Four-wheel positioning method and four-wheel positioning system

Abstract

The invention is suitable for the technical field of vehicles, and provides a four-wheel positioning method and a four-wheel positioning system.The four-wheel positioning system comprises at least two calibration units, at least one measurement unit and a calculation unit, and the method comprises the steps that the at least two calibration units are fixed to wheels of a to-be-measured vehicle, fixing at least one measuring unit to the same side of the to-be-measured vehicle on which the at least two calibration units are fixed; the at least one measuring unit collects images of the at least two calibration units to obtain a first image; and the calculation unit calculates the first image and calculates four-wheel positioning parameters of the to-be-detected vehicle based on the first image. According to the four-wheel positioning method provided by the invention, through the at least two calibration units, the at least one measurement unit and the calculation unit which are included in the four-wheel positioning system, the position relationship between the measurement unit and the calibration units can be accurately determined, so that the accurate four-wheel positioning parameters of the to-be-measured vehicle are obtained; and the measurement accuracy of four-wheel positioning parameters is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of vehicle detection, and in particular relates to a four-wheel alignment method and a four-wheel alignment system. Background Art

[0002] At present, in order to obtain the four-wheel alignment parameters of a vehicle, users usually need to use special four-wheel alignment equipment to measure the parameters of each wheel of the vehicle. However, the existing four-wheel alignment equipment contains multiple measuring devices, each measuring device uses a different coordinate system, and the positional relationship between different measuring devices cannot be determined, resulting in the inability of the existing four-wheel alignment equipment to accurately measure the four-wheel alignment parameters of the vehicle. Summary of the invention

[0003] The embodiment of the present application provides a four-wheel alignment method and a four-wheel alignment system. By using at least two calibration units, at least one measuring unit and a computing unit included in the four-wheel alignment system, the positional relationship between the measuring unit and the calibration unit can be accurately determined, thereby obtaining accurate four-wheel alignment parameters of the vehicle to be measured, thereby improving the measurement accuracy of the four-wheel alignment parameters.

[0004] In a first aspect, an embodiment of the present application provides a four-wheel alignment method, which is applied to a four-wheel alignment system, wherein the four-wheel alignment system includes at least two calibration units, at least one measurement unit and a calculation unit, and the method includes:

[0005] Fixing at least two of the calibration units to the wheels of the vehicle to be tested, and fixing at least one of the measurement units to the same side of the vehicle to be tested as the side on which the at least two calibration units are fixed;

[0006] At least one of the measuring units collects images of at least two of the calibration units respectively to obtain a first image;

[0007] The calculation unit receives the first image, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image.

[0008] Optionally, there are four calibration units and two measuring units, each of the two measuring units includes two first cameras, a calibration member, and a second camera, and fixing at least two calibration units to the wheels of the vehicle to be tested, and fixing at least one measuring unit to the same side of the vehicle to be tested as the at least two calibration units, comprises:

[0009] Respectively fixing the four calibration units to the four wheels of the vehicle to be tested;

[0010] Respectively fixing the two measuring units to the middle positions of the front wheels and the rear wheels on both sides of the vehicle to be tested;

[0011] The at least one measuring unit collects images of at least two calibration units respectively to obtain a first image, including:

[0012] The two first cameras of the measuring unit located on each side of the vehicle to be tested respectively capture images of the calibration units respectively fixed on the front wheel and the rear wheel of the vehicle to be tested on the same side as the measuring unit to obtain two first images;

[0013] The four-wheel alignment method further comprises:

[0014] The second cameras of the two measuring units respectively capture the second images of the calibration parts in the measuring units located on the other side of the vehicle to be measured;

[0015] The calculation unit receives the first image and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image, including:

[0016] The calculation unit receives the first image and the second image collected by the two measuring units, and calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the received first image and the second image.

[0017] Optionally, the calculation unit receives the first image and the second image captured by the two measuring units, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the received first image and the second image, including:

[0018] The computing unit receives the first image and the second image acquired by the two measuring units;

[0019] The calculation unit calculates a first position relationship between the two measurement units based on the received second image;

[0020] The calculation unit calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the received first image and the first position relationship between the two measurement units.

[0021] Optionally, the calculating unit calculates a first positional relationship between the two measuring units based on the received second image, including:

[0022] Respectively acquiring the second positional relationship between the calibration piece and the second camera in the two measurement units, the actual coordinate information of each calibration piece, and the intrinsic parameters of each second camera;

[0023] The first positional relationship is calculated based on the pre-stored second positional relationship, each piece of the actual coordinate information, each of the intrinsic parameters and each of the second images.

[0024] Optionally, before respectively acquiring images of calibration units respectively fixed on the front wheels and the rear wheels of the vehicle to be tested and located on the same side as the measuring unit to obtain two first images, the method further includes:

[0025] Fixing a marker to the shooting range of each of the first camera and the second camera respectively;

[0026] Respectively acquiring third images of the respective corresponding markers captured by the first camera, the second camera and the marker at different positions, and acquiring three-dimensional coordinates of the respective calibration pieces;

[0027] Based on each of the third images and the three-dimensional coordinates of each of the calibration pieces, a third positional relationship between each of the first cameras and the second cameras is determined.

