CN202869829U - Three-dimensional four-wheel aligner - Google Patents
Three-dimensional four-wheel aligner Download PDFInfo
- Publication number
- CN202869829U CN202869829U CN 201220317608 CN201220317608U CN202869829U CN 202869829 U CN202869829 U CN 202869829U CN 201220317608 CN201220317608 CN 201220317608 CN 201220317608 U CN201220317608 U CN 201220317608U CN 202869829 U CN202869829 U CN 202869829U
- Authority
- CN
- China
- Prior art keywords
- angle
- reflecting target
- dimensional
- position finder
- wheel position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
The utility model provides a three-dimensional four-wheel aligner which comprises a data processing device, a camera device electrically connected with the data processing device, a reflection target and a fixing device installed on the reflection target. The reflection target has a plane. Aligner software is stored in the data processing device. In the measurement, the reflection target is fixed on the wheels of a vehicle through the fixing device, and a fixed included angle is formed by the plane of the reflection target and the ground. The three-dimensional four-wheel aligner sets an included angle between the plane of the reflecting target and the ground, so that the change in the coordinate of an image point picked up by the camera device is relatively large when the toe of the wheels changes, and thus the measuring precision of the toe of the four-wheel aligner is raised and the measuring precision of the toe on the condition of not increasing the hardware cost is further raised.
Description
Technical field
The utility model relates to auto repair, detection technique field, relates in particular to a kind of three-dimensional four-wheel position finder.
Background technology
Four-wheel position finder mainly for detection of the mutual alignment between the automotive wheel and angle to determine vehicle wheel alignment parameter, thereby instruct the auto repair pilot to adjust wheel alignment parameter, to satisfy the Automobile Design requirement, realize ride comfort, the security of running car, reduce automobile fuel consumption and tire wear.
The core of four-wheel position finder takes measurement of an angle and is toe-in angle (Toe), camber angle, kingpin castor angle.
Two tire angulations about toe-in angle (Toe) is defined as and is seen by the top are inwardly for just, outwards for bearing.The function of toe-in angle is to compensate tire because of camber angle and surface resistance inwardly causes or to the trend of outer rolling, guarantee the rectilinear propagation of car.
Camber angle (Camber) is defined as by front side and sees tire center line and perpendicular line angulation, outwards for just, inwardly for negative.The difference of its angle can change contact point and the point of application on tire and ground, directly affects adhesion and the wear condition of tire, and changes the distribution of force of car weight on axletree, avoids bearing to produce inordinate wear.In addition, after the existence of camber angle can be used to offset the vehicle body loading, the angle that the distortion of suspension system parts and active face gap produce changed.The existence of camber angle also can affect the direct of travel of car, and this can utilize the inclination vehicle body to turn as motorcycle.Therefore the camber angle of left and right wheels must equate, the unlikely rectilinear propagation that affects car under equilibrium of forces cooperates with toe-in angle (Toe) again, improves and directly advances stability and avoid tire wear uneven.If there is not this camber angle, the full load wheel will tilt too to the inside, thereby accelerates tire eccentric wear and wheel bearing wearing and tearing.Therefore, this parameter can prolong the life-span of tire and wheel bearing.
Back rake angle (Caster) is defined as by the car side sees the angle that the steering axle center line becomes with perpendicular line, forward for negative, backward for just.The existence of back rake angle can make the plotted point on steer axis and road surface in the place ahead of tire earth point, can utilize the road surface that the resistance of tire is kept directly advancing by car, its principle just as the front-wheel of shopping cart can automatically go to the direction of your application of force and maintenance directly advance.The rectilinear propagation of the larger car of back rake angle is better, and back track is also better to the recovery of dish, becomes heavy but can make to turn to.
Along with a large amount of of highway popularize, also more and more higher to the requirement at bus location angle, toe-in angle particularly, the critical field that producer provides is generally all very little, usually in ± 0.17 ° of scope, have in addition require in ± 0.08 ° of scope, this just has higher requirement to orientator.
Traditional three-dimensional four-wheel position finder is reflecting target plane and ground approximate vertical when measuring, and when changing appearred in the toeing-in angle, the changes in coordinates of picture point was very little, and therefore prenex measuring accuracy is not high.
