a cantilever Liang Biaoji device (4) for calibrating the central line of the vehicle body; the laser measuring device (1) is arranged in a license plate frame of the vehicle body to be measured, the width measuring device (3) is arranged on the side end of the vehicle body to be measured, and the width calibrating device (2) corresponds to the width measuring device (3) and is arranged on the other side end of the vehicle body to be measured;

the laser measuring device (1) and the width measuring device (3) comprise a license plate frame, a triaxial holder arranged on the license plate frame, an angle coding disc arranged on the triaxial holder and a telescopic rod, wherein the telescopic rod is vertically arranged on the center of the rotation of the angle coding disc and can coaxially rotate along with the angle coding disc; the central axis of the telescopic rod of the laser measuring device (1) is vertical to and intersected with the central axis of the corresponding carriage; a photoelectric receiver III (385) capable of receiving laser emitted by the laser measuring device (1) is arranged at the top end of the width measuring device (3);

The width calibration device (2) comprises a photoelectric sensor (216) for receiving laser emitted by the width measurement device (3) and a mounting bracket (212), wherein the photoelectric sensor (216) can transversely move along the mounting bracket (212) along with the driving device;

the cantilever Liang Biaoji device (4) comprises a base (411) capable of translating along the guide rail (5), a stand column (412) standing on the base (411), a cantilever beam (415) capable of lifting along with the lifting mechanism (413) is arranged on the stand column (412), the cantilever beam (415) is perpendicular to the stand column (412), a yielding groove is formed in one side of the stand column (412), and a triaxial calibration rod (11) capable of transversely moving along with the reciprocating mechanism (414) is arranged on the cantilever beam (415); the guide rail (5) is paved on the horizontal workbench surface along the length direction of the body to be tested.

2. The system for calibrating a centerline of an articulated bus as set forth in claim 1, wherein: the two laser measuring devices (1) are respectively arranged in license plate frames at the front end and the rear end of two sections of car bodies of the articulated passenger car (6), the two width measuring devices (3) are respectively arranged at the side parts of the two sections of car bodies of the articulated passenger car (6), the two width calibrating devices (2) are respectively corresponding to the two width measuring devices (3), and the at least one cantilever Liang Biaoji device (4) is arranged;

the device also comprises a controller for controlling the actions of the laser measuring device (1), the width calibrating device (2), the width measuring device (3) and the cantilever Liang Biaoji device (4); a wireless receiver (122) is arranged on the triaxial holder of the laser measuring device (1); the three-axis holder of the width measuring device (3) is provided with a wireless transmitter (322), and the wireless receiver (122), the wireless transmitter (322) and the controller are in signal intercommunication through a wireless communication module.

3. The system for calibrating a centerline of an articulated bus as set forth in claim 1, wherein: two vertical laser transmitters capable of rotating along with the angle coding disc are arranged on the angle coding disc of the laser measuring device (1) and the angle coding disc of the width measuring device (3), the side wall of the top end of the telescopic rod is connected with a vertical laser receiver vertically corresponding to the two vertical laser transmitters through a connecting rod, the top end of the telescopic rod is provided with a supporting plate for installing a motor, and the telescopic rod is made of carbon fiber;

a backup plate (319) is arranged on a telescopic rod of the width measuring device (3), and two parallel laser range finders are arranged on one side, close to a vehicle body, of the backup plate (319);

the license plate frame is formed by a bottom plate and a vertical plate connected to one side of the bottom plate; two through holes for corresponding and fixing with bolt mounting holes in the license plate frame are formed in a vertical plate of the license plate frame of the laser measuring device (1), two screw holes are formed in two end parts of the bottom plate, and each screw hole is internally provided with a foundation fixing bolt (112); the back side of the vertical plate of the license plate frame of the width measuring device (3) is provided with more than one magnetic sucking disc.

