Cross member module, vehicle measuring device and correction method

Abstract

The present application relates to the technical field of automobile calibration, and particularly relates to a cross beam module, a vehicle measuring device and a correction method. The cross beam module comprises a cross beam body, a hinge assembly and a locking assembly. The cross beam body comprises a first cross beam part and a second cross beam part. The second cross beam part is located at one end of the first cross beam part. The hinge assembly comprises a first fixing seat and a second fixing seat. The first fixing seat is arranged at one end of the first cross beam part adjacent to the second cross beam part. The position of the first fixing seat relative to the first cross beam part is adjustable. The second fixing seat is arranged at one end of the second cross beam part adjacent to the first cross beam part. The second fixing seat is hingedly connected with the first fixing seat. The locking assembly is connected with the first cross beam part and the second cross beam part. The position of the locking assembly relative to the first cross beam part is adjustable. The locking assembly is used for locking the second cross beam part to the first cross beam part. The embodiment of the present application can adjust the straightness between the first cross beam part and the second cross beam part, and improve the accuracy of four-wheel alignment and ADAS calibration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automobile calibration, and particularly relates to a cross beam module, a vehicle measuring device and a correction method. BACKGROUND

[0002] Automobiles, as indispensable traffic tools in people's life, are used in many fields, and the safety performance requirements thereof are continuously improved. Generally, vehicles need to be sent to a maintenance factory for maintenance after a period of use, for example, four-wheel positioning is used to calibrate wheels, or ADAS is calibrated to ensure that the sensors such as cameras or radars in the vehicle accurately obtain road condition information.

[0003] At present, ADAS (Advanced Driver Assistant Systems) vehicle measuring devices and four-wheel positioning devices on the market both include a cross beam, and a camera assembly or a calibration assembly is installed on the cross beam to realize four-wheel positioning or ADAS calibration of the vehicle. The cross beam is generally long and occupies a large space, and is inconvenient to store and transport. Although the cross beam can be designed as a folding type, because the segments of the folding type cross beam can move relative to each other, the straightness of the unfolded folding type cross beam is low, which seriously affects the accuracy of four-wheel positioning or ADAS calibration. SUMMARY

[0004] The embodiments of the present application aim to provide a cross beam module, a vehicle measuring device and a correction method, which can increase the straightness of the folding type cross beam and improve the accuracy of four-wheel positioning and ADAS calibration.

[0005] To solve the above technical problems, one technical solution adopted by the embodiments of the present application is to provide a cross beam module, which comprises a cross beam body, a hinge assembly and a locking assembly. The cross beam body comprises a first cross beam part and a second cross beam part extending along a first direction, and the second cross beam part is located at one end of the first cross beam part. The hinge assembly comprises a first fixing seat, a second fixing seat, a first adjusting piece and a second adjusting piece. The first fixing seat is arranged at one end of the first cross beam part adjacent to the second cross beam part, and the position of the first fixing seat relative to the first cross beam part can be adjusted. The second fixing seat is arranged at one end of the second cross beam part adjacent to the first cross beam part, and the second fixing seat is hinged to the first fixing seat so that the second cross beam part can rotate relative to the first cross beam part. The first adjusting piece and the second adjusting piece are movably arranged in the first fixing seat. The first adjusting piece is used to push the first cross beam part along a second direction, and the second adjusting piece is used to push the first cross beam part along a third direction. The locking assembly is connected with the first cross beam part and the second cross beam part, and the position of the locking assembly relative to the first cross beam part can be adjusted. The locking assembly is used to lock the second cross beam part to the first cross beam part. The first direction, the second direction and the third direction are perpendicular to each other.

[0006] In the above technical solution, by arranging the hinge assembly and the locking assembly, the position of the first fixing seat of the hinge assembly relative to the first cross beam part can be adjusted, and the position of the locking assembly relative to the first cross beam part can be adjusted, so that the gap and the torsion angle between the first cross beam part and the second cross beam part can be adjusted, the straightness between the first cross beam part and the second cross beam part is increased, and the accuracy of four-wheel positioning and ADAS calibration is improved. In addition, the first adjusting piece and the second adjusting piece are arranged to adjust the position of the first cross beam part relative to the first fixing seat along the second direction and the third direction, the accuracy of position adjustment is improved, and the straightness between the first cross beam part and the second cross beam part is further improved.

[0007] In some embodiments, the hinge assembly comprises two first adjusting pieces which are arranged in the first fixing seat along the first direction. By arranging two first adjusting pieces along the first direction, when the relative positions of the two first adjusting pieces along the second direction are adjusted, the first fixing seat can rotate relative to the first cross beam part about a rotation axis parallel to the third direction, so that the torsion angle between the second cross beam part and the first cross beam part about an axis parallel to the third direction is adjusted.

[0008] In some embodiments, the hinge assembly comprises two second adjusting members, and the two second adjusting members are arranged at intervals along the first direction at the first fixed base. By arranging two second adjusting members at intervals along the first direction, when the relative positions of the two second adjusting members along the third direction are adjusted, the first fixed base can be rotated relative to the first beam part about a rotation axis parallel to the second direction, so as to adjust the torsion angle between the second beam part and the first beam part about an axis parallel to the second direction.

[0009] In some embodiments, the first fixed base is provided with a receiving groove for accommodating an end portion of the first beam part; the first fixed base is further provided with a first mounting hole and a second mounting hole, both of which are in communication with the receiving groove, the first mounting hole extends along the second direction, the second mounting hole extends along the third direction, the first adjusting member is arranged in the first mounting hole, and the second adjusting member is arranged in the second mounting hole. By being provided with a receiving groove and the first mounting hole and the second mounting hole being in communication with the receiving groove, when the first adjusting member is arranged in the first mounting hole and the second adjusting member is arranged in the second mounting hole, the first adjusting member and the second adjusting member can both contact the first beam part, so as to adjust the position of the first beam part.

[0010] In some embodiments, the first adjusting member is threadedly connected with the first mounting hole, and the second adjusting member is threadedly connected with the second mounting hole. By being threadedly connected, when the first adjusting member and the second adjusting member are rotated, the first adjusting member and the second adjusting member can be translated along the axial direction to push the first beam part and adjust the position of the first beam part.

[0011] In some embodiments, the first fixed base is provided with a first connecting sleeve, the second fixed base is provided with a second connecting sleeve, and the hinge assembly further comprises a rotating shaft connected with the first connecting sleeve and the second connecting sleeve. By being provided with a rotating shaft connected with the first connecting sleeve and the second connecting sleeve, the second fixed base can rotate relative to the first fixed base.

[0012] In some embodiments, the locking assembly comprises a locking block and a rotating body, the locking block is arranged on one of the first beam part and the second beam part, and the rotating body is rotatably arranged on the other one of the first beam part and the second beam part; a hook is arranged at a first end of the rotating body, the hook faces the beam body, and a first inclined surface is arranged on a side of the locking block away from the rotating body, the first inclined surface is used for clamping the hook to lock the second beam part on the first beam part. By arranging the locking block and the rotating body, when the first beam part and the second beam part are rotated to be parallel, the hook slides through the locking block and clamps the first inclined surface, so that the second beam part can be automatically locked on the first beam part.

[0013] In some embodiments, the locking assembly further comprises a resilient member, the resilient member is arranged on the first beam part or the second beam part together with the rotating body, the resilient member is located between a second end of the rotating body and the beam body, and a rotation axis of the rotating body is located between the first end and the second end; a second inclined surface is arranged on a side of the locking block facing the rotating body, the second inclined surface is used for pushing the hook to extrude the resilient member when the second beam part approaches the first beam part. By arranging the resilient member, the rotating body has a tendency to rotate towards the locking block, so that when the locking block clamps the first inclined surface, the clamping state is maintained, and the problem that the clamping is easily lost due to external force is improved; and when the hook slides along the second inclined surface, the resilient member is contracted under the pressure of the rotating body, so that the hook can pass through the locking block and clamp the first inclined surface.