The utility model content
The purpose of this utility model is to provide a kind of three-dimensional four-wheel position finder, and its reflecting target plane and ground have angle, and when changing appearred in the toeing-in angle, the changes in coordinates of picture point was larger like this, improves four-wheel position finder toe-in angle measuring accuracy thereby reach.
For achieving the above object, the utility model provides a kind of three-dimensional four-wheel position finder, comprise: data processing equipment, the camera head that is electrically connected at this data processing equipment, reflecting target and be installed on stationary installation on the reflecting target, this reflecting target has a plane, when storing the orientator software measurement in this data processing equipment, described reflecting target is fixed in by stationary installation on the wheel of automobile, and described reflecting target plane becomes a fixed angle with the bottom surface.
The angle value of the fixed angle that described reflecting target plane and ground form is 50～70 °.
One horizontal device is installed on the described reflecting target, and when the angle value of the angle that forms when reflecting target plane and ground equaled the predetermined angular value, the spirit bubble on this horizontal device mediated.
Described camera head is monitored reflecting target, and information is sent back data processing equipment, and described orientator software is according to the angle value of this information calculations reflecting target plane and bottom surface angle.
Described data processing equipment comprises: body, be electrically connected at this body display device, be electrically connected at the input media of body and be electrically connected at the output unit of body.
Described body is host computer, and described display device is display, and described input media comprises keyboard and mouse, and described output unit is printer.
Described body is provided with image acquisition device, and described camera head is electrically connected on this image acquisition device.
Described stationary installation is the wheel folder.
The beneficial effects of the utility model: the three-dimensional four-wheel position finder of the utility model is by arranging an angle between reflecting target plane and the ground, like this when changing appears in the toeing-in angle, the changes in coordinates of the picture point that camera head is taken is larger, improve four-wheel position finder toe-in angle measuring accuracy thereby reach, and then realize under the prerequisite that does not increase hardware cost, improving the toe-in angle measuring accuracy.
In order further to understand feature of the present utility model and technology contents, see also following about detailed description of the present utility model and accompanying drawing, yet accompanying drawing only provide with reference to and the explanation usefulness, the utility model is limited.
Description of drawings
Below in conjunction with accompanying drawing, by embodiment of the present utility model is described in detail, will make the technical solution of the utility model and other beneficial effect apparent.
In the accompanying drawing,
Fig. 1 is for realizing the device block diagram of the three-dimensional four-wheel position finder of the utility model;
Fig. 2 is the changes in coordinates schematic diagram of picture point corresponding when the toeing-in angle changes in measuring by prior art;
The changes in coordinates schematic diagram of Fig. 3 corresponding picture point when changing for toeing-in angle in measuring by the three-dimensional four-wheel position finder of the utility model;
Fig. 4 is that reflecting target is installed on three-dimensional structure diagram on the wheel to be measured in the three-dimensional four-wheel position finder device of the utility model.
Embodiment
Technological means and the effect thereof taked for further setting forth the utility model are described in detail below in conjunction with preferred embodiment of the present utility model and accompanying drawing thereof.
See also Fig. 1 to 4, the utility model provides a kind of three-dimensional four-wheel position finder, it comprises: data processing equipment, the camera head that is electrically connected at this data processing equipment, reflecting target and be installed on stationary installation on the reflecting target, this reflecting target has a plane, when storing the orientator software measurement in this data processing equipment, described reflecting target is fixed in by stationary installation on the wheel of automobile, and described reflecting target plane becomes a fixed angle with the bottom surface.The angle value of the fixed angle that described reflecting target plane and ground form is 50～70 °, and described stationary installation is the wheel folder.
One horizontal device is installed on the described reflecting target, and when the angle value of the angle that forms when reflecting target plane and ground equaled the predetermined angular value, the spirit bubble on this horizontal device mediated.
Described camera head is monitored reflecting target, and information is sent back data processing equipment, and described orientator software is according to the angle value of this information calculations reflecting target plane and bottom surface angle.