4. The system for calibrating a centerline of an articulated bus as set forth in claim 1, wherein: the mounting bracket (212) is a frame structure formed by welding two upright posts and a plurality of cross beams, the bottom of each upright post is provided with a ball head, the ball heads are fixed in a universal ball head locking mechanism (217), the universal ball head locking mechanism (217) is fixed on a magnetic chuck bracket (274), and the magnetic chuck bracket (274) is fixedly connected with the first magnetic chuck (211);

The universal ball head locking mechanism (217) comprises a spherical groove (271) sleeved at the lower end part of the ball head, a spherical supporting ring (272) sleeved at the upper end part of the ball head, and a nut (273) used for fixedly connecting the spherical groove (271) and the spherical supporting ring (272); the outer wall of the spherical groove (271) is provided with an external thread, and the interior of the spherical groove is provided with a spherical hole I matched with the ball head; a spherical hole II matched with the ball head is arranged in the spherical supporting ring (272); the nut is internally provided with a step hole, the step hole comprises a large step hole and a small step hole connected to the large step hole, the large step hole is internally provided with an internal thread matched with the external thread of the outer wall of the spherical groove (271), and the aperture of the small step hole is smaller than the outer diameter of the spherical supporting ring (272);

the driving device comprises a reciprocating screw rod (215) and a polished rod which are connected between two upright posts side by side, a photoelectric sensor (216) positioning seat sleeve is arranged on the reciprocating screw rod (215) and the polished rod, and a threaded hole and a polished hole which are used for penetrating the reciprocating screw rod (215) and the polished rod are arranged on the photoelectric sensor (216) positioning seat; a tooth pin matched with a spiral groove outside the reciprocating screw rod (215) is arranged in the threaded hole;

symmetrical laser distance meters and level meters (213) are respectively arranged on the two upright posts.

5. The system for calibrating a centerline of an articulated bus as set forth in claim 1, wherein: the lifting mechanism (413) comprises a reciprocating screw rod and a nut sleeved on the reciprocating screw rod, a positive and negative bidirectional spiral groove is formed in the reciprocating screw rod, a tooth pin matched with the spiral groove is arranged in the nut, the cantilever beam (415) is fixedly connected with the nut, and the abdicating groove is in clearance fit with the cantilever beam (415);

The lower end face of the cantilever beam (415) is provided with a T-shaped groove, the reciprocating mechanism (414) comprises a reciprocating screw rod arranged in the T-shaped groove and a T-shaped sliding block sleeved on the reciprocating screw rod, the T-shaped sliding block is provided with a mounting hole, a tooth pin matched with a spiral groove outside the reciprocating screw rod is arranged in the mounting hole, and the triaxial calibration rod (11) is fixed on the T-shaped sliding block.

6. A system for calibrating a centreline of an articulated bus as claimed in claim 1 or 5, wherein: the triaxial calibration rod (11) comprises an air pump sucker (1100), a calibration rod body (1130) and an alignment device for controlling the calibration rod body to automatically align according to a laser beam (7) emitted by the laser measuring device (1); the air pump sucker (1100) is adsorbed on the lower end surface of the T-shaped sliding block;

the alignment device comprises an angle coding disc III (1107) and an alignment device, the alignment device is arranged on an output shaft of the angle coding disc III (1107), the alignment device comprises an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism, the Y-axis direction alignment mechanism is arranged on an X-axis direction alignment rod (1109) of the X-axis direction alignment mechanism, the Z-axis direction alignment mechanism is arranged on a Y-axis direction alignment rod (1115) of the Y-axis direction alignment mechanism, and a tray (1126) is arranged on a Z-axis direction alignment rod (1121) of the Z-axis direction alignment mechanism; the third angle coding disc (1107) is arranged on the air pump sucker (1100), and the axis of an output shaft of the third angle coding disc (1107) is level with the central line of the air pump sucker (1100);