[0028] Optionally, the obtaining of the second positional relationship between the calibration piece and the second camera pre-stored in the two measurement units respectively includes:

[0029] Respectively obtaining the pose images of the respective relative measuring units at different positions, which are captured by the second cameras in the two measuring units, and which contain the calibration pieces, and obtaining the three-dimensional coordinates of each calibration piece at the different positions;

[0030] Based on each of the posture images and the three-dimensional coordinates corresponding to each of the posture images, a second positional relationship between the calibration pieces in the two measurement units and the second camera is determined.

[0031] Optionally, both of the two measuring units include a control module, the two measuring units are respectively connected to the terminal device for communication, the calculation unit is the control module in the first measuring unit, and the first measuring unit is any one of the two measuring units; the four-wheel alignment method further includes:

[0032] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0033] The terminal device receives a first image and a second image from control modules of other measurement units except the first measurement unit;

[0034] The terminal device sends the received first image and the second image to the control module of the first measurement unit;

[0035] The control module of the first measuring unit calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the first measuring unit, the second image captured by the second camera, and the first image and the second image captured by the other measuring units;

[0036] The four-wheel alignment method further comprises:

[0037] The control module of the first measurement unit sends the four-wheel alignment parameters to the terminal device;

[0038] The terminal device displays the four-wheel alignment parameters.

[0039] Optionally, both of the two measuring units include a control module, and the control modules of the two measuring units are communicatively connected; the calculation unit is a control module in a target measuring unit, and the target measuring unit is any one of the two measuring units; the four-wheel alignment method further includes:

[0040] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0041] The control module of the target measurement unit receives the first image and the second image from a control module of another measurement unit other than the target measurement unit;

[0042] The control module of the target measurement unit calculates the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the target measurement unit, the second image captured by the second camera, and the first image and the second image received by the other measurement unit.

[0043] Optionally, both of the two measuring units include a control module, the control modules of the two measuring units are respectively connected to the terminal device for communication, and the calculation unit is the terminal device; the four-wheel alignment method further includes:

[0044] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0045] The terminal device receives the first image and the second image from the control modules of the two measurement units respectively;

[0046] The terminal device calculates and obtains the four-wheel alignment parameters of the vehicle to be tested based on the received first image and the second image;

[0047] The four-wheel alignment method further comprises:

[0048] The terminal device displays the four-wheel alignment parameters.

[0049] In a second aspect, an embodiment of the present application provides a four-wheel alignment system, comprising:

[0050] At least two calibration units, used to be fixed on the wheels of the vehicle to be tested;

[0051] At least one measuring unit, comprising two first cameras, wherein the two first cameras are respectively used to capture first images of the calibration units corresponding to the first cameras;

[0052] The calculation unit is used to receive the first image and calculate the four-wheel alignment parameters of the vehicle to be tested based on the first image.

[0053] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the four-wheel alignment method as described in any one of the first aspects above is implemented.

[0054] In a fourth aspect, an embodiment of the present application provides a computer program product. When the computer program product is run on a four-wheel alignment system, the processing module can execute the four-wheel alignment method described in any one of the first aspects above.

[0055] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0056] A four-wheel alignment method provided in an embodiment of the present application is applied to a four-wheel alignment system, wherein the four-wheel alignment system includes at least two calibration units, at least one measuring unit, and a computing unit, and the method includes: fixing at least two calibration units to the wheels of a vehicle to be tested, and fixing at least one measuring unit to the same side of the vehicle to be tested where the at least two calibration units are fixed; at least one measuring unit collects images of at least two calibration units to obtain a first image; a computing unit obtains the first image, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image. The four-wheel alignment method provided in the present application can accurately determine the positional relationship between the measuring unit and the calibration unit through the at least two calibration units, at least one measuring unit, and a computing unit included in the four-wheel alignment system, thereby obtaining accurate four-wheel alignment parameters of the vehicle to be tested, thereby improving the measurement accuracy of the four-wheel alignment parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0058] Figure 1 is a structural schematic diagram of a four-wheel alignment system provided in one embodiment of the present application;

[0059] Figure 2 It is a partial physical structure diagram of a four-wheel alignment system provided in one embodiment of the present application;

[0060] Figure 3 is a physical structure diagram of a measurement unit provided in an embodiment of the present application;

[0061] Figure 4 is a structural schematic diagram of a four-wheel alignment system provided by another embodiment of the present application;

[0062] Figure 5 is a flowchart of a four-wheel positioning method according to an embodiment of the present application;

[0063] Figure 6 is a flowchart of a four-wheel alignment method according to another embodiment of the present application;

[0064] Figure 7 This is a flowchart of a four-wheel alignment method provided in yet another embodiment of the present application. DETAILED DESCRIPTION

[0065] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0066] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0067] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0068] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0069] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0070] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0071] In practical applications, in order to obtain the four-wheel alignment parameters of a vehicle, users usually need to use a special processing module (such as a four-wheel alignment device) to measure the parameters of each wheel of the vehicle. However, the existing processing module contains multiple measuring devices, each measuring device uses a different coordinate system, and the positional relationship between different measuring devices cannot be determined, resulting in the inability of the existing processing module to accurately measure the various four-wheel parameters of the vehicle.

