A split type movable cart positioning device

Abstract

The present application relates to a split movable large vehicle positioning device, comprising a target, a mobile terminal, a left locator and a right locator, the left and right locators each comprising a mobile base station with rollers and a lifting box, the mobile base station being provided with a power supply device and a control device; the lifting box is controlled by the lifting device; the lifting boxes of the left and right locators are respectively provided with a wireless signal transmission device and a 3D camera, a positioning camera and a positioning target, the angle between the positioning target and the horizontal plane is 60°-70°; the left locator and the right locator of the present invention are separately arranged, with variable height, which is not only flexible and efficient during measurement, but also has low site requirements, is also convenient for storage and transportation, and can realize mobile detection; the position difference between the left 3D camera and the right 3D camera is monitored in real time by the positioning camera and the positioning target, and timely compensation is made to reduce the error; when the site is uneven, the error is further reduced by adjusting the pitch angle of the positioning target.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile repair, and in particular relates to a split type movable large vehicle positioning device. Background Art

[0002] The current mainstream four-wheel alignment instruments mostly adopt an integrated design, with a pair of cameras placed at both ends of a liftable bracket, and a binocular camera is used to take pictures of the target and process the image. This method has large equipment volume, high site requirements, cumbersome and complex operation, and high cost. The emerging 3D four-wheel alignment technology is regarded as the most promising measurement technology in the industry. By taking dynamic pictures of the target and analyzing it, fitting curves in the established spatial coordinate system, and then calculating the relevant positioning parameters of the vehicle tire, such as toe angle, camber angle, kingpin inclination angle, kingpin caster angle, etc.

[0003] A Chinese patent with application number 2014204351799 and name "Three-camera four-wheel aligner" discloses a three-camera four-wheel aligner, including four aligner target targets, a four-wheel aligner computer, and a left-side aligner and a right-side aligner. The left-side aligner and the right-side aligner are respectively suspended under the ceiling by a first hanger and a second hanger. The positions of the left-side aligner and the right-side aligner correspond to each other. The four aligner target targets are respectively a first aligner target target, a second aligner target target, a third aligner target target, and a fourth aligner target target. The four aligner target targets are respectively fixed on the wheels of the vehicle to be positioned. The left-side aligner and the right-side aligner are respectively connected to the four-wheel aligner computer. The device has the characteristics of simple operation, convenient use, and convenient maintenance.

[0004] When this type of instrument is used to measure and locate large vehicles such as trucks (hereinafter referred to as trucks), it is not easy to measure and locate them because a large professional site is required. If the detection can be carried out in a simple open-air site, or even on an ordinary road surface (mobile detection station), the detection efficiency of the truck can be improved and the cost can be reduced, which greatly facilitates the truck driver. However, open-air sites are often affected by excessive or insufficient ambient light intensity. For example, when the target is set with its back to the direction of sunlight, that is, backlit, the pattern on the target is dark due to insufficient light and high ambient light intensity, and the front pattern of the target is easy to be dark when taking pictures, and cannot be recognized or has large recognition errors. Summary of the invention

[0005] The purpose of the present invention is to provide a large vehicle positioning device with split left and right positioning instruments, small storage volume, convenient movement or transportation, high measurement accuracy, small error, and low site requirements.

[0006] In order to solve the above technical problems, the present invention discloses a split movable large vehicle positioning device, comprising a left locator and a right locator which are separately arranged and can be moved separately, the left locator and the right locator each comprising a mobile base station with universal wheels and a lifting box, the mobile base station is provided with a power supply device and a control device; the lifting box is controlled by the lifting device; the left locator is provided with a left lifting box, and the right locator is provided with a right lifting box;

[0007] The left lifting box is provided with a left wireless signal transmission device, a left 3D camera for obtaining the image of the target on the left side of the vehicle, and a positioning camera for calibrating the position with the right positioning instrument; the left 3D camera is arranged on the front side of the left lifting box, and the positioning camera is arranged on the right side of the left lifting box; the left 3D camera and the positioning camera are connected to the mobile terminal signal through the left wireless signal transmission device; the right lifting box is provided with a right wireless signal transmission device, a right 3D camera for obtaining the image of the target on the right side of the vehicle, and a positioning target for cooperating with the positioning camera for position calibration, the right 3D camera is arranged on the front side of the right lifting box, the positioning target is arranged on the left side of the right lifting box, and the angle between the positioning target and the horizontal plane is 60°-70°; the right 3D camera is connected to the mobile terminal signal through the right wireless signal transmission device.