Described data processing equipment 60 comprises body 600, be electrically connected at the display device 602 of this body 600, be electrically connected at the input media 604 of body 600 and be electrically connected at the output unit 606 of body 600, in the present embodiment, described body 600 is host computer, described display device 602 is display, described input media 604 comprises keyboard and mouse, and described output unit 606 is printer.
Described body 600 is provided with image acquisition device 608, described camera head 80 is electrically connected on this image acquisition device 608, and then send camera head 80 captured images to data processing equipment 60, in the present embodiment, described camera head 80 is video camera, it has two, respectively corresponding two front-wheels or two trailing wheels.
Described body is host computer, and described display device is display, and described input media comprises keyboard and mouse, and described output unit is printer.Described body is provided with image acquisition device, and described camera head is electrically connected on this image acquisition device.
See also Fig. 2 and 3, when wheel 50 toe-in angles changed, the angle that has been equivalent to the reflecting target Plane Rotation changed to A1-C1-B-D by A-C-B-D as shown in FIG., and image changes to a1-b1-c-d by a-b-c-d in the corresponding video camera.As we can see from the figure, greatly, corresponding measuring resolution also was improved when the image point locations variation was installed perpendicular to ground than reflecting target plane during the layback of reflecting target plane.
Picture position variation a-a1 and c-c1 pixel can be approximately when installed perpendicular to ground on the reflecting target plane:
Δu1＝a*(1-cos(α))*s*f/L
Picture position variation a-a1 and c-c1 pixel can be approximately when swing back in the reflecting target plane:
Δu2＝b*sin(θ)*tan(α)*s*f/L
Wherein, α is toe-in angle, and f is the camera lens focal length, L be video camera apart from the reflecting target distance, a is reflecting target A-B length, b is reflecting target B-D length, s is the video camera scale factor,
Then, Δ u2/ Δ u1=b*sin (θ) * tan (α)/(a* (1-cos (α))),
If a=300mm, b=300mm, θ=30 °, α=2 °, then: Δ u2/ Δ u1 ≈ 28.66 can significantly improve the toe-in angle measuring accuracy.
In the present embodiment, one horizontal device 202 is installed on the described reflecting target 20, this horizontal device 202 can be horizontal alveolitoid horizontal device commonly used, when the angle value of the angle theta that reflecting target plane 200 and ground form equaled the predetermined angular value, the spirit bubble on this horizontal device 202 mediated.When operation, only need the spirit bubble on the horizontal device 202 is adjusted to the centre position, can guarantee that the angle value of the angle theta that reflecting target plane 200 and ground form equals the predetermined angular value, easy to operate simple.
Specific works principle: reflecting target 20 is installed on the wheel 50 of automobile by stationary installation 40, and so that the plane of departure 200 of reflecting target 40 and ground form a fixing θ angle, the angle value at this θ angle is 50 to 70 °, and can monitor and regulate by camera head 80, measure and record measurement result after adjusting is finished.When changing appearred in the toeing-in angle, the changes in coordinates of the picture point that camera head is taken was larger like this, improved four-wheel position finder toe-in angle measuring accuracy thereby reach.
Described is the angle values that calculated reflecting target plane 200 and ground angle theta by orientator software by camera head 80 monitoring reflecting targets 20, adjust the vergence direction on reflecting target plane 200 according to the difference of this angle value and predetermined angular value, 200 equal the predetermined angular value with the angle value of ground angle to the reflecting target plane.