[0072] Based on this, an embodiment of the present application provides a four-wheel alignment method, which can accurately determine the positional relationship between the measuring unit and the calibration unit through at least two calibration units, at least one measuring unit and a calculation unit included in the four-wheel alignment system, thereby obtaining accurate four-wheel alignment parameters of the vehicle to be tested, thereby improving the measurement accuracy of the four-wheel alignment parameters.

[0073] See also Figure 1 , Figure 1 Schematic diagram of the structure of a four-wheel alignment system provided by an embodiment of the present application. Figure 1 As shown, the four-wheel alignment system 1 comprises: a calculation unit 10, at least two calibration units 20 and at least one measurement unit 30. Among them, at least one measurement unit 30 comprises two first cameras.

[0074] In the embodiment of the present application, at least two calibration units 20 are used to be fixed on the wheels of the vehicle to be tested.

[0075] At least one measuring unit 30 includes two first cameras, and the two first cameras are respectively used to collect the first images of the corresponding calibration units 20.

[0076] The calculation unit 10 is used to receive the first image and calculate the four-wheel alignment parameters of the vehicle to be tested based on the first image.

[0077] It can be understood that one of the at least two calibration units 20 is used to fix the front wheel of the vehicle to be tested; the other calibration unit 20 of the at least two calibration units 20 is used to fix the rear wheel of the vehicle to be tested on the same side as the above-mentioned front wheel; at least one measuring unit 30 is fixed between the above-mentioned front wheel and the rear wheel, and is used to perform position calibration on at least two calibration units 20 on the same side of the vehicle to be tested.

[0078] For example, Figure 1 As shown, the same side mentioned above is the left side of the vehicle to be tested.

[0079] It should be noted that the same side may also be the right side of the vehicle to be tested.

[0080] Each calibration unit 20 corresponds to a first image.

[0081] Please continue reading Figure 1 Each calibration unit 20 includes a wheel clamp and a calibration plate. The wheel clamp is used to fix the tire of the vehicle, and the calibration plate is used to facilitate the measurement unit 30 located on the same side as the calibration unit 20 to take pictures of it.

[0082] Based on this, the first image may be an image including a calibration plate.

[0083] In some possible embodiments, in order to ensure that the tire is fixed, the wheel clamp includes a first sub-clamp and a second sub-clamp. Wherein, the first sub-clamp can be used to clamp the upper side of the tire, and the second sub-clamp can be used to clamp the lower side of the tire.

[0084] For example, see Figure 2 , Figure 2 1 is a physical structure diagram of a four-wheel alignment system provided in one embodiment of the present application. Figure 2 As shown, the calibration plate 22 is located in the middle of the wheel clamp 21, that is, in the middle of the first sub-clamp and the second sub-clamp.

[0085] In practical applications, the four-wheel alignment parameters refer to the kingpin caster angle, kingpin inclination angle, front wheel camber angle and front wheel toe angle.

[0086] For example, see Figure 3 , Figure 3 FIG. 1 is a physical structure diagram of a measurement unit provided in an embodiment of the present application. Figure 3 As shown, the first camera 31 and the second camera 32 in the measurement unit 30 are in opposite positions.

[0087] In this embodiment, the two first cameras are respectively used to photograph the corresponding calibration units 20 to obtain the first images.

[0088] Based on this, please continue to refer to Figure 3 In order to facilitate the two first cameras to shoot various corresponding calibration units 20, the camera positions of the first camera 31 and the second camera 32 are opposite to each other.

[0089] In one embodiment of the present application, please continue to refer to Figure 1 At least one measuring unit 30 may further include a second camera. The second camera is located between the two first cameras, and the second camera is used to photograph the measuring unit located on the other side of the vehicle to be measured.

[0090] Specifically, the cameras of the two first cameras are arranged in opposite positions, and the two first cameras are respectively used to capture images of calibration plates on two wheels on one side of the vehicle to be tested, such as images of calibration plates on the left front wheel and the left rear wheel.

[0091] Based on this, in another embodiment of the present application, please refer to Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the structure of a four-wheel alignment system provided by another embodiment of the present application. Figure 4 As shown, the four-wheel alignment system 1 may further include: at least two calibration units 20 and at least one measurement unit 30 located on the other side.

[0092] In this embodiment, combined with Figure 1 , when the same side is the left side of the vehicle to be tested, the other side may be the right side of the vehicle to be tested.