[0008] Preferably, the distances between the optical axis of the right 3D camera and the center point of the positioning target in the horizontal and vertical directions are known, and the distances between the optical axis of the left 3D camera and the optical axis of the positioning camera in the horizontal and vertical directions are known. When in use, the left locator and the right locator are respectively arranged on both sides of the front of the car, the positioning camera and the positioning target are relatively arranged, and the central optical axis of the positioning camera is at the same height as the geometric center point of the positioning target; the positioning camera measures the real-time distance and position deviation between the positioning camera and the positioning target by monitoring the positioning target, and then obtains the distance and position deviation between the left 3D camera and the right 3D camera, thereby performing real-time compensation for the wheel measurement, which reduces or eliminates the measurement error caused by slight movement of the left locator and the right locator during the measurement process.

[0009] Preferably, when in use, the camera center optical axis of the left 3D camera is arranged parallel to the camera center optical axis of the right 3D camera.

[0010] Preferably, the left 3D camera, the right 3D camera and the positioning camera are all provided with a long-range narrow-band fill light module. When the outdoor light is insufficient or the light intensity is too high and causes obvious interference to the photography, the long-range narrow-band fill light module is used to provide additional fill light when the left 3D camera or the right 3D camera is taking pictures.

[0011] Preferably, the angle between the positioning target and the horizontal plane is 65±1°.

[0012] Preferably, a mounting groove is provided on the left side surface of the right lifting box body, and the positioning target is arranged in the mounting groove, and the positioning target does not protrude from the surface of the right lifting box body.

[0013] Preferably, an adjustment device for adjusting the pitch angle of the positioning target is provided on the back of the positioning target.

[0014] Preferably, the adjustment device comprises a cross bar, which is hinged to the positioning target along the back midline of the positioning target, and has damping at the hinge.

[0015] Preferably, a level meter for displaying the horizontality of the positioning target at an initial position is provided at the bottom of the positioning target, and the pitch angle of the positioning target is fine-tuned by observing the level meter so that the angle between the positioning target and the horizontal plane is maintained at 65±1°.

[0016] The split movable vehicle positioning device of the present invention has at least the following advantages:

[0017] (1) The left and right locators are set separately and the height is variable. They are not only flexible and efficient during measurement, but also have low site requirements and are easy to store and transport, allowing for mobile testing.

[0018] (2) The position difference between the left 3D camera and the right 3D camera is monitored in real time through the positioning camera and the positioning target, and timely compensation is made to reduce the error; when the site is uneven, the error is further reduced by adjusting the pitch angle of the positioning target. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The figure is a schematic diagram of the structure of a split movable trolley positioning device.

[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the center-split movable trolley positioning device from another perspective.

[0021] Figure 3 The figure is a schematic diagram of the structure of a positioning target with an adjustment device.

[0022] The numbers in the figure are: 1-left locator, 2-right locator, 3-roller, 4-lifting device, 5-mobile base station, 6-left lifting box, 61-left wireless signal transmission device, 62-left 3D camera, 63-positioning camera, 7-right lifting box, 71-right wireless signal transmission device, 72-right 3D camera, 73-positioning target, 74-installation slot, 8-long-distance narrow-band fill light module, 9-adjustment device, 91-cross bar, 92-level meter. DETAILED DESCRIPTION

[0023] The present invention is further described in detail below through examples so that those skilled in the art can implement the invention with reference to the description.

[0024] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0025] like Figure 1-2 As shown, a split movable large vehicle positioning device includes a split setting, a left locator 1 and a right locator 2 that can be moved separately. The left locator and the right locator each include a mobile base station 5 with a universal wheel 3 and a lifting box, and the mobile base station is provided with a power supply device and a control device; the lifting box is controlled by a lifting device 4; in this embodiment, the lifting device adopts a ball bearing plus a ball screw design, which is quiet and durable, compact and maintenance-free. The left locator is provided with a left lifting box 6, and the right locator is provided with a right lifting box 7; the design of a 3D camera equipped with a portable mobile station is adopted, the height is adjustable in the normal working mode, and the height is reduced to the minimum in the transport mobile mode, becoming a small-volume device, which is easy to transport.

[0026] The left lifting box is provided with a left wireless signal transmission device 61, a left 3D camera 62 for obtaining the target image on the left side of the vehicle, and a positioning camera 63 for calibrating the position with the right positioning instrument; the left 3D camera is arranged on the front side of the left lifting box, and the positioning camera is arranged on the right side of the left lifting box; the left 3D camera 62 and the positioning camera 63 are connected to the mobile terminal signal through the left wireless signal transmission device; the right lifting box 7 is provided with a right wireless signal transmission device 71, a right 3D camera 72 for obtaining the target image on the right side of the vehicle, and a positioning target 73 for cooperating with the positioning camera for position calibration, the right 3D camera 72 is arranged on the front side of the right lifting box, and the positioning target 73 is arranged on the left side of the right lifting box 7, and the angle between the positioning target 73 and the horizontal plane is 60°-70°; the right 3D camera 72 is connected to the mobile terminal signal through the right wireless signal transmission device. The left and right wireless signal transmission devices use a universal wireless WiFi-5G technology platform, which can achieve synchronous image transmission, ensure high frame rate transmission of graphic data without frame loss, and at the same time, completely uncompressed and delay-free for key image data, making the image data smooth and reliable, and highly resistant to interference. In addition, once the device is started, in the same network domain, the left and right wireless signal transmission devices can automatically recognize and handshake with each other for left and right 3D cameras, mobile terminals, and other devices, without the need for cumbersome network IP settings. The system automatically sets up and is ready for use after booting. It also supports automatic reconnection after any device is disconnected after restart.