An attitude sensor I (1106) for detecting an angle deviation value of X, Y, Z three axes between the upper surface of the air pump suction cup (1100) and the horizontal direction is arranged on the air pump suction cup (1100), the attitude sensor I (1106) is connected with a wireless communication module I (1129) and is used for sending a detection signal of the attitude sensor I (1106) to a controller, and the controller is used for controlling an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism to automatically align according to the angle deviation value of X, Y, Z three axes after processing;

the transition connecting shaft (1127) is vertically erected on the tray (1126), the top end of the transition connecting shaft (1127) is vertically connected with the middle part of the calibration rod body (1130), the calibration rod body (1130) is of a hollow tube structure, two end parts are respectively provided with a first photoelectric receiver (1131) for receiving laser, and the central axes of the first photoelectric receivers (1131) are level with the central axis of the calibration rod body (1130); the calibration rod body (1130) is provided with a photoelectric receiver II (1134) and a laser transmitter III (1133) in parallel along the radial direction, and the photoelectric receiver II (1134) is positioned at the center of the calibration rod body (1130) and is perpendicular to the transition connecting shaft (1127).

7. The system for calibrating a centerline of an articulated bus as set forth in claim 6, wherein: the device comprises a tray (1126), an X-axis direction alignment mechanism, a Y-axis direction alignment mechanism and a Z-axis direction alignment mechanism, wherein the tray (1126) is provided with a second gesture sensor (1128) for detecting an angle deviation value of X, Y, Z triaxial between the upper surface of the tray (1126) and the horizontal direction in real time, the second gesture sensor (1128) is connected with a second wireless communication module (1135) and is used for sending a detection signal of the second gesture sensor (1128) to a controller, the controller compares the detection signal of the second gesture sensor (1128) with a detection signal of the first gesture sensor (1106) to obtain an angle difference value, and the X-axis direction alignment mechanism, the Y-axis direction alignment mechanism and the Z-axis direction alignment mechanism are controlled to carry out difference value compensation according to the angle difference value;

The X-axis direction alignment mechanism comprises a support tray (1108) fixed on an output shaft of an angle coding disc III (1107), an X-axis direction leveling rod (1109) is supported on two side walls of the support tray (1108) through bearings, one end of the X-axis direction leveling rod (1109) penetrates through one side wall of the support tray (1108), an X-axis direction driven gear (1110) is arranged at the top end of the X-axis direction leveling rod, an X-axis direction driving gear (1111) is arranged on an output shaft of an X-axis direction motor (1112), and the X-axis direction driving gear (1111) is meshed with the X-axis direction driven gear (1110);

the Y-axis direction alignment mechanism comprises a Y-axis direction tray (1114), the Y-axis direction tray (1114) is vertically fixed on an X-axis direction leveling rod (1109), the Y-axis direction leveling rod (1115) is supported on two side walls of the Y-axis direction tray (1114) through bearings, one end of the Y-axis direction leveling rod (1115) penetrates through one side wall of the Y-axis direction tray (1114), a Y-axis direction driven gear (1116) is arranged at the top end of the Y-axis direction leveling rod, a Y-axis direction driving gear (1117) is arranged on an output shaft of a Y-axis direction motor (1118), and the Y-axis direction driving gear (1117) is meshed with the Y-axis direction driven gear (1116);

the Z-axis direction alignment mechanism comprises a Z-axis direction tray (1120), the Z-axis direction tray (1120) is vertically fixed on a Y-axis direction leveling rod (1115), the Z-axis direction leveling rod (1121) is supported on two side walls of the Z-axis direction tray (1120) through bearings, one end of the Z-axis direction leveling rod (1121) penetrates through one side wall of the Z-axis direction tray (1120), a Z-axis direction driven gear (1122) is arranged at the top end of the Z-axis direction leveling rod, a Z-axis direction driving gear (1123) is arranged on an output shaft of a Z-axis direction motor (1124), and the Z-axis direction driving gear (1123) is meshed with the Z-axis direction driven gear (1122);

The X-axis direction wireless signal receiver (1113), the Y-axis direction wireless signal receiver (1119) and the Z-axis direction wireless signal receiver (1125) are respectively arranged on the support tray (1108), the Y-axis direction tray (1114) and the Z-axis direction tray (1120).

8. The system for calibrating a centerline of an articulated bus as set forth in claim 6, wherein: a protective cover (1104) is found outside the alignment device, and a yielding through hole is formed in the middle of the upper end of the protective cover;

two ends of the air pump sucker (1100) are respectively provided with a handle (1101), and the air pump sucker (1100) is provided with a sucker air inlet button (1102) and a sucker air outlet valve (1103).