[0014] In some embodiments, the hook comprises a third inclined surface, and the third inclined surface is used for contacting the second inclined surface. By arranging the third inclined surface, the third inclined surface can smoothly contact the second inclined surface, the sliding friction between the hook and the locking block is reduced, and the clamping of the hook and the first inclined surface is more smooth.

[0015] In some embodiments, the beam module further comprises a buffer, the buffer is mounted on the beam body, and the buffer is used for slowing down the rotation speed of the second beam part relative to the first beam part. By arranging the buffer, when the second beam rotates around the first beam, the rotation speed between the two can be slowed down, and the problem that the second beam part falls downward under gravity and collides with external objects when unlocking is improved.

[0016] In some embodiments, the buffer comprises a gas spring, and two ends of the gas spring are connected to the first beam part and the second beam part respectively. The buffer is a gas spring, the buffering effect of the buffer is achieved, and the gas spring can provide stable damping.

[0017] In some embodiments, the cross beam module further comprises a sliding plate slidingly arranged on the cross beam body, and the sliding plate is used for hanging a calibration element. By arranging the sliding plate, the calibration element can be hung to realize calibration of the ADAS of the vehicle, and the sliding plate can slide along the cross beam body to change the position of the calibration element to adapt to various vehicle models.

[0018] In some embodiments, the cross beam body is provided with a sliding groove for slidingly connecting the sliding plate, and the sliding groove comprises a first sliding groove and a second sliding groove connected in sequence, the first sliding groove is located at the first cross beam part, and the second sliding groove is located at the second cross beam part. By arranging the sliding groove, the sliding connection between the cross beam body and the sliding plate is realized, and the sliding groove spans the first cross beam part and the second cross beam part, so that the sliding plate can be put in or taken out from the sliding groove when the cross beam body is folded, thereby facilitating the change of the number of sliding plates.

[0019] In some embodiments, the cross beam module further comprises a support rod assembly, the support rod assembly comprises a support rod, one end of the support rod is hinged to the cross beam body, the support rod can be rotated relative to the cross beam body to open and close, and the support rod is used for hanging a calibration element. By arranging the support rod assembly, the calibration element can be hung to realize calibration of the ADAS of the vehicle, and one end of the support rod can be rotated relative to the cross beam body to change the position of the calibration element hung at the other end to adapt to various vehicle models.

[0020] In some embodiments, the support rod assembly further comprises a quick release knob for hinging the support rod to the cross beam body. By arranging the quick release knob, the calibration element can be quickly loosened or tightened to replace the calibration element or adjust the angle of the support rod relative to the cross beam body, thereby improving the efficiency of hanging and position adjustment of the calibration element.

[0021] In some embodiments, the cross beam body further comprises a connecting cable connecting the first cross beam part and the second cross beam part. The electronic devices on the segments of the cross beam body are electrically connected, and the cross beam body can be bent under force when folded, which does not easily affect the folding and unfolding of the cross beam body.

[0022] In some embodiments, the cross beam body further comprises a third cross beam part located at one end of the first cross beam part away from the second cross beam part. By arranging the third cross beam part, the cross beam body is changed from two folds to three folds, further shortening the length of the cross beam body after folding, so that it is easier to store.

[0023] To solve the above technical problems, another technical solution adopted by the embodiments of the present application is to provide a vehicle measuring device, which comprises a camera assembly and the cross beam module according to any one of the above, and the camera assembly is arranged on the cross beam module and is used to obtain vehicle-related images.

[0024] In the above technical solution, the camera assembly is arranged on the cross beam module, which can obtain vehicle-related images, and the to-be-corrected data of vehicle four-wheel alignment can be obtained according to the images, and the four-wheel alignment of the vehicle can be realized by adjusting the wheels according to the to-be-corrected data.

[0025] In some embodiments, the camera assembly comprises a first camera, a second camera and a third camera, the first camera and the second camera are arranged at two ends of the cross beam module, and the third camera is arranged at the middle part of the cross beam module, the first camera and the second camera are respectively used to take wheel information on both sides of the vehicle, and the third camera is used to take head information of the vehicle. By arranging the first camera and the second camera, the wheel information on both sides of the vehicle can be taken, and by arranging the third camera, the head information of the vehicle can be taken; by the head information and the wheel information, the to-be-corrected data of each wheel can be calculated.

[0026] In some embodiments, the first camera is provided with a correction target, and the second camera is provided with a correction camera, which is used to correct the first camera and the second camera in cooperation with the correction target. By arranging the correction target and the correction camera on the first camera and the second camera respectively, the correction target can be photographed by the correction camera, so as to correct the relative extrinsic parameters between the first camera and the second camera, thereby improving the accuracy of four-wheel alignment.

[0027] In some embodiments, a host computer is further included, which is arranged on the cross beam module, the host computer is connected with the camera assembly, and the host computer is used to process the images. By arranging the host computer, the camera is controlled and the images taken by the camera are processed, so as to obtain the to-be-corrected data of the wheels.

[0028] To solve the above technical problems, still another technical solution adopted by the embodiments of the present application is to provide a correction method applied to the vehicle measuring device according to any one of the above, which comprises:

[0029] Adjusting the step difference of the second cross beam part relative to the first cross beam part until the step difference of the second cross beam part relative to the first cross beam part meets a preset step difference condition;

[0030] Adjusting the torsion angle of the second cross beam part relative to the first cross beam part until the torsion angle of the second cross beam part relative to the first cross beam part meets a preset torsion condition.

[0031] control the camera assembly to correct when the step difference of the second beam part relative to the first beam part meets the preset step difference condition, and the torsion angle of the second beam part relative to the first beam part meets the preset torsion condition.

[0032] In the above technical solution, by adjusting the step difference of the second beam part relative to the first beam part to meet the preset step difference condition and the torsion angle to meet the preset torsion condition, the straightness of the beam body meets the preset condition, improving the accuracy of four-wheel alignment and ADAS calibration; and controlling the camera assembly to correct to correct the relative extrinsic parameters between each camera in the camera assembly can further improve the accuracy of four-wheel alignment.

[0033] In some embodiments, the preset step difference condition includes a preset first allowed maximum step difference value, a preset second allowed maximum step difference value, and a preset third allowed maximum step difference value.

[0034] The adjusting the step difference of the second beam part relative to the first beam part until the step difference of the second beam part relative to the first beam part meets the preset step difference condition includes:

[0035] Adjusting the position of the second beam part relative to the first fixed seat along the first direction until the step difference of the second beam part relative to the first beam part along the first direction is less than the preset first allowed maximum step difference value.

[0036] Adjusting the position of the first adjusting member relative to the first fixed seat along the second direction until the step difference of the second beam part relative to the first beam part along the second direction is less than the preset second allowed maximum step difference value.

[0037] Adjusting the position of the second adjusting member relative to the first fixed seat along the third direction until the step difference of the second beam part relative to the first beam part along the third direction is less than the preset third allowed maximum step difference value.

[0038] In the above technical solution, the position of the second beam part relative to the first fixed seat is directly or indirectly adjusted to adjust the step difference of the second beam part relative to the first beam part; and the first adjusting member and the second adjusting member are used for step difference adjustment, which has higher adjustment accuracy compared to direct adjustment.

[0039] In some embodiments, the preset torsion condition includes a preset first allowed maximum torsion angle, a preset second allowed maximum torsion angle, and a preset third allowed maximum torsion angle.

[0040] The adjusting the torsion angle of the second cross beam part relative to the first cross beam part until the torsion angle of the second cross beam part relative to the first cross beam part satisfies a preset torsion condition comprises:

[0041] The adjusting the position of the locking assembly relative to the second cross beam part along the third direction to adjust the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the first direction until the torsion angle of the second cross beam part relative to the first cross beam part around the axis parallel to the first direction is less than the preset first allowable maximum torsion angle;

[0042] The adjusting the relative positions of the two second adjusting members along the third direction to enable the second cross beam part to rotate relative to the first fixed seat around an axis parallel to the second direction to adjust the torsion angle of the second cross beam part relative to the first cross beam part around the axis parallel to the second direction until the torsion angle of the second cross beam part relative to the first cross beam part around the axis parallel to the second direction is less than the preset second allowable maximum torsion angle, wherein the two second adjusting members are arranged at intervals along the first direction;

[0043] The adjusting the position of the locking assembly relative to the second cross beam part along the first direction to adjust the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the third direction until the torsion angle of the second cross beam part relative to the first cross beam part around the axis parallel to the third direction is less than the preset third allowable maximum torsion angle.