[0027] The distance between the optical axis of the right 3D camera 72 and the center point of the positioning target 73 in the horizontal and vertical directions is known, and the distance between the optical axis of the left 3D camera 62 and the optical axis of the positioning camera 63 in the horizontal and vertical directions is known. When in use, the left positioning instrument 1 and the right positioning instrument 2 are respectively arranged on both sides of the front of the car, and a target target is installed on each wheel. The positioning camera and the positioning target are arranged relatively, and the central optical axis of the positioning camera is at the same height as the geometric center point of the positioning target; the positioning camera measures the real-time distance and position deviation between the positioning camera and the positioning target by monitoring the positioning target, and then obtains the distance and position deviation between the left 3D camera 62 and the right 3D camera 72, so as to compensate the wheel measurement in real time, which reduces or eliminates the measurement error caused by the slight movement of the left positioning instrument and the right positioning instrument during the measurement process. The ultra-long-distance measurement optical system formed by the left positioning instrument and the right positioning instrument can identify optical target targets with large front-to-back distance difference with high precision, and can identify more than 8 target targets at the same time, with extremely fast response speed and high precision.

[0028] When in use, the camera center optical axis of the left 3D camera 62 is arranged parallel to the camera center optical axis of the right 3D camera 72 .

[0029] A mounting groove 74 is provided on the left side surface of the right lifting box 7, and a positioning target 73 is provided in the mounting groove 74, and the positioning target 73 does not protrude from the surface of the right lifting box.

[0030] The left 3D camera 62, the right 3D camera 72 and the positioning camera 63 are all provided with a long-distance narrow-band fill-in light module 8. When the outdoor light is insufficient or the light intensity is high and causes obvious interference to the photography, the long-distance narrow-band fill-in light module is used to perform additional fill-in light when the left 3D camera or the right 3D camera is taking pictures. During use, especially for a target at a long distance, when the outdoor light is insufficient or the light intensity is high and causes obvious interference to the photography, the long-distance narrow-band fill-in light module is used to perform additional fill-in light on the target when the left 3D camera or the right 3D camera is taking pictures, thereby achieving a strong outdoor anti-interference capability.

[0031] The angle between the positioning target 73 and the horizontal plane is 65±1°, that is, the front pattern of the positioning target faces the positioning camera at an angle of about 25° (at an angle of about 25° with the vertical direction), which can make the positioning target have the best posture recognition accuracy, rotation sensitivity and stability in terms of algorithm. The reason is that the accuracy and sensitivity of the camera to the target posture recognition is determined by the angle change rate and the distance of the target. Compared with a square target pattern facing the target, when the posture of an oblique square target pattern changes slightly, the change of the oblique square target pattern is larger than that of the square target pattern facing the target. The maximum slope of Sin(X) is 45°, but at this time, the effective area is sacrificed too much. The slope corresponds to the accuracy of the angle change, and the area corresponds to the accuracy of the distance change. Therefore, the best posture is tilted 20-30 degrees. Furthermore, 25° is the best position where the slope of the sine function is large and the facing area is also large.

[0032] Specifically, the optimal angle determination method is as follows:

[0033] S is the image area captured by the camera, x is the angle between the positioning target (the plane where the pattern is located) and the vertical direction, A is the angle change rate, and B is the distance of the target;

[0034] Image size after camera imaging: f(x) = cos(x)*S

[0035] The rate of change of the camera imaging angle to the graph: f(x+△θ)=cos(x+△θ)*S

[0036] That is, the derivative of the graph size function: f'(x) = sin(x)*S

[0037] Empirical equation for camera recognition accuracy: G = A + 2B

[0038] That is: g(x)=A+2B=f'(x)+f(x)+f(x)

[0039] g(x)=(sin(x)+2xcos(x))*S

[0040] Conclusion: When x = 90-arccos(1 / √5), g(x) reaches its maximum value (optimal accuracy), x = 90-arccos(1 / √5) = 26.5650 degrees. For the convenience of industrial design and mass production, x = 25° is taken.