The method that described orientator software calculates the angle value of reflecting target plane and ground angle is:
Determine coordinate system, O
cX
cY
cZ
cBe camera coordinate system, O
0X
0Y
0Z
0For demarcating coordinate system, its Zo axle is parallel to the ground, and reflecting target world coordinate system when OXYZ is measurement then, is demarcated coordinate system O
0X
0Y
0Z
0With camera coordinate system OcXcYcZc following relation is arranged:
P
c0＝R
0*P
0+T
0
Wherein: Po is for demarcating coordinate system O
0X
0Y
0Z
0The column vector of lower point, Ro is for demarcating coordinate system O
0X
0Y
0Z
0Transform to camera coordinate system O
cX
cY
cZ
cRotation matrix, To is camera coordinate system O
cX
cY
cZ
cThe subscript position fixing is O
0X
0Y
0Z
0Initial point O
0Coordinate, P
C0Be camera coordinate system O
cX
cY
cZ
cThe column vector of lower point;
Then, reflecting target world coordinate system OXYZ and camera coordinate system O during measurement
cX
cY
cZ
cFollowing relation is arranged:
P
c＝R*P+T
Wherein: P is the column vector of putting under the world coordinate system OXYZ, and R is that world coordinate system OXYZ transforms to camera coordinate system O
cX
cY
cZ
cRotation matrix, T is camera coordinate system O
cX
cY
cZ
cThe coordinate of lower world coordinate system OXYZ initial point O;
If R
0xReflecting target world coordinate system OXYZ transforms to and demarcates coordinate system O during for measurement
0X
0Y
0Z
0Rotation matrix, T
0xReflecting target world coordinate system OXYZ transforms to and demarcates coordinate system O during for measurement
0X
0Y
0Z
0Translation matrix, according to above-mentioned relation, then, reflecting target world coordinate system OXYZ transforms to and demarcates coordinate system O during measurement
0X
0Y
0Z
0Can be expressed as follows:
P
0x＝R
0x*P+T
0x
＝R
0 -1*(P
c-T
0)
＝R
0 -1*(R*P+T-T
0)
＝R
0 -1*R*P+R
0 -1*(T-T
0)，
T
0x＝R
0 -1*(T-T
0)，
Can get according to geometric relationship, reflecting target plane and ground angle theta are:
θ＝arccos(r
23)，
Wherein: r
11Be rotation matrix R
0xThe element of the 1st row the 1st row, r
12Be rotation matrix R
0xThe element of the 1st row the 2nd row, r
13Be rotation matrix R
0xThe element of the 1st row the 3rd row, r
21Be rotation matrix R
0xThe element of the 2nd row the 1st row, r
22Be rotation matrix R
0xThe element of the 2nd row the 2nd row, r
23Be rotation matrix R
0xThe element of the 2nd row the 3rd row, r
31Be rotation matrix R
0xThe element of the 3rd row the 1st row, r
32Be rotation matrix R
0xThe element of the 3rd row the 2nd row, r
33Be rotation matrix R
0xThe element of the 3rd row the 3rd row.
In sum, the utility model provides a kind of three-dimensional four-wheel position finder, by will an angle being set between reflecting target plane and the ground, like this when changing appears in the toeing-in angle, the changes in coordinates of the picture point that camera head is taken is larger, improve four-wheel position finder toe-in angle measuring accuracy thereby reach, and then realize under the prerequisite that does not increase hardware cost, improving the toe-in angle measuring accuracy.
The above; for the person of ordinary skill of the art; can make other various corresponding changes and distortion according to the technical solution of the utility model and technical conceive, and all these changes and distortion all should belong to the protection domain of the utility model claim.
Claims (7)
1. three-dimensional four-wheel position finder, it is characterized in that, comprise: data processing equipment, the camera head that is electrically connected at this data processing equipment, reflecting target and be installed on stationary installation on the reflecting target, this reflecting target has a plane, during measurement, described reflecting target is fixed in by stationary installation on the wheel of automobile, and described reflecting target plane becomes a fixed angle with the bottom surface.
2. three-dimensional four-wheel position finder as claimed in claim 1 is characterized in that, the angle value of the fixed angle that described reflecting target plane and ground form is 50 ~ 70 °.
3. three-dimensional four-wheel position finder as claimed in claim 1, it is characterized in that, one horizontal device is installed on the described reflecting target, and when the angle value of the angle that forms when reflecting target plane and ground equaled the predetermined angular value, the spirit bubble on this horizontal device mediated.
4. three-dimensional four-wheel position finder as claimed in claim 1 is characterized in that, described data processing equipment comprises: body, be electrically connected at this body display device, be electrically connected at the input media of body and be electrically connected at the output unit of body.
5. three-dimensional four-wheel position finder as claimed in claim 4 is characterized in that, described body is host computer, and described display device is display, and described input media comprises keyboard and mouse, and described output unit is printer.