[0044] In the above technical solution, by adjusting the position of the locking assembly relative to the second cross beam part, the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the first direction and the third direction can be adjusted. Since the hinge assembly is the rotation center between the second cross beam part and the first cross beam part, and the hinge assembly is spaced from the locking assembly, compared with directly adjusting the torsion angle, this way of adjusting the torsion angle has higher adjustment accuracy. By adjusting the relative positions of the two second adjusting members along the third direction, the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the second direction can be adjusted, and the adjustment is performed by the spaced second adjusting members, which has higher adjustment accuracy compared with direct adjustment.

[0045] In some embodiments, the camera assembly comprises a first camera and a second camera, the first camera is provided with the correction target, and the second camera is provided with the correction camera;

[0046] The control of the camera assembly to perform correction comprises:

[0047] The control of the correction camera to capture the correction target to obtain a correction image;

[0048] calculate a deviation matrix between the correction image and a preset image;

[0049] correct a relative extrinsic parameter between the first camera and the second camera according to the deviation matrix.

[0050] In the technical solution, the correction target is shot by the camera to obtain the correction image, and the deviation matrix is calculated to correct the relative extrinsic parameter between the first camera and the second camera, without separately setting the correction target or the camera, thereby improving the standard convenience and correction efficiency, and the correction can be performed in real time, thereby improving the correction accuracy and further improving the accuracy of four-wheel positioning.

[0051] Different from the related art, the beam module, the vehicle measurement device and the correction method of the embodiment of the application are provided with a hinge assembly and a locking assembly, the position of the first fixing seat of the hinge assembly relative to the first beam part is adjustable, and the position of the locking assembly relative to the first beam part is adjustable, so that the step difference and the torsion angle between the first beam part and the second beam part can be adjusted, the straightness between the first beam part and the second beam part is increased, and the accuracy of four-wheel positioning and ADAS calibration is improved; and the first adjusting member and the second adjusting member are provided for adjusting the position of the first beam part relative to the first fixing seat along the second direction and the third direction, the accuracy of position adjustment is improved, and the straightness between the first beam part and the second beam part is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0052] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals refer to like elements in the various figures of the drawings in which: the figures are not to scale.

[0053] Figure 1 is a structural schematic diagram of a vehicle measurement device of an embodiment of the application;

[0054] Figure 2 is a structural schematic diagram of a vehicle measurement device of another view of an embodiment of the application;

[0055] Figure 3 is Figure 1 is a partial enlarged schematic diagram of A in FIG. 1;

[0056] Figure 4 is Figure 2 is a partial enlarged schematic diagram of B in FIG. 1;

[0057] Figure 5 is Figure 1 is a structural schematic diagram of a hinge assembly in FIG. 1;

[0058] Figure 6is Figure 5 An exploded view of the hinge assembly;

[0059] Figure 7 is Figure 1 A structural schematic view of the locking assembly;

[0060] Figure 8 is Figure 7 An exploded view of the locking assembly.

[0061] The reference signs in the detailed description are as follows:

[0062] 100, vehicle measurement equipment;

[0063] 1, beam module;

[0064] 11, beam body; 111, first beam part; 1111, first sliding groove; 112, second beam part; 1121, second sliding groove; 113, third beam part; 1131, third sliding groove;

[0065] 12, hinge assembly; 121, first fixed seat; 1211, first connecting sleeve; 1212, first through hole; 1213, accommodating groove; 1214, first mounting hole; 1215, second mounting hole; 122, second fixed seat; 1221, second connecting sleeve; 123, rotating shaft; 124, first adjusting piece; 125, second adjusting piece;

[0066] 13, locking assembly; 131, locking block; 1311, locking hook; 13111, first inclined surface; 13112, second inclined surface; 1312, second through hole; 132, rotating seat; 133, rotating body; 1331, hook; 13311, third inclined surface; 134, elastic piece;

[0067] 14, buffer; 15, sliding plate; 16, supporting rod assembly; 161, supporting rod; 162, quick release knob; 17, connecting cable;

[0068] 2, master control machine;

[0069] 3, camera assembly; 31, first camera; 311, correction target; 32, second camera; 321, correction camera; 33, third camera. DETAILED DESCRIPTION

[0070] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes the present application with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application. It should be noted that, if not in conflict, each feature in the embodiments of the present application can be combined with each other, and all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device schematic diagram or the order in the flowchart.

[0071] In the description of the present application, it should be noted that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicate the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and in the absence of the opposite description, these orientation words do not indicate and imply that the indicated device or element must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.

[0072] In the description of the present application, it should be noted that the use of "first", "second" and the like to limit parts is only for the convenience of distinguishing the corresponding parts, and unless otherwise stated, the above words have no special meaning, and therefore cannot be understood as a limitation on the scope of protection of the present application. In the description of the embodiments of the present application, the meaning of "multiple" is two or more, unless otherwise specifically limited.

[0073] Unless otherwise defined, all technical and scientific terms used in the specification are the same as those commonly understood by those skilled in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing the specific embodiments and are not used to limit the present application. The term "and / or" used in the specification includes any and all combinations of one or more related listed items.

[0074] In addition, the technical features involved in different embodiments of the present application described below can be combined with each other as long as there is no conflict.

[0075] To solve the above technical problems, as Figure 1 and Figure 2As shown, the embodiment of the present application provides a vehicle measuring device 100, which comprises a beam module 1, a host computer 2 and a camera assembly 3, the camera assembly 3 is arranged on the beam module 1, the camera assembly 3 is used to obtain vehicle related images, the host computer 2 is arranged on the beam module 1, the host computer 2 is connected with the camera assembly 3, and the host computer 2 is used to process the images. In this way, the user can take vehicle related images through the camera assembly 3, process the images through the host computer 2, and then calibrate the wheels of the vehicle according to the processed data to realize four-wheel positioning. Meanwhile, the beam module 1 can support calibration elements to calibrate sensors on the vehicle.

[0076] Next, the specific structures of the camera assembly 3 and the beam module 1 are described in turn.

[0077] For the camera assembly 3, as shown in Figure 1 and Figure 2 the camera assembly 3 comprises a first camera 31, a second camera 32 and a third camera 33, the first camera 31 and the second camera 32 are arranged at two ends of the beam module 1, and the third camera 33 is arranged at the middle part of the beam module 1. The first camera 31 and the second camera 32 are respectively used to take wheel information on both sides of the vehicle or obtain target images close to or attached to the wheels on both sides of the vehicle. The third camera 33 is used to take the head information of the vehicle. Through the head information and the wheel information, the to-be-corrected data of each wheel, such as the angle and displacement that need to be adjusted for each wheel, are calculated. According to the to-be-corrected data, the wheels are corrected to complete four-wheel positioning. Optionally, the first camera 31, the second camera 32 and the third camera 33 are detachably mounted on the beam module 1. Optionally, the first camera 31 and the second camera 32 are binocular cameras, and the third camera 33 is a monocular camera. Optionally, the first camera 31, the second camera 32 and the third camera 33 are electrically connected with the host computer 2 through a cable to transmit electrical signals, which is stable in connection and not easy to be interfered by electromagnetic waves. Alternatively, the first camera 31, the second camera 32 and the third camera 33 are communicatively connected with the host computer 2 through a wireless network, such as through WiFi, Bluetooth or the like, without the need to set a cable, which will not cause the problem of cable damage due to repeated bending, and makes the camera assembly 3 more simple.