9. A method for calibrating an articulated bus using the calibration system according to any one of claims 1-8, characterized in that: the method comprises the following steps:

step 1: placing the articulated passenger car (6) on a horizontal workbench surface, and installing the laser measuring device (1), the width calibrating device (2) and the width measuring device (3) at the corresponding positions of the body of the articulated passenger car (6);

step 2: controlling a laser emitter on the width measuring device (3) to emit laser, sequentially reflecting the laser by an isosceles right triangular prism and a plane reflecting mirror and then emitting the laser to one side of the width calibrating device (2), wherein a driving device of the width calibrating device (2) drives a photoelectric sensor (216) to translate until the laser emitted by the width measuring device (3) is received and then stops moving, and meanwhile, a horizontal connecting line of a receiving point of the photoelectric sensor (216) and a receiving point of a photoelectric receiver III (385) of the width measuring device (3) is a straight line L, and a perpendicular bisector of the straight line L is level with a central line;

Step 3: calibrating an included angle between a connecting line A between the laser points emitted by the plane mirrors of the two laser measuring devices (1) and the corresponding photoelectric sensors (216) and a connecting line B between the laser points emitted by the plane mirrors of the laser measuring devices (1) and the corresponding photoelectric receivers III (385);

step 4: according to the included angle measured in the step 3, controlling an angle coding disc on the laser measuring device (1) to rotate from the photoelectric sensor (216) to the photoelectric receiver III (385) side or rotate from the photoelectric receiver III (385) side to the photoelectric sensor (216) side by half of the included angle measured in the step 3, wherein the laser beam (7) emitted by the plane reflecting mirror of the laser measuring device (1) is level with the central line of the corresponding carriage;

step 5: moving the cantilever Liang Biaoji device (4) to the rear part of the body of the articulated bus (6) on the guide track (5), and driving the triaxial calibration rod (11) to move left and right along the cantilever beam (415) to search for the laser beam reflected by the plane mirror I (182); when the photoelectric receivers II (1134) of the triaxial calibration rod (11) receive the laser beams (7) reflected by the plane mirror, the reciprocating mechanism (414) stops moving, the triaxial calibration rod (11) is rotated to enable the axis of the triaxial calibration rod (11) to coincide with the laser beams (7) reflected by the plane mirror, at the moment, the lifting mechanism (413) moves downwards to drive the triaxial calibration rod (11) to move downwards until the photoelectric receivers II (1131) at the axes of the two ends of the calibration rod body (1130) coincide with the laser beams (7) when the photoelectric receivers II touch the roof of the articulated bus (6), and the position of the calibration rod body (1130) is the center line of the corresponding bus body.

10. The method according to claim 9, wherein: in the step 1, the laser beam (7) emitted by the laser measuring device (1) and the central line of the corresponding carriage are required to be ensured to be in the same vertical plane, and the vertical distance from the receiving position of the photoelectric sensor (216) on the width calibrating device (2) to the side part of the corresponding carriage is ensured to be consistent with the vertical distance from the central point of the plane reflecting mirror at the upper end of the width measuring device (3) to the other side part of the corresponding carriage;

in the step 3, a laser emitter on the laser measuring device (1) is controlled to emit a laser beam (7), the laser beam (7) is sequentially reflected by an isosceles right-angle triangular prism and a plane mirror and then emitted from the top of a carriage, an angle coding disc on the laser measuring device (1) is controlled to rotate to drive the laser beam (7) to scan clockwise or anticlockwise, when the laser beam (7) scans to a photoelectric sensor (216)/a photoelectric receiver three (385) on the width calibrating device (2)/the width measuring device (3), the angle of the angle coding disc at the moment is recorded as zero, and the angle at the moment is recorded as an included angle between a connecting line A of the plane mirror emitted laser spot of the laser measuring device (1) to the corresponding photoelectric sensor (216) and a connecting line B of the plane mirror emitted laser spot of the laser measuring device (1) to the corresponding photoelectric receiver three (385) until the laser beam (7) scans to the other photoelectric sensor (216).