A Robust Detection Method of 3D Wheel Alignment Parameters Based on Machine Vision

Abstract

The invention discloses a machine-vision-based robust 3D (3-Dimensional) automobile four-wheel positioning parameter detection method, and relates to an automobile four-wheel positioning parameter detection method. The method comprises the following steps of shooting calibration plates arranged on hubs by virtue of a video camera in a movement process of wheels, obtaining position and attitude parameter relationships between the calibration plates on four wheels and the video camera before and after movement in an image processing manner, solving movement compensation angles by virtue of the obtained position and attitude parameter relationships, and calibrating a position and attitude matrix between the calibration plates and the video camera by virtue of the movement compensation angle; solving parameters representative of wheel planes, rotating shafts and automobile body coordinate axes by virtue of the corrected position and attitude matrix, and further solving four-wheel positioning parameters according to the geometric definition of four-wheel positioning parameters. The method is easy to operate, and main four-wheel positioning parameters can be rapidly and accurately solved; a movement compensation algorithm is adopted, so that high anti-interference performance is achieved, and four-wheel positioning data can be accurately measured even under multiple complicated testing working conditions that tires are abraded, that a steering wheel does not return, that the wheels are not on the same plane of a test platform and the like.

Description

technical field [0001] The invention relates to a detection method of automobile four-wheel alignment parameters, in particular to a robust machine vision-based automobile 3D four-wheel alignment parameter detection method. Background technique [0002] Automobile wheel alignment parameters mainly include: toe-in angle, camber angle, total toe-in of front wheels, total toe-in of rear wheels and propulsion angle. [0003] Automobile wheel alignment parameters are an important part of automobile inspection, and its accuracy directly affects the safety performance and handling stability of automobiles. With the continuous development of computers, cameras and optical sensors, traditional mechanical, infrared, and laser four-wheel aligners have been gradually eliminated. Four-wheel alignment products based on machine vision have the advantages of non-contact, easy operation, and fast speed. [0004] At present, most of the research on the detection of vehicle wheel alignment pa...

AI Technical Summary

Problems solved by technology

[0004] At present, most of the research on the detection of vehicle wheel alignment parameters mainly discusses the camera calibration model or the geometric model of the positioning parameters. Solving problems such as high-precision measurement and compensation of parameters

This also leads to the low measurement accuracy and precision of many automotive four-wheel alignment products on the market; especially poor data repeatability under various complex test conditions such as severe tire wear, steering wheel not returning to alignment, and wheels not on the same plane as the test bench. and other shortcomings

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