[0041] Example 2

[0042] like Figure 3As shown, similar to Example 1, the difference is that the back of the positioning target 73 is provided with an adjustment device 9 for adjusting the pitch angle of the positioning target. Due to the uneven site or foreign matter, roller wear and other reasons, the right positioning instrument is tilted. At this time, the angle of the positioning target 73 is appropriately adjusted, which is conducive to improving the accuracy during the measurement process. In the actual measurement process, various reasons may cause the tilt of the left and right positioning instruments, thereby causing the tilt of the positioning camera and the positioning target. In general, the tilt of the right positioning instrument, i.e., the positioning target, has a greater impact on the measurement accuracy. In addition, only the pitch angle of the positioning target is adjusted (the front and rear tilt has little effect on the positioning target). The operability is high, and the free compensation caused by the tilt can be conveniently and quickly made, thereby reducing the error to a certain extent. In addition, when the site is seriously uneven, the overall measurement error at this time is large, and the site should be changed for re-measurement. The adjustment of the pitch angle of the positioning target is also preferably controlled at ±3°. The pitch angle of the positioning target can be manually adjusted while observing the level. The adjustment device can also be set to a structure with an adjustment knob or electric self-adjustment.

[0043] In this embodiment, the adjustment device includes a cross bar 91, which is hinged to the positioning target 73 along the center line of the back of the positioning target, so that the distance between the center of the positioning target 73 and the positioning camera 63 remains unchanged during adjustment, and there is damping at the hinge. A level 92 for displaying the horizontality of the positioning target at the initial position is provided at the bottom of the positioning target. The level 92 can be a low-cost bubble level, or an electronic or laser level. The pitch angle of the positioning target is fine-tuned by observing the level to keep the angle between the positioning target and the horizontal plane at 65±1°.

[0044] Although the embodiments of the present invention have been disclosed as above, they are not limited to the applications listed in the specification and the implementation modes. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and the embodiments shown and described herein.

Claims

1. A split type movable vehicle positioning device, characterized in that: It includes a left locator and a right locator which are separately set and can be moved. The left locator and the right locator each include a mobile base station with universal wheels and a lifting box. The mobile base station is provided with a power supply device and a control device. The lifting box is controlled by the lifting device. The left locator is provided with a left lifting box, and the right locator is provided with a right lifting box. The left lifting box is provided with a left wireless signal transmission device, a left 3D camera for obtaining the image of the target on the left side of the vehicle, and a positioning camera for calibrating the position with the right positioning instrument; the left 3D camera is arranged on the front side of the left lifting box, and the positioning camera is arranged on the right side of the left lifting box; the left 3D camera and the positioning camera are connected to the mobile terminal signal through the left wireless signal transmission device; the right lifting box is provided with a right wireless signal transmission device, a right 3D camera for obtaining the image of the target on the right side of the vehicle, and a positioning target for cooperating with the positioning camera for position calibration, the right 3D camera is arranged on the front side of the right lifting box, and the positioning target is arranged on the left side of the right lifting box; the right 3D camera is connected to the mobile terminal signal through the right wireless signal transmission device; The angle between the positioning target and the horizontal plane is 65±1°; A mounting groove is provided on the left side surface of the right lifting box, and the positioning target is arranged in the mounting groove, and the positioning target does not protrude from the surface of the right lifting box; The back of the positioning target is provided with an adjustment device for adjusting the pitch angle of the positioning target; The adjustment device comprises a cross bar, which is hinged to the positioning target along the back midline of the positioning target, and has damping at the hinge; A level gauge is provided at the bottom of the positioning target to display the horizontality of the positioning target at the initial position. The pitch angle of the positioning target is fine-tuned by observing the level gauge to keep the angle between the positioning target and the horizontal plane at 65±1°. The distances between the optical axis of the right 3D camera and the center point of the positioning target in the horizontal and vertical directions are known, and the distances between the optical axis of the left 3D camera and the optical axis of the positioning camera in the horizontal and vertical directions are known. When in use, the left locator and the right locator are respectively arranged on both sides of the front of the car, and a target target is installed on each wheel. The positioning camera and the positioning target are relatively arranged, and the central optical axis of the positioning camera is at the same height as the geometric center point of the positioning target; the positioning camera measures the real-time distance and position deviation between the positioning camera and the positioning target by monitoring the positioning target, and then obtains the distance and position deviation between the left 3D camera and the right 3D camera, so as to compensate the wheel measurement in real time, which reduces or eliminates the measurement error caused by the slight movement of the left locator and the right locator during the measurement process.

2. The split movable vehicle positioning device according to claim 1, characterized in that: When in use, the camera center optical axis of the left 3D camera is arranged parallel to the camera center optical axis of the right 3D camera.

3. The split movable vehicle positioning device according to claim 1, characterized in that: The left 3D camera, the right 3D camera and the positioning camera are all provided with a long-range narrow-band fill light module. When the outdoor light is insufficient or the light intensity is high and causes obvious interference to the photography, the long-range narrow-band fill light module is used to provide additional fill light when the left 3D camera or the right 3D camera is taking pictures.

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