[0078] In some embodiments, as shown in Figure 1 and Figure 2As shown, the first camera 31 is provided with a calibration target 311, and the second camera 32 is provided with a calibration camera 321, which can capture the calibration target 311 to obtain a calibration image, and the relative external parameters (i.e. relative position) of the first camera 31 and the second camera 32 are calibrated according to the calibration image, so that the calibration camera 321 cooperates with the calibration target 311 to calibrate the relative external parameters of the first camera 31 and the second camera 32. Moreover, no separate calibration target or calibration camera is needed, which improves the standard convenience and calibration efficiency, and the calibration can be performed in real time with the activation of the host computer 2. After the physical calibration of the above crossbeam module 1 is completed, the straightness is within a specified value range, and no manual calibration of the camera assembly 3 is needed, which improves the convenience, stability and calibration accuracy of the vehicle measurement device 100.

[0079] For the above crossbeam module 1, as shown in Figures 1 to 4 The crossbeam module 1 includes a crossbeam body 11, a hinge assembly 12, a locking assembly 13, a buffer 14, a sliding plate 15, a supporting rod assembly 16 and a connecting cable 17. The crossbeam body 11 is used to mount the host computer 2, the camera assembly 3, the sliding plate 15 and the supporting rod assembly 16, and the crossbeam body 11 includes multiple sections. The hinge assembly 12 is used to connect the sections of the crossbeam body 11, so that the sections of the crossbeam body 11 can be folded and unfolded, which is convenient for carrying and storage. The locking assembly 13 is used to lock the sections of the crossbeam body 11, so that the crossbeam body 11 is always in an unfolded state, which is convenient for calibration. The locking assembly 13 is also used to unlock the sections of the crossbeam body 11, so that the sections of the crossbeam body 11 can be folded. The buffer 14 is used to slow down the rotation speed between the sections of the crossbeam module 1, which improves the problem that the free sections of the crossbeam body 11 fall downward under gravity and collide with external objects when unlocked. The sliding plate 15 and the supporting rod assembly 16 are used to hang calibration elements, and the sliding plate 15 can slide along the crossbeam body 11, and the supporting rod assembly 16 can be stored and unfolded. The calibration elements are used to calibrate sensors on a vehicle, for example, by collecting position information of the calibration elements through sensors, and then calibrating the sensors according to the position information. The connecting cable 17 is used to connect the sections of the crossbeam body 11 to realize communication between the sections of the crossbeam body 11.

[0080] For the above crossbeam body 11, as shown in Figures 1 to 4As shown, the beam body 11 extends along a first direction x, and can be hung on a wall or supported on the ground by a support. The beam body 11 comprises a first beam part 111, a second beam part 112 located at one end of the first beam part 111, and a third beam part 113 located at the other end of the first beam part 111 away from the second beam part 112, i.e. the second beam part 112, the first beam part 111 and the third beam part 113 are sequentially arranged along the first direction x and all extend along the first direction x.

[0081] As shown in Figures 1 to 4 The second beam part 112 is connected with one end of the first beam part 111 by a hinge assembly 12, and the third beam part 113 is connected with the other end of the first beam part 111 by another hinge assembly 12, so that the second beam part 112 and the third beam part 113 can be folded relative to the first beam part 111. Further, the hinge assembly 12 connecting the second beam part 112 and the hinge assembly 12 connecting the third beam part 113 are respectively located on opposite sides of the first beam part 111 perpendicular to the first direction x, so that the folding directions of the second beam part 112 and the third beam part 113 are opposite, for example, the second beam part 112 is folded downward, and the third beam part 113 is folded upward, and after being folded, the second beam part 112 and the third beam part 113 are respectively located on both sides of the first beam part 111, and the folding and unfolding of the two will not interfere with each other. Alternatively, multiple hinge assemblies 12 can also be used to connect adjacent two beam parts to increase the connection stability.

[0082] As shown in Figures 1 to 4As shown, the second cross beam part 112 is locked to the first cross beam part 111 by a locking assembly 13, and the third cross beam part 113 is locked to the first cross beam part 111 by another locking assembly 13, so that the second cross beam part 112 and the third cross beam part 113 can be individually locked to the first cross beam part 111 and can be individually unlocked and locked. Further, the hinge assembly 12 connected to the second cross beam part 112 and the locking assembly 13 connected to the second cross beam part 112 are respectively located on both sides of the first cross beam part 111 along a direction perpendicular to the first direction x, for example, the hinge assembly 12 is connected to the bottom surface of the first cross beam part 111, and the locking assembly 13 is connected to the top surface of the first cross beam part 111, so that the distance between the hinge assembly 12 and the locking assembly 13 is the height of the first cross beam part 111 along the up-down direction, so as to increase the distance between the hinge assembly 12 and the locking assembly 13. By increasing the distance between the hinge assembly 12 and the locking assembly 13, the required pulling force or pushing force is reduced under the condition that the required torque for locking the second cross beam part 112 is constant, for example, when the second cross beam part 112 is locked to the first cross beam part 111, the horizontal force of the locking assembly 13 on the second cross beam part is: the torque divided by the distance between the hinge assembly 12 and the locking assembly 13. Therefore, by increasing the distance, the horizontal force of the locking assembly 13 on the second cross beam part 112 can be reduced, thereby improving the stability of the locking and reducing the damage to the locking assembly 13 caused by excessive pushing force or pulling force. Similarly, the horizontal force of the hinge assembly 12 on the second cross beam part 112 can also be reduced, thereby reducing the damage to the hinge assembly 12 caused by excessive pushing force or pulling force.

[0083] As shown in FIG. 1, the cross beam body 11 is provided with a sliding groove for slidingly connecting the sliding plate 15; the sliding groove comprises a first sliding groove 1111 and a second sliding groove 1121 connected in sequence, the first sliding groove 1111 is located in the first cross beam part 111, and the second sliding groove 1121 is located in the second cross beam part 112; the sliding groove is used for slidingly connecting the sliding plate 15, so that the sliding plate 15 is slidingly arranged in the cross beam body 11, and the sliding plate 15 can slide arbitrarily in the sliding groove, so as to adapt to various calibration requirements, for example, it can be applied to vehicles with different widths, so as to adapt to various vehicle models. When the cross beam body 11 is folded, the first sliding groove 1111 and the second sliding groove 1121 are disconnected, the sliding plate 15 can be taken out or placed in the disconnected position, and the number of the sliding plate 15 can be increased or decreased, thereby further expanding the calibration capacity. Optionally, when the cross beam body 11 comprises a third cross beam part 113, the third cross beam part 113 is provided with a third sliding groove 1131. Figure 1 and Figure 3 As shown, the cross beam body 11 is provided with a sliding groove, and the sliding groove is used for slidingly connecting the sliding plate 15; the sliding groove comprises a first sliding groove 1111 and a second sliding groove 1121 connected in sequence, the first sliding groove 1111 is located in the first cross beam part 111, and the second sliding groove 1121 is located in the second cross beam part 112; the sliding groove is used for slidingly connecting the sliding plate 15, so that the sliding plate 15 is slidingly arranged in the cross beam body 11, and the sliding plate 15 can slide arbitrarily in the sliding groove, so as to adapt to various calibration requirements, for example, it can be applied to vehicles with different widths, so as to adapt to various vehicle models. When the cross beam body 11 is folded, the first sliding groove 1111 and the second sliding groove 1121 are disconnected, the sliding plate 15 can be taken out or placed in the disconnected position, and the number of the sliding plate 15 can be increased or decreased, thereby further expanding the calibration capacity. Optionally, when the cross beam body 11 comprises a third cross beam part 113, the third cross beam part 113 is provided with a third sliding groove 1131.

[0084] It can be understood that the beam body 11 wants to have folding function, only need to set two or more, and any adjacent two sections through the hinge assembly 12 is connected to achieve folding, also through the locking assembly 13 is connected to achieve locking. In some embodiments, the beam body 11 includes the first beam part 111, and one of the second beam part 112 and the third beam part 113.

[0085] Next, with the beam body 11 including the first beam part 111 and the second beam part 112 as an example, the hinge assembly 12 and the locking assembly 13 are described.

[0086] For the above hinge assembly 12, as shown in Figure 3 and Figure 5 The hinge assembly 12 includes a first fixed seat 121, a second fixed seat 122, a pivot shaft 123, a first adjusting part 124 and a second adjusting part 125, the first fixed seat 121 and the second fixed seat 122 are used to connect with the first beam part 111 and the second beam part 112 respectively, the pivot shaft 123 is used to connect the first fixed seat 121 and the second fixed seat 122, the first adjusting part 124 and the second adjusting part 125 are used to adjust the position of the beam part relative to the fixed seat.

[0087] For the above first fixed seat 121 and second fixed seat 122, as shown in Figure 3 , Figure 5 and Figure 6 The first fixed seat 121 is arranged at one end of the first beam part 111 adjacent to the second beam part 112, and the second fixed seat 122 is arranged at one end of the second beam part 112 adjacent to the first beam part 111; the first fixed seat 121 is provided with a first connecting sleeve 1211, and the second fixed seat 122 is provided with a second connecting sleeve 1221, and the pivot shaft 123 connects the first connecting sleeve 1211 and the second connecting sleeve 1221 to hinge the second fixed seat 122 to the first fixed seat 121, so that the second beam part 112 can rotate relative to the first beam part 111, realizing folding and unfolding of the second beam part 112. Wherein, the position of the first fixed seat 121 and the second fixed seat 122 can be interchanged, that is, the first fixed seat 121 is connected with the second beam part 112, and the second fixed seat 122 is connected with the first beam part 111.

[0088] As shown in Figure 6As shown, the first fixing seat 121 is provided with a first through hole 1212 parallel to the second direction z, the first through hole 1212 is used to install a screw to install the first fixing seat 121 on the first beam part 111; and when the screw is installed on the first through hole 1212, the outer diameter of the screw column of the screw is smaller than the inner diameter of the first through hole 1212, so that the position of the first fixing seat 121 relative to the screw can be adjusted along the direction perpendicular to the screw column of the screw, and the first fixing seat 121 can also rotate relative to the first beam part 111 around the axis parallel to the screw. Therefore, by loosening the screw, the position of the first fixing seat 121 relative to the first beam part 111 along the first direction x and the third direction y and the rotation angle around the axis parallel to the second direction z can be adjusted, that is, the step difference adjustment along two mutually perpendicular directions and the torsion angle adjustment around one direction are realized, which can increase the straightness between the second beam part 112 and the first beam part 111, improve the accuracy of four-wheel alignment and ADAS calibration. Wherein, the first direction x, the second direction z and the third direction y are perpendicular to each other. It can be understood that the first through hole 1212 can also be not parallel to the second direction z, but can form an acute angle with the second direction z. Further, the position of the second fixing seat 122 relative to the second beam part 112 can also be adjusted, increasing the position adjustment range of the first beam part 111 relative to the second beam part 112.

[0089] In some embodiments, the first through hole 1212 is provided with a plurality of parts, and is divided into two parts, one part of the first through hole 1212 is perpendicular to another part of the first through hole 1212, which can increase the stability of the connection between the first fixing seat 121 and the first beam part 111, and by loosening the screw, the step difference adjustment along three mutually perpendicular directions and the torsion angle adjustment around two mutually perpendicular directions can be realized.

[0090] For example, two parts of the first through hole 1212 are parallel to the second direction z and the third direction y respectively, so that the position of the first fixing seat 121 relative to the first beam part 111 along the first direction x, the second direction z and the third direction y, and the rotation angle around the axis parallel to the second direction z and the rotation angle around the axis parallel to the third direction y can be adjusted.

[0091] Wherein, since two parts of the first through hole 1212 are provided, two groups of screws along the second direction z and the third direction y are connected with the first beam part 111, so that along the direction perpendicular to the two groups of screws, that is, perpendicular to the first direction x, both groups of screws can realize position adjustment, that is, after adjustment in this direction, the stability of the screw fastening is higher, and it is not easy to deviate due to external force.

[0092] To increase the stability of adjustment along the second direction z, as shown in Figure 6 The first fixed seat 121 is provided with a receiving groove 1213 and a first mounting hole 1214. The receiving groove 1213 is used for accommodating the end of the first cross beam part 111. The first mounting hole 1214 is in communication with the receiving groove 1213. The first mounting hole 1214 extends along the second direction z. The first mounting hole 1214 is used for movably mounting the first adjusting part 124. The first adjusting part 124 can move in translation along the first mounting hole 1214, so as to be able to push the first cross beam part 111 along the second direction z.

[0093] In some embodiments, the first through hole 1212 of the first fixed seat 121 extends along the second direction z, that is, the axis of the first adjusting part 124 is parallel to the axis of the screw, so that the first adjusting part 124 clamps the first fixed seat 121 with the nut of the screw. The cooperation between the first adjusting part 124 and the screw can adjust the position of the first fixed seat 121 along the second direction z relative to the first cross beam part 111. For example, the first adjusting part 124 and the screw adjust in the same direction. The first fixed seat 121 is still clamped, but its position changes during the adjustment process. Since the first fixed seat 121 is clamped by the nut of the screw and the first adjusting part 124, it is not easy to deviate along the second direction z due to external force, and the stability is high.

[0094] To increase the stability of adjustment along the third direction y, as shown in Figure 6 The first fixed seat 121 is also provided with a second mounting hole 1215. The second mounting hole 1215 is in communication with the receiving groove 1213. The second mounting hole 1215 extends along the third direction y. The second mounting hole 1215 is used for movably mounting the second adjusting part 125. The second adjusting part 125 can move in translation along the second mounting hole 1215, so as to be able to push the first cross beam part 111 along the third direction y, so as to adjust the position of the first fixed seat 121 along the third direction y, improve the accuracy of position adjustment, and further improve the straightness between the first cross beam part 111 and the second cross beam part 112.

[0095] In some embodiments, the first adjusting member 124 is threadedly connected with the first mounting hole 1214, the second adjusting member 125 is threadedly connected with the second mounting hole 1215, by rotating the first adjusting member 124 and the second adjusting member 125, the first adjusting member 124 is translated along the first mounting hole 1214, and the second adjusting member 125 is translated along the second mounting hole 1215, the position of the first fixed seat 121 relative to the first beam part 111 along the second direction z and the third direction y can be finely adjusted, and the adjustment accuracy is improved. Moreover, the thread connection has a self-locking function, after rotating the first adjusting member 124 and the second adjusting member 125, even if the first beam part 111 presses the first adjusting member 124 and the second adjusting member 125, the first adjusting member 124 and the second adjusting member 125 are not easy to rotate. Optionally, the first adjusting member 124 and the second adjusting member 125 are hexagonal screws.

[0096] In order to increase the stability of the torsion angle adjustment around the axis parallel to the third direction y, as shown in Figure 6 The hinge assembly 12 includes two first adjusting members 124, which are arranged at the first fixed seat 121 along the first direction x, the first direction x, the second direction z and the third direction y are perpendicular to each other, by adjusting the relative position of the two first adjusting members 124 along the second direction z, the first fixed seat 121 can rotate relative to the first beam part 111 around the rotation axis 123 parallel to the third direction y, so as to adjust the torsion angle between the second beam part 112 and the first beam part 111 around the axis parallel to the third direction y. For example, as shown in Figure 5 By adjusting one of the first adjusting members 124 upward, the first adjusting member 124 pushes the first beam part 111 upward, and the first beam part 111 rotates away from the first adjusting member 124, i.e. rotates around the axis parallel to the third direction y. Since the first fixed seat 121 is clamped by the screw nut and the two first adjusting members 124, the first fixed seat 121 is not easy to deflect due to external force, and the torsion angle is stable.

[0097] In order to increase the stability of the torsion angle adjustment around the axis parallel to the second direction z, as shown in Figure 6As shown, the hinge assembly 12 comprises two second adjusting members 125, which are arranged at the first fixed seat 121 along a first direction x, the first direction x, the second direction z and the third direction y being perpendicular to each other. By adjusting the relative positions of the two second adjusting members 125 along the third direction y, the first fixed seat 121 can be rotated about a rotation axis 123 parallel to the second direction z relative to the first beam part 111, so as to adjust the torsion angle between the second beam part 112 and the first beam part 111 about an axis parallel to the second direction z. For example, as shown in Figure 5 by adjusting one second adjusting member 125 outwardly, the second adjusting member 125 pushes the first beam part 111 outwardly, and the first beam part 111 rotates about an axis parallel to the second direction z away from the second adjusting member 125. Since the first fixed seat 121 is clamped by the screw nut and the two second adjusting members 125, the first fixed seat 121 is not easy to be deflected by external force, and the torsion angle is stable.

[0098] For the above-mentioned locking assembly 13, as shown in Figure 4 and Figure 7 the locking assembly 13 comprises a locking block 131, a rotating seat 132, a rotating body 133 and an elastic member 134. The locking block 131 is arranged at the first beam part 111, the rotating seat 132 is arranged at the second beam part 112, the rotating body 133 is rotatably arranged at the rotating seat 132, i.e. the rotating body 133 is rotatably arranged at the second beam part 112. The rotating body 133 comprises a first end and a second end, and the rotation axis 123 of the rotating body 133 is located between the first end and the second end. The elastic member 134 is arranged between the rotating seat 132 and the second end of the rotating body 133, so as to push the first end of the rotating body 133 to be close to the locking block 131, and make the first end of the rotating body 133 be clamped with the locking block 131, so as to lock the second beam part 112 to the first beam part 111. Wherein, the positions of the locking block 131 and the rotating seat 132 can be interchanged, i.e. the locking block 131 is arranged at the second beam part 112, and the rotating seat 132 is arranged at the first beam part 111, and the rotating body 133 is rotatably arranged at the first beam part 111. Optionally, the rotating body 133 can be directly arranged at the first beam part 111 or the second beam part 112, so as to not need to arrange the rotating seat 132. Optionally, the elastic member 134 is a straight spring. Optionally, the rotating body 133 is installed on the rotating seat 132 by a pin.

[0099] As shown in Figure 8As shown, the first end of the rotating body 133 is provided with a hook 1331, the hook 1331 faces the crossbeam body 11, the locking block 131 is provided with a locking hook 1311, and the locking hook 1311 is provided with a first inclined surface 13111 on the side away from the rotating body 133. The first inclined surface 13111 is used to engage with the hook 1331 to lock the second crossbeam part 112 to the first crossbeam part 111.

[0100] like Figure 8 As shown, the locking hook 1311 has a second inclined surface 13112 on the side facing the rotating body 133. The second inclined surface 13112 is used to push the hook 1331 when the second crossbeam portion 112 is close to the first crossbeam portion 111, causing the hook 1331 to press the elastic member 134. When the hook 1331 slides past the end of the second inclined surface 13112, the hook 1331 engages with the locking hook 1311, realizing the automatic locking of the rotating body 133 and the locking block 131. Furthermore, the hook 1331 includes a third inclined surface 13311, which is used to contact the second inclined surface 13112 to reduce the friction between the hook 1331 and the second inclined surface 13112 and improve the smoothness of locking.

[0101] like Figure 8As shown, the locking block 131 is provided with a second through hole 1312 for mounting a screw to mount the locking block 131 to the first beam part 111; and when the screw is mounted in the second through hole 1312, the outer diameter of the screw shank is smaller than the inner diameter of the second through hole 1312, so that the position of the locking block 131 relative to the screw can be adjusted in the direction perpendicular to the screw shank, realizing the position adjustment of the locking block 131 relative to the first beam part 111. Wherein, the second through hole 1312 is parallel to the second direction z, when the locking block 131 moves relative to the first beam part 111 along the first direction x, the first beam part 111 rotates around an axis parallel to the third direction y with the hinge assembly 12 as the rotation center, so as to adjust the torsion angle between the second beam part 112 and the first beam part 111 around an axis parallel to the third direction y; when the locking block 131 moves relative to the first beam part 111 along the third direction y, the first beam part 111 rotates around an axis parallel to the first direction x with the hinge assembly 12 as the rotation center, so as to adjust the torsion angle between the second beam part 112 and the first beam part 111 around an axis parallel to the first direction x. Further, the position of the rotating seat 132 relative to the second beam part 112 can also be adjusted, increasing the adjustment range of the torsion angle of the first beam part 111 relative to the second beam part 112.

[0102] For the above-mentioned buffer 14, as Figures 1 to 4 As shown, the buffer 14 is mounted at one end to the first beam part 111 and at the other end to the second beam part 112, and is used to apply a pulling force to the first beam part 111 and the second beam part 112 when the beam body 11 is unfolded, and to apply a pushing force to the first beam part 111 and the second beam part 112 when the beam body 11 is folded, so as to slow down the rotation speed of the second beam part 112 relative to the first beam part 111, improve the problem that the second beam part 112 falls downward under gravity and collides with external objects when unlocked, and avoid damage to the camera assembly 3. For example, the second beam part 112 is folded downward, and when the second beam part 112 is unlocked, it may collide with objects or persons below under the action of gravity, causing human injury or damage to the camera on the second beam part 112. Optionally, the buffer 14 includes a gas spring, and the two ends of the gas spring are connected to the first beam part 111 and the second beam part 112, respectively, and the gas spring can provide stable damping. Optionally, the third beam part 113 and the first beam part 111 are also provided with the buffer 14.

[0103] For the above-mentioned support rod assembly 16, as shown in Figure 1 and Figure 3 , the support rod assembly 16 comprises a support rod 161 and a quick release knob 162, the quick release knob 162 hingedly connects the support rod 161 to the cross beam body 11, so that the support rod 161 can be rotated open and closed relative to the cross beam body 11, unfolded to hang the calibration element, and can be rotated to fit the cross beam body 11 to be stored; and one end of the support rod 161 can rotate relative to the cross beam body 11, and the position of the calibration element hung at the other end can be changed to adapt to various vehicle models, such as vehicles with different widths or heights. The quick release knob 162 is convenient for manual rotation, and can be quickly loosened or tightened to quickly adjust the position of the support rod 161 or quickly replace the calibration element, improving the efficiency of hanging and position adjustment of the calibration element. Optionally, the support rod 161 is provided with the quick release knob 162 at both ends.

[0104] For the above-mentioned connecting cable 17, as shown in Figure 2 and Figure 4 , the connecting cable 17 connects the first cross beam part 111 and the second cross beam part 112 to realize the electrical connection of the electronic elements on the first cross beam part 111 and the second cross beam part 112, for example, when the first camera 31 is arranged on the second cross beam part 112 and the host computer 2 is arranged on the first cross beam part 111, the connecting cable 17 connects the first camera 31 and the host computer 2 to realize the communication connection of the first camera 31 and the host computer 2, and when the cross beam body 11 is folded, it can be bent under stress, and it is not easy to affect the folding and unfolding of the cross beam body 11. Optionally, the connecting cable 17 is a soft cable with good bending resistance.

[0105] The beam module 1 and the vehicle measuring device 100 of the embodiment of the present application are provided with a hinge assembly 12 and a locking assembly 13, the first fixed seat 121 of the hinge assembly 12 can be adjusted relative to the position of the first beam part 111, the locking assembly 13 can be adjusted relative to the position of the first beam part 111, so that the step difference and the torsion angle between the first beam part 111, the second beam part 112 and the third beam part 113 can be adjusted, the straightness between the first beam part 111, the second beam part 112 and the third beam part 113 is increased, and the accuracy of four-wheel positioning and ADAS calibration is improved; and the first adjusting part 124 and the second adjusting part 125 are provided for adjusting the position of the first beam part 111 relative to the first fixed seat 121 along the second direction z and the third direction y, the accuracy of position adjustment is improved, and the straightness between the first beam part 111, the second beam part 112 and the third beam part 113 is further improved; the first camera 31 is provided with a correction target 311, and the second camera 32 is provided with a correction camera 321, so that the first camera 31 and the second camera 32 can be automatically and real-time corrected, and the convenience, stability and calibration accuracy of the vehicle measuring device 100 are improved.

[0106] The embodiment of the present application also provides a correction method applied to the vehicle measuring device 100, and the correction method comprises the following steps of:

[0107] S100: Adjusting the step difference of the second beam part 112 relative to the first beam part 111 until the step difference of the second beam part 112 relative to the first beam part 111 meets a preset step difference condition.

[0108] The preset step difference condition comprises a preset first maximum step difference value, a preset second maximum step difference value and a preset third maximum step difference value. For example, the preset first maximum step difference value, the preset second maximum step difference value and the preset third maximum step difference value are all 0.2 mm.

[0109] The specific steps of S100 comprise the following steps of:

[0110] S110: Adjusting the position of the second beam part 112 relative to the first fixed seat 121 along the first direction x until the step difference of the second beam part 112 relative to the first beam part 111 along the first direction x is less than the preset first maximum step difference value.

[0111] By loosening the screw installed in the first through hole 1212 of the first fixing base 121, the position of the first beam part 111 relative to the first fixing base 121 along the first direction x is adjusted, and then the position of the second beam part 112 relative to the first beam part 111 along the first direction x is adjusted, so as to adjust the step difference of the second beam part 112 relative to the first beam part 111 along the first direction x.

[0112] S120: Adjust the position of the first adjusting part 124 relative to the first fixing base 121 along the second direction z until the step difference of the second beam part 112 relative to the first beam part 111 along the second direction z is less than the preset second maximum allowable step difference value.

[0113] By loosening the screw installed in the first through hole 1212 of the first fixing base 121, and simultaneously adjusting the position of the first adjusting part 124 along the second direction z, the first beam part 111 is pushed to move relative to the first fixing base 121 along the second direction z, and then the position of the second beam part 112 relative to the first beam part 111 along the second direction z is adjusted, so as to adjust the step difference of the second beam part 112 relative to the first beam part 111 along the second direction z.

[0114] S130: Adjust the position of the second adjusting part 125 relative to the first fixing base 121 along the third direction y until the step difference of the second beam part 112 relative to the first beam part 111 along the third direction y is less than the preset third maximum allowable step difference value.

[0115] By loosening the screw installed in the first through hole 1212 of the first fixing base 121, and simultaneously adjusting the position of the second adjusting part 125 along the third direction y, the first beam part 111 is pushed to move relative to the first fixing base 121 along the third direction y, and then the position of the second beam part 112 relative to the first beam part 111 along the third direction y is adjusted, so as to adjust the step difference of the second beam part 112 relative to the first beam part 111 along the third direction y.

[0116] S200: Adjust the torsion angle of the second beam part 112 relative to the first beam part 111 until the torsion angle of the second beam part 112 relative to the first beam part 111 meets the preset torsion condition.

[0117] The preset torsion condition includes a preset first allowable maximum torsion angle, a preset second allowable maximum torsion angle, and a preset third allowable maximum torsion angle. For example, the preset first allowable maximum torsion angle, the preset second allowable maximum torsion angle, and the preset third allowable maximum torsion angle are all 0.1 degrees.

[0118] The specific steps of S200 include:

[0119] S210: Adjust the position of the locking assembly 13 relative to the second beam portion 112 along the third direction y to adjust the torsion angle of the second beam portion 112 relative to the first beam portion 111 about the axis parallel to the first direction x, until the torsion angle of the second beam portion 112 relative to the first beam portion 111 about the axis parallel to the first direction x is less than the preset first allowable maximum torsion angle.

[0120] By loosening the screw installed in the second through hole 1312 of the locking block 131, the position of the locking block 131 relative to the first fixed seat 121 along the third direction y can be adjusted, and the first beam portion 111 can rotate about the hinge assembly 12 as the center of rotation about the axis parallel to the first direction x, thereby adjusting the torsion angle of the second beam portion 112 relative to the first beam portion 111 about the axis parallel to the first direction x.

[0121] S220: Adjust the relative positions of the two second adjusting members 125 along the third direction y to make the second beam portion 112 rotate about the axis parallel to the second direction z relative to the first fixed seat 121, thereby adjusting the torsion angle of the second beam portion 112 relative to the first beam portion 111 about the axis parallel to the second direction z, until the torsion angle of the second beam portion 112 relative to the first beam portion 111 about the axis parallel to the second direction z is less than the preset second allowable maximum torsion angle. The two second adjusting members 125 are arranged at intervals along the first direction x.

[0122] By loosening the screw installed in the first through hole 1212 of the first fixed seat 121, and simultaneously adjusting the two second adjusting members 125, the relative position of the two second adjusting members 125 along the third direction y is changed, so that the second beam part 112 rotates around the axis parallel to the second direction z relative to the first fixed seat 121, and then the second beam part 112 rotates around the axis parallel to the second direction z relative to the first fixed seat 121, so as to adjust the torsion angle of the second beam part 112 around the axis parallel to the second direction z relative to the first beam part 111. Before adjusting the second adjusting member 125, the screw installed in the second through hole 1312 of the locking block 131 can be slightly loosened.

[0123] S230: Adjust the position of the locking assembly 13 relative to the second beam part 112 along the first direction x to adjust the torsion angle of the second beam part 112 around the axis parallel to the third direction y relative to the first beam part 111, until the torsion angle of the second beam part 112 around the axis parallel to the third direction y relative to the first beam part 111 is less than the preset third maximum allowable torsion angle.

[0124] By loosening the screw installed in the second through hole 1312 of the locking block 131, the position of the locking block 131 relative to the first fixed seat 121 along the first direction x can be adjusted, and the first beam part 111 rotates around the axis parallel to the third direction y with the hinge assembly 12 as the center of rotation, so as to adjust the torsion angle of the second beam part 112 around the axis parallel to the third direction y relative to the first beam part 111.

[0125] S300: When the step difference of the second beam part 112 relative to the first beam part 111 meets the preset step difference condition, and the torsion angle of the second beam part 112 relative to the first beam part 111 meets the preset torsion condition, control the camera assembly 3 to correct.

[0126] S300 specific steps include:

[0127] S310: Control the correction camera 321 to shoot the correction target 311 to obtain a correction image, and the second camera 32 sends the correction image to the host computer 2.

[0128] The host computer 2 controls the second camera 32 to shoot the correction target 311 to obtain a correction image.

[0129] S320: Calculate the deviation matrix between the correction image and the preset image.

[0130] The host computer 2 calculates a deviation matrix between the calibration image and a preset image according to the calibration image and the preset image, that is, a deviation between the real position relationship of the first camera 31 and the second camera 32 and a preset position relationship. Wherein, the preset pattern is an image obtained by the correction camera 321 shooting the correction target 311 when the first camera 31 and the second camera 32 are both in a preset position.

[0131] S330: According to the deviation matrix, correct the relative external parameters between the first camera 31 and the second camera 32.

[0132] By correcting the relative external parameters between the first camera 31 and the second camera 32 through the deviation matrix, that is, correcting the relative position relationship between the first camera 31 and the second camera 32, the problem that the relative position between the first camera 31 and the second camera 32 changes after the beam body 11 is folded and unfolded each time, and then causes the wheel information generated by the wheel images shot by the first camera 31 and the second camera 32 to deviate, is improved, and the accuracy of correcting the wheel in four-wheel alignment is improved.

[0133] In the above correction process, the parallelism can be checked by a ruler, and the distance can be checked by a caliper, so that rapid correction is realized. The adjustment amount of translation can be controlled within ±0.5mm, and after adjustment is completed, the step difference is controlled within 0.2mm, and the torsion angle is controlled within 0.1 degrees.

[0134] Through the above correction method, the step difference and the torsion angle between each section of the beam body 11 of the vehicle measurement device 100 can be adjusted to correct each section of the beam body 11, increase the straightness of the beam body 11, and improve the accuracy of four-wheel alignment and ADAS calibration; and the camera assembly 3 can also be controlled for correction, further improving the accuracy of correcting the wheel in four-wheel alignment.

[0135] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above. In order to be brief, they are not provided in details; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A beam module, characterized in that, The hinge assembly comprises a first fixed seat, a second fixed seat, a first adjusting member and a second adjusting member. The first fixed seat is arranged at one end of the first beam part adjacent to the second beam part, and the position of the first fixed seat relative to the first beam part is adjustable. The first fixed seat is hinged to the second fixed seat so that the second beam part can rotate relative to the first beam part. The first adjusting member and the second adjusting member are movably arranged in the first fixed seat. The first adjusting member is arranged in the first mounting hole, and the second adjusting member is arranged in the second mounting hole. The first direction, the second direction and the third direction are perpendicular to each other.

2. Beam module according to claim 1, characterized in that The hinge assembly comprises two first adjusting members which are arranged in the first fixed seat in the first direction.

3. Beam module according to claim 1, characterized in that The hinge assembly comprises two second adjusting members which are arranged in the first fixed seat in the first direction.

4. Beam module according to claim 1, characterized in that The first adjusting member is threadedly connected with the first mounting hole, and the second adjusting member is threadedly connected with the second mounting hole.

5. The crossbeam module of claim 1, wherein, The first fixing seat is provided with a first connecting sleeve, and the second fixing seat is provided with a second connecting sleeve; The hinge assembly further comprises a rotating shaft, and the rotating shaft connects the first connecting sleeve and the second connecting sleeve.

6. The crossbeam module of claim 1, wherein, The first end of the rotating body is provided with a hook, the hook faces the beam body, the side of the locking block away from the rotating body is provided with a first inclined surface, the first inclined surface is used for clamping the hook to lock the second beam part on the first beam part.

7. Beam module according to claim 6, characterized in that The side of the locking block away from the rotating body is provided with a second inclined surface, the second inclined surface is used for pushing the hook to make the hook press the elastic member when the second beam part is close to the first beam part.

8. Beam module according to claim 7, characterized in that The hook comprises a third inclined surface, and the third inclined surface is used for contacting the second inclined surface.

9. The crossbeam module of claim 1, wherein, The beam module further comprises a buffer, the buffer is installed on the beam body, and the buffer is used for slowing down the rotation speed of the second beam part relative to the first beam part.

10. Beam module according to claim 9, characterized in that The buffer comprises a gas spring, and the two ends of the gas spring are connected with the first beam part and the second beam part respectively.

11. The crossbeam module of claim 1, wherein, The beam module further comprises a sliding plate, the sliding plate is slidably arranged on the beam body, and the sliding plate is used for hanging a calibration element.

12. Beam module according to claim 11, characterized in that The beam body is provided with a sliding groove, the sliding groove is used for slidably connecting the sliding plate, the sliding groove comprises a first sliding groove and a second sliding groove connected in sequence, the first sliding groove is located on the first beam part, and the second sliding groove is located on the second beam part.

13. The crossbeam module of claim 1, wherein, The beam module further comprises a supporting rod assembly, the supporting rod assembly comprises a supporting rod, one end of the supporting rod is hingedly connected with the beam body, the supporting rod can be opened and closed relative to the beam body, and the supporting rod is used for hanging a calibration element.

14. Beam module according to claim 13, characterized in that The supporting rod assembly further comprises a quick release knob, and the quick release knob is used for hingedly connecting the supporting rod with the beam body.

15. The crossbeam module of claim 1, wherein, The beam body further comprises a connecting cable, and the connecting cable connects the first beam part and the second beam part.

16. Beam module according to any of claims 1 to 15, characterized in that The beam body further comprises a third beam part, and the third beam part is located at one end of the first beam part away from the second beam part.

17. A vehicle measurement apparatus characterized by comprising: The beam module comprises a camera assembly and a beam module as claimed in any one of claims 1 to 15, the beam body further comprises a third beam part located at one end of the first beam part away from the second beam part, and the camera assembly is arranged on the beam module and is used for acquiring vehicle-related images.

18. The vehicle measuring apparatus according to claim 17, characterized by, The camera assembly comprises a first camera, a second camera and a third camera, the first camera and the second camera are arranged at two ends of the beam module, and the third camera is arranged at the middle part of the beam module, the first camera and the second camera are respectively used for acquiring wheel information of two sides of the vehicle, and the third camera is used for acquiring head information of the vehicle.

19. The vehicle measuring apparatus according to claim 18, characterized by, The first camera is provided with a calibration target, the second camera is provided with a calibration camera, and the calibration camera is used for cooperating with the calibration target to calibrate the first camera and the second camera.

20. The vehicle measuring apparatus according to claim 19, characterized by, The correction method further comprises:

21. A correction method applied to the vehicle measuring apparatus according to any one of claims 17 to 20, characterized by, The correction method further comprises: adjusting the step difference between the second cross beam part and the first cross beam part until the step difference between the second cross beam part and the first cross beam part meets a preset step difference condition; adjusting the torsion angle of the second cross beam part relative to the first cross beam part until the torsion angle of the second cross beam part relative to the first cross beam part meets a preset torsion condition; controlling the camera assembly to perform correction when the step difference between the second cross beam part and the first cross beam part meets the preset step difference condition, and the torsion angle of the second cross beam part relative to the first cross beam part meets the preset torsion condition.

22. The correction method of claim 21, wherein: the preset step difference condition comprises a preset first allowable maximum step difference value, a preset second allowable maximum step difference value, and a preset third allowable maximum step difference value; the adjusting the step difference between the second cross beam part and the first cross beam part until the step difference between the second cross beam part and the first cross beam part meets a preset step difference condition comprises: adjusting the position of the second cross beam part relative to the first fixed seat along the first direction until the step difference between the second cross beam part and the first cross beam part along the first direction is less than the preset first allowable maximum step difference value; adjusting the position of the first adjusting member relative to the first fixed seat along the second direction until the step difference between the second cross beam part and the first cross beam part along the second direction is less than the preset second allowable maximum step difference value; adjusting the position of the second adjusting member relative to the first fixed seat along the third direction until the step difference between the second cross beam part and the first cross beam part along the third direction is less than the preset third allowable maximum step difference value.

23. The correction method of claim 21, wherein: the preset torsion condition comprises a preset first allowable maximum torsion angle, a preset second allowable maximum torsion angle, and a preset third allowable maximum torsion angle; the adjusting the torsion angle of the second cross beam part relative to the first cross beam part until the torsion angle of the second cross beam part relative to the first cross beam part meets a preset torsion condition comprises: adjusting the position of the locking assembly relative to the second cross beam part along the third direction to adjust the torsion angle of the second cross beam part relative to the first cross beam part about an axis parallel to the first direction until the torsion angle of the second cross beam part relative to the first cross beam part about an axis parallel to the first direction is less than the preset first allowable maximum torsion angle; The hinge assembly comprises two second adjusting members, which are arranged at intervals along the first direction on the first fixed base; the relative positions of the two second adjusting members along the third direction are adjusted, so that the second cross beam part rotates around an axis parallel to the second direction relative to the first fixed base, and the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the second direction is adjusted, until the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the second direction is less than the preset second maximum allowable torsion angle, wherein the two second adjusting members are arranged at intervals along the first direction; The position of the locking assembly relative to the second cross beam part along the first direction is adjusted, so that the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the third direction is adjusted, until the torsion angle of the second cross beam part relative to the first cross beam part around an axis parallel to the third direction is less than the preset third maximum allowable torsion angle.

24. The correction method of claim 21, wherein, The camera assembly comprises a first camera and a second camera, the first camera is provided with the correction target, and the second camera is provided with the correction camera; The control of the camera assembly for correction comprises: The correction camera is controlled to shoot the correction target to obtain a correction image; The deviation matrix between the correction image and a preset image is calculated; According to the deviation matrix, the relative extrinsic parameters between the first camera and the second camera are corrected.

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