[0093] It should be noted that the detailed process of how the four-wheel alignment system 1 specifically calculates the four-wheel alignment parameters of the vehicle to be tested can be found in the following various method embodiments, which will not be described in detail here.

[0094] See also Figure 5 , Figure 5 FIG. 1 is a flowchart of a four-wheel positioning method according to an embodiment of the present application. Figure 5 As shown, the four-wheel alignment method provided in an embodiment of the present application may include steps S101 to S103, which are described in detail as follows:

[0095] In S101, at least two calibration units are fixed to wheels of a vehicle to be tested, and at least one measurement unit is fixed to the same side of the vehicle to be tested as the side on which the at least two calibration units are fixed.

[0096] In actual applications, when a user needs to obtain the four-wheel alignment parameters of a vehicle to be tested, in order to improve the accuracy of obtaining the four-wheel alignment parameters, the user may send a parameter determination request to the four-wheel alignment system.

[0097] In the embodiment of the present application, the four-wheel alignment system detects a parameter determination request may be: a preset operation for the processing module is detected. The preset operation can be set according to actual needs and is not limited here. Exemplary, the preset operation may be clicking a preset control related to the four-wheel alignment system. Based on this, when the four-wheel alignment system detects that a preset control related to itself is clicked, it indicates that a preset operation for the four-wheel alignment system is detected, that is, a parameter determination request is detected.

[0098] Before detecting the parameter determination request, the four-wheel alignment system can control the loading device to fix at least two calibration units to the wheels of the vehicle to be tested, and fix at least one measurement unit to the same side of the vehicle to be tested where the at least two calibration units are fixed. The loading device can be a loading robot.

[0099] It is understandable that the above fixing operation may also be performed by a testing personnel, which is not limited here.

[0100] In S102, at least one of the measuring units collects images of at least two of the calibration units respectively to obtain a first image.

[0101] In an embodiment of the present application, after at least two calibration units and at least one measuring unit are fixed to corresponding positions, at least one measuring unit in the four-wheel alignment system can respectively capture images of the at least two calibration units to obtain first images of the at least two calibration units.

[0102] In some possible embodiments, combined with Figure 1 Since each calibration unit includes a calibration plate, the first image of each calibration unit may be an image containing the calibration plate in the corresponding calibration unit.

[0103] In S103, the calculation unit receives the first image, and calculates four-wheel alignment parameters of the vehicle to be tested based on the first image.

[0104] In the embodiment of the present application, the calculation unit may receive the first images of the respective calibration units sent by at least one measurement unit.

[0105] Afterwards, for the first image of any calibration unit, the calculation unit may determine a third positional relationship between the any calibration unit and at least one measurement unit based on the first image.

[0106] It should be noted that the third positional relationship can be represented by using a rotation and translation matrix.

[0107] In one embodiment of the present application, for the first image of any calibration unit, since the first image is an image containing a calibration plate, the calculation unit can specifically determine the third position relationship between the any calibration unit and at least one measurement unit based on the first image and the actual coordinate information of the calibration plate. The actual coordinate information of the calibration plate specifically refers to the three-dimensional coordinates of the calibration plate in a preset first coordinate system. The preset first coordinate system is a world coordinate system, which can be a world coordinate system with the set position of the calibration plate as the origin, or a world coordinate system with other point positions on the any calibration unit as the origin.

[0108] In another embodiment of the present application, since at least one measuring unit includes a first camera for photographing the calibration plate, the calculation unit can obtain the third positional relationship between any one calibration unit and at least one measuring unit based on the two-dimensional coordinates of the calibration plate in the image coordinate system corresponding to the first camera and the actual coordinate information (i.e., three-dimensional coordinates) of the calibration plate.

[0109] In the embodiment of the present application, after obtaining the third position relationship between any calibration unit and at least one measurement unit, the calculation unit can determine the four-wheel alignment parameters of the vehicle to be tested based on the third position relationship.

[0110] Specifically, the calculation unit can obtain parameter information of each tire relative to the calibration unit fixed on each tire. After that, the calculation unit can convert the above parameter information based on the third position relationship corresponding to each calibration unit, so as to obtain parameter information in the same coordinate system, that is, the final four-wheel alignment parameters.

[0111] It can be seen from the above that a four-wheel alignment method provided in an embodiment of the present application is applied to a four-wheel alignment system, and the four-wheel alignment system includes at least two calibration units, at least one measuring unit and a computing unit, and the method includes: fixing at least two calibration units to the wheels of the vehicle to be tested, and fixing at least one measuring unit to the same side of the vehicle to be tested where the at least two calibration units are fixed; at least one measuring unit collects images of at least two calibration units to obtain a first image; a computing unit obtains the first image, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image. The four-wheel alignment method provided in the present application can accurately determine the positional relationship between the measuring unit and the calibration unit through the at least two calibration units, at least one measuring unit and a computing unit included in the four-wheel alignment system, thereby obtaining accurate four-wheel alignment parameters of the vehicle to be tested, thereby improving the measurement accuracy of the four-wheel alignment parameters.

[0112] In one embodiment of the present application, since the vehicle to be tested usually includes four tires, in order to further improve the measurement accuracy of the four-wheel alignment parameters of the vehicle to be tested, the four-wheel alignment system may include four calibration units and two measurement units, and the two measurement units each include two first cameras, a calibration member, and a second camera. For example, see Figure 4 , Figure 4 FIG. 1 is a schematic diagram of the structure of a four-wheel alignment system provided by another embodiment of the present application. Figure 4 As shown, the four-wheel alignment system 1 includes four calibration units 20 and two measuring units 30 .

[0113] Based on this, see Figure 6 , Figure 6 FIG. 1 is a flowchart of a four-wheel positioning method according to another embodiment of the present invention. Figure 6 As shown, in the four-wheel alignment method provided in this embodiment, step S101 may specifically include steps S201 to S202, step S102 may specifically include step S203, and after step S203, step S204 may be further included. Accordingly, step S103 may specifically include step S205, which are described in detail as follows:

[0114] In S201, four calibration units are respectively fixed to four wheels of the vehicle to be tested.

[0115] In S202, two measuring units are respectively fixed to the middle positions of the front wheels and the rear wheels on both sides of the vehicle to be tested.

[0116] In S203, two first cameras of the measuring unit located on each side of the vehicle to be tested respectively capture images of calibration units respectively fixed on the front wheel and the rear wheel of the vehicle to be tested on the same side as the measuring unit to obtain two first images.

[0117] In S204, the second cameras of the two measuring units respectively capture the second images of the calibration pieces in the measuring units located at the other side of the vehicle to be measured.

[0118] In S205, the calculation unit receives the first image and the second image captured by the two measuring units, and calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the received first image and the second image.

[0119] In this embodiment, the four-wheel alignment system can control the loading device to fix four calibration units to the four wheels of the vehicle to be tested, and fix two measurement units to the middle positions of the front wheels and rear wheels on both sides of the vehicle to be tested. The loading device can be a loading robot. Optionally, the above-mentioned fixing operation can also be performed by a tester, which is not limited here.

[0120] It can be understood that a calibration unit is fixed to each tire of the vehicle to be tested, and a measuring unit is fixed to the middle position between the front wheel and the rear wheel on the same side.

[0121] In this embodiment, for any side of the vehicle to be tested, the two first cameras in the measuring unit on any side can respectively capture images of the calibration units that are on the same side as the measuring unit and are respectively fixed on the front wheels and rear wheels of the vehicle to be tested, to obtain the first images of each calibration unit on any side.

[0122] Based on this, the measurement unit located on each side of the vehicle to be tested can obtain the first images of the two calibration units located on the same side, that is, two first images.

[0123] At the same time, the second camera of the measuring unit located on one side of the vehicle to be tested can collect the second image of the calibration piece in the measuring unit located on the other side of the vehicle to be tested. The calibration piece can be a spherical object or a circular plate-shaped object, which is not limited here.

[0124] Exemplary, combined Figure 4 The second camera of the measuring unit located on the left side can capture the second image of the calibration part in the measuring unit located on the right side; the second camera of the measuring unit located on the right side can capture the second image of the calibration part in the measuring unit located on the left side.

[0125] Afterwards, the calculation unit may receive the two first images and the second image collected by the two measuring units, and calculate the four-wheel alignment parameters of the vehicle to be measured based on the received two first images and the second image.

[0126] In one embodiment of the present application, in order to improve the measurement accuracy of the four-wheel alignment parameters, the calculation unit can specifically Figure 7The steps S301 to S303 shown in the figure execute step S205, which is described in detail as follows:

[0127] In S301, the first image and the second image captured by the two measurement units are received.

[0128] In S302, a first positional relationship between the two measurement units is calculated based on the received second image.

[0129] In this embodiment, since the second image is an image including the calibration piece in the measuring unit, the calculation unit can determine the first positional relationship between the two measuring units based on the two received second images.

[0130] It should be noted that the first positional relationship can be represented by a rotation and translation matrix.

[0131] In one embodiment of the present application, the receiving unit may specifically determine the first position relationship according to the following steps, which are described in detail as follows:

[0132] Respectively acquiring the second positional relationship between the calibration piece and the second camera in the two measurement units, the actual coordinate information of each calibration piece, and the intrinsic parameters of each second camera;

[0133] The first positional relationship is calculated based on the pre-stored second positional relationship, each piece of the actual coordinate information, each of the intrinsic parameters and each of the second images.

[0134] It should be noted that the intrinsic parameters of the second camera, also called the intrinsic parameter matrix or the intrinsic parameter, are properties of the second camera itself and can be obtained by calibrating the second camera.

[0135] The second positional relationship between the calibration piece and the second camera in the two measurement units specifically refers to the positional relationship between the calibration piece and the second camera in the same measurement unit. The second positional relationship can be represented by a rotation and translation matrix.

[0136] In some possible embodiments, the calculation unit may specifically obtain the second position relationship between the calibration pieces in the two measurement units and the second camera according to the following steps, which are described in detail as follows:

[0137] Respectively obtaining the pose images of the respective relative measuring units at different positions, which are captured by the second cameras in the two measuring units, and which contain the calibration pieces, and obtaining the three-dimensional coordinates of each calibration piece at the different positions;

[0138] Based on each of the posture images and the three-dimensional coordinates corresponding to each of the posture images, a second positional relationship between the calibration pieces in the two measurement units and the second camera is determined.

[0139] In this embodiment, for any measuring unit, the computing unit can obtain the pose image of another measuring unit including the calibration part at different positions taken by the second camera in the any measuring unit, and obtain the three-dimensional coordinates of the calibration part in the other measuring unit at different positions.

[0140] The three-dimensional coordinates of the calibration part specifically refer to the three-dimensional coordinates of the calibration part in a preset second coordinate system. The preset second coordinate system is a world coordinate system, which can be a world coordinate system with the set position of the calibration part as the origin, or a world coordinate system with a certain point position on the measurement unit where the calibration part is located as the origin.

[0141] In this embodiment, for each pose image captured by any measurement unit, the calculation unit can determine the two-dimensional coordinates of the calibration piece in each pose image in the image coordinate system corresponding to the second camera of the any measurement unit. Afterwards, the calculation unit can obtain the fourth positional relationship between the second camera of any measurement unit and the calibration piece of another measurement unit based on the two-dimensional coordinates of the calibration piece in the pose image in the image coordinate system corresponding to the second camera of the any measurement unit and the three-dimensional coordinates of the calibration piece corresponding to each pose image. The fourth positional relationship can be represented by a rotation and translation matrix.

[0142] Afterwards, the calculation unit can determine the second position relationship between the calibration part and the second camera in the same measurement unit based on the fifth position relationship between the second cameras in the two measurement units and the fourth position relationship between the second camera of any one of the above-mentioned measurement units and the calibration part of another measurement unit.

[0143] In this embodiment, after obtaining the second position relationship between the calibration parts and the second cameras in the two measuring units, the calculation unit can calculate the first position relationship based on the second position relationship, the actual coordinate information of each calibration part obtained, the intrinsic parameters of each second camera and each second image.

[0144] In S303, four-wheel alignment parameters of the vehicle to be measured are calculated based on the received first image and the first position relationship between the two measurement units.

[0145] In this embodiment, the calculation unit can determine the positional relationship between the measurement unit and the calibration unit on the same side based on the first image of the calibration unit on the same side taken by the measurement unit. After that, the calculation unit can obtain the parameter information of the tire on the same side relative to the calibration unit fixed on the tire. After that, the calculation unit can convert the above parameter information based on the positional relationship between the calibration units on the same side, so as to obtain the parameter information of the tire on the same side in the same coordinate system.

[0146] At the same time, the calculation unit can convert the parameter information of the tire on the other side received by the measurement unit on the other side based on the first positional relationship between the two measurement units to obtain the parameter information of the tire on the other side in the same coordinate system.

[0147] Based on this, the calculation unit can obtain the four-wheel alignment parameters of each tire of the vehicle to be tested.

[0148] It can be seen from the above that the four-wheel alignment method provided in this embodiment further improves the measurement accuracy of the four-wheel alignment parameters of each tire of the vehicle to be tested.

[0149] In another embodiment of the present application, in order to clarify the positional relationship between the two first cameras and the second camera in the same measurement unit, so as to perform coordinate conversion later and obtain parameter information in the same coordinate system, the four-wheel alignment system can specifically perform the following steps, which are described in detail as follows:

[0150] Fixing a marker to the shooting range of each of the first camera and the second camera respectively;

[0151] Respectively acquiring third images of the respective corresponding markers captured by the first camera, the second camera and the marker at different positions, and acquiring three-dimensional coordinates of the respective calibration pieces;

[0152] Based on each of the third images and the three-dimensional coordinates of each of the calibration pieces, a third positional relationship between each of the first cameras and the second cameras is determined.

[0153] In this embodiment, the four-wheel alignment system can control the loading device to fix a marker to the shooting range of each of the first camera and the second camera. The loading device can be a loading robot.

[0154] It should be noted that the marker may be a spherical object.

[0155] It can be understood that one first camera corresponds to one marker, and one second camera corresponds to one marker.

[0156] The two first cameras and the second camera are both located in the same measurement unit.

[0157] In this embodiment, the calculation unit can obtain the third position relationship between each first camera and the second camera in the same measurement unit based on the two-dimensional coordinates of each marker in the image coordinate system of each corresponding camera (such as the first camera and the second camera) and the three-dimensional coordinates of each marker.

[0158] In another embodiment of the present application, when both measurement units include a control module and the two measurement units are respectively connected to the terminal device for communication, the calculation unit may be the control module in the first measurement unit. The first measurement unit is any one of the two measurement units. Based on this, the four-wheel positioning method may also be implemented according to the following steps, as described in detail below:

[0159] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0160] The terminal device receives a first image and a second image from control modules of other measurement units except the first measurement unit;

[0161] The terminal device sends the received first image and the second image to the control module of the first measurement unit;

[0162] The control module of the first measuring unit calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the first measuring unit, the second image captured by the second camera, and the first image and the second image captured by the other measuring units;

[0163] In this embodiment, after acquiring the first image captured by its own first camera and the second image captured by its own second camera, the control modules of other measurement units except the first measurement unit may send the acquired first image and second image to the terminal device.

[0164] Afterwards, the terminal device may send the received first image and second image acquired by other measurement units to the control module of the first measurement unit.

[0165] Based on this, the control module of the first measuring unit can calculate the four-wheel alignment parameters of the vehicle to be tested based on the first image captured by its own first camera, the second image captured by its own second camera, and the first image and second image received by the above-mentioned other measuring units.

[0166] In some possible embodiments, after obtaining the four-wheel alignment parameters of the vehicle to be tested, the control module of the first measurement unit may send the four-wheel alignment parameters to the terminal device. Afterwards, the terminal device may display the four-wheel alignment parameters so that relevant personnel at the terminal device can check the four-wheel alignment parameters of the vehicle to be tested in a timely manner.

[0167] In another embodiment of the present application, when both measurement units include a control module and the control modules of the two measurement units are connected in communication, the calculation unit can also be a control module in the target measurement unit. The target measurement unit is any one of the two measurement units. Based on this, the four-wheel alignment method can also be implemented according to the following steps, which are described in detail as follows:

[0168] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0169] The control module of the target measurement unit receives the first image and the second image from a control module of another measurement unit other than the target measurement unit;

[0170] The control module of the target measurement unit calculates the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the target measurement unit, the second image captured by the second camera, and the first image and the second image received by the other measurement unit.

[0171] In this embodiment, after the control module of another measurement unit other than the target measurement unit obtains the first image captured by its own first camera and the second image captured by its own second camera, since the two measurement units are communicated with each other, the control module of the other measurement unit can send the captured first image and second image to the target measurement unit.

[0172] Afterwards, the control module of the target measurement unit can calculate the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by its own first camera, the second image captured by its own second camera, and the first image and the second image received by the above-mentioned other measurement unit.

[0173] In another embodiment of the present application, when both measuring units include a control module, and the control modules of the two measuring units are respectively communicatively connected to the terminal devices, the calculation unit may also be the terminal device.

[0174] Based on this, the four-wheel alignment method can also be implemented according to the following steps, as detailed below:

[0175] The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras;

[0176] The terminal device receives the first image and the second image from the control modules of the two measurement units respectively;

[0177] The terminal device calculates and obtains the four-wheel alignment parameters of the vehicle to be tested based on the received first image and the second image.

[0178] In this embodiment, for any measurement unit, after acquiring the first image captured by its first camera and the second image captured by its second camera, the control module of the measurement unit may send the acquired first image and second image to the terminal device.

[0179] Based on this, the terminal device can respectively obtain the first image and the second image sent by the two measurement units.

[0180] Afterwards, the terminal device may calculate the four-wheel alignment parameters of the vehicle to be tested based on the first image and the second image acquired by each of the two measuring units.

[0181] In some possible embodiments, the terminal device may also display the four-wheel alignment parameters so that relevant personnel at the terminal device can check the four-wheel alignment parameters of the vehicle to be tested in a timely manner.

[0182] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0183] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0184] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A four-wheel alignment method, characterized in that: Applied to a four-wheel alignment system, the four-wheel alignment system includes at least two calibration units, at least one measurement unit and a calculation unit, the method includes: Fixing at least two of the calibration units to the wheels of the vehicle to be tested, and fixing at least one of the measurement units to the same side of the vehicle to be tested as the side on which the at least two calibration units are fixed; At least one of the measuring units collects images of at least two of the calibration units respectively to obtain a first image; The calculation unit receives the first image, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image.

2. The four-wheel alignment method according to claim 1, characterized in that: There are four calibration units and two measuring units, each of which includes two first cameras, a calibration member, and a second camera. The method of fixing at least two calibration units to the wheels of the vehicle to be tested and fixing at least one measuring unit to the same side of the vehicle to be tested where the at least two calibration units are fixed comprises: Respectively fixing the four calibration units to the four wheels of the vehicle to be tested; Respectively fixing the two measuring units to the middle positions of the front wheels and the rear wheels on both sides of the vehicle to be tested; The at least one measuring unit collects images of at least two calibration units respectively to obtain a first image, including: The two first cameras of the measuring unit located on each side of the vehicle to be tested respectively capture images of the calibration units respectively fixed on the front wheel and the rear wheel of the vehicle to be tested on the same side as the measuring unit to obtain two first images; The four-wheel alignment method further comprises: The second cameras of the two measuring units respectively capture the second images of the calibration parts in the measuring units located on the other side of the vehicle to be measured; The calculation unit receives the first image and calculates the four-wheel alignment parameters of the vehicle to be tested based on the first image, including: The calculation unit receives the first image and the second image collected by the two measuring units, and calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the received first image and the second image.

3. The four-wheel alignment method according to claim 2, characterized in that: The calculation unit receives the first image and the second image acquired by the two measuring units, and calculates the four-wheel alignment parameters of the vehicle to be tested based on the received first image and the second image, including: The computing unit receives the first image and the second image acquired by the two measuring units; The calculation unit calculates a first position relationship between the two measurement units based on the received second image; The calculation unit calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the received first image and the first position relationship between the two measurement units.

4. The four-wheel alignment method according to claim 3, characterized in that: The calculating unit calculates a first positional relationship between the two measuring units based on the received second image, comprising: Respectively acquiring the second positional relationship between the calibration piece and the second camera in the two measurement units, the actual coordinate information of each calibration piece, and the intrinsic parameters of each second camera; The first positional relationship is calculated based on the pre-stored second positional relationship, each piece of the actual coordinate information, each of the intrinsic parameters and each of the second images.

5. The four-wheel alignment method according to claim 3, characterized in that: Before respectively acquiring images of calibration units respectively fixed on the front wheels and the rear wheels of the vehicle to be tested and located on the same side as the measuring unit to obtain two first images, the method further includes: Fixing a marker to the shooting range of each of the first camera and the second camera respectively; Respectively acquiring third images of the respective corresponding markers captured by the first camera, the second camera and the marker at different positions, and acquiring three-dimensional coordinates of the respective calibration pieces; Based on each of the third images and the three-dimensional coordinates of each of the calibration pieces, a third positional relationship between each of the first cameras and the second cameras is determined.

6. The four-wheel alignment method according to claim 4, characterized in that: The step of respectively acquiring the second positional relationship between the calibration piece and the second camera in the two pre-stored measurement units includes: Respectively obtaining the pose images of the respective relative measuring units at different positions, which are captured by the second cameras in the two measuring units, and which contain the calibration pieces, and obtaining the three-dimensional coordinates of each calibration piece at the different positions; Based on each of the posture images and the three-dimensional coordinates corresponding to each of the posture images, a second positional relationship between the calibration pieces in the two measurement units and the second camera is determined.

7. The four-wheel alignment method according to claim 2, characterized in that: The two measuring units each include a control module, the two measuring units are respectively connected to the terminal device for communication, the calculation unit is the control module in the first measuring unit, and the first measuring unit is any one of the two measuring units; The four-wheel alignment method further comprises: The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras; The terminal device receives a first image and a second image from control modules of other measurement units except the first measurement unit; The terminal device sends the received first image and the second image to the control module of the first measurement unit; The control module of the first measuring unit calculates and obtains the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the first measuring unit, the second image captured by the second camera, and the first image and the second image captured by the other measuring units; The four-wheel alignment method further comprises: The control module of the first measurement unit sends the four-wheel alignment parameters to the terminal device; The terminal device displays the four-wheel alignment parameters.

8. The four-wheel alignment method according to claim 2, characterized in that: The two measuring units each include a control module, and the control modules of the two measuring units are communicatively connected with each other; the calculation unit is the control module in the target measuring unit, and the target measuring unit is any one of the two measuring units; The four-wheel alignment method further comprises: The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras; The control module of the target measurement unit receives the first image and the second image from a control module of another measurement unit other than the target measurement unit; The control module of the target measurement unit calculates the four-wheel alignment parameters of the vehicle to be measured based on the first image captured by the first camera of the target measurement unit, the second image captured by the second camera, and the first image and the second image received by the other measurement unit.

9. The four-wheel alignment method according to claim 2, characterized in that: The two measuring units each include a control module, the control modules of the two measuring units are respectively connected to the terminal device for communication, and the calculation unit is the terminal device; The four-wheel alignment method further comprises: The control modules of the two measuring units respectively acquire a first image captured by their respective first cameras and a second image captured by their respective second cameras; The terminal device receives the first image and the second image from the control modules of the two measurement units respectively; The terminal device calculates and obtains the four-wheel alignment parameters of the vehicle to be tested based on the received first image and the second image; The four-wheel alignment method further comprises: The terminal device displays the four-wheel alignment parameters.

10. A four-wheel alignment system, characterized in that: include: At least two calibration units, used to be fixed on the wheels of the vehicle to be tested; At least one measuring unit, comprising two first cameras, wherein the two first cameras are respectively used to capture first images of the calibration units corresponding to the first cameras; The calculation unit is used to receive the first image and calculate the four-wheel alignment parameters of the vehicle to be tested based on the first image.

Images