6. three-dimensional four-wheel position finder as claimed in claim 4 is characterized in that, described body is provided with image acquisition device, and described camera head is electrically connected on this image acquisition device.
7. three-dimensional four-wheel position finder as claimed in claim 1 is characterized in that, described stationary installation is the wheel folder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220317608 CN202869829U (en) | 2012-07-03 | 2012-07-03 | Three-dimensional four-wheel aligner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220317608 CN202869829U (en) | 2012-07-03 | 2012-07-03 | Three-dimensional four-wheel aligner |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202869829U true CN202869829U (en) | 2013-04-10 |
Family
ID=48036538
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220317608 Expired - Fee Related CN202869829U (en) | 2012-07-03 | 2012-07-03 | Three-dimensional four-wheel aligner |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202869829U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016033936A1 (en) * | 2014-09-01 | 2016-03-10 | 深圳市圳天元科技开发有限责任公司 | Four-wheel positioning method and positioning instrument system applicable to two-post lifter and small scissor lifter |
| CN107727022A (en) * | 2017-07-23 | 2018-02-23 | 浙江维思无线网络技术有限公司 | A kind of contact net condition detection method and device |
| CN108303042A (en) * | 2017-12-31 | 2018-07-20 | 南京沃宇机电有限公司 | A kind of measurement method at front wheel toe-in of automobile angle |
-
2012
- 2012-07-03 CN CN 201220317608 patent/CN202869829U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016033936A1 (en) * | 2014-09-01 | 2016-03-10 | 深圳市圳天元科技开发有限责任公司 | Four-wheel positioning method and positioning instrument system applicable to two-post lifter and small scissor lifter |
| CN107727022A (en) * | 2017-07-23 | 2018-02-23 | 浙江维思无线网络技术有限公司 | A kind of contact net condition detection method and device |
| CN108303042A (en) * | 2017-12-31 | 2018-07-20 | 南京沃宇机电有限公司 | A kind of measurement method at front wheel toe-in of automobile angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102749210B (en) | Three-dimensional four-wheel aligner measuring method | |
| CN102175467B (en) | Wheel axle locator and method for location detection of wheel axle | |
| CN109839283A (en) | Vehicle suspension system position monitor | |
| CN101332836B (en) | Trailer articulation angle system and process | |
| CN101804814B (en) | Method, device and system for determining lane departure | |
| CN102442251B (en) | Self-propelled civil engineering machine | |
| CN104386065B (en) | A kind of automobile roll center position measurement device and computational methods thereof | |
| CN202119423U (en) | Measuring device of rear inclination/inner inclination of master pin | |
| CN202869829U (en) | Three-dimensional four-wheel aligner | |
| CN103640541B (en) | A kind of preventing vehicle rollover method utilizing gyro rotor inertia | |
| CN104483144B (en) | A kind of automobile 3D four wheel locating parameter detection methods based on machine vision of robust | |
| CN104890674A (en) | Automobile mass center side slip angle measurement device and automobile mass center side slip angle calculation method | |
| CN202008352U (en) | Wheel axle positioner | |
| CN101097175A (en) | Automatic master pin measuring means of automobile wheels orientator | |
| CN102538766A (en) | Obstacle test method for active intelligent vehicle | |
| CN204421853U (en) | Wheel positioning parameter measuring device | |
| CN105783750A (en) | Method for measuring vehicle wheelbase and front/rear overhang | |
| CN104573322A (en) | Dynamic measuring device for position of automobile heeling center axis and confirming method thereof | |
| CN202608712U (en) | Stereoscopic vision based active grating projection sensor system | |
| CN204202883U (en) | A kind of camera for wheel of vehicle location and the whole check system of wheel alignment | |
| CN203203807U (en) | 3D four-wheel positioning detection system | |
| CN105034740A (en) | Car rollover time measuring device and car rollover time calculation method | |
| CN201724826U (en) | Detection device of four wheel position indicator | |
| CN205930891U (en) | Wheel alignment parameter adjustment mechanism | |
| CN202869830U (en) | Two-dimensional four-wheel aligner with vehicle-driven eccentricity compensation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130410 Termination date: 20210703 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |