Automatic adjusting device for vehicle calibration target

Abstract

The invention discloses a vehicle calibration target automatic adjusting device which is characterized by comprising a target surface, a balancing weight, a bearing, a fixing block and a mounting clamp. Wherein the target surface is connected with the fixing block, the fixing block is connected with the mounting clamp fixed on a vehicle tire, and the calibration target surface is fixed on the vehicle tire through the mounting clamp and the fixing block. The main shaft of the mounting fixture is fixedly connected to a vehicle tire, and the side shaft is connected with the fixed block through an additionally mounted bearing, so that a target surface fixed connection coordinate system is constructed. The balancing weight is additionally arranged on the target surface according to the orientation of the target surface required by calibration, and the rotating angles of the target surface in different wheel pose states are automatically adjusted through the additionally arranged balancing weight, so that vehicle calibration is carried out.

Description

Technical Field

[0001] The invention relates to the field of vehicle calibration, and in particular to an automatic adjustment device for a vehicle calibration target. Background Art

[0002] As a transportation system pioneered in recent years, the intelligent rail vehicle has been introduced and applied in many cities at home and abroad because it combines the advantages of trams and buses, and has the characteristics of trackless active steering, high passenger capacity, high operational flexibility, low investment cost, and short construction period. The intelligent rail vehicle has a long body size and many vehicle groups. Under the condition of no track, the axle and articulated plate angle must be accurately calibrated (such as toe adjustment and angle calibration) to ensure the active steering of the axle and the accurate following of each group. Only in this way can the steering control of the intelligent rail vehicle be realized.

[0003] The current chassis calibration method for smart rail vehicles uses four-eye 3D vision and fixed plane targets. During the calibration process, as the wheels rotate, people need to manually operate the targets on each wheel to align the marking paint surface with the camera for shooting. However, due to the large number of wheels on smart rail vehicles, during the chassis calibration process, it is necessary to capture and capture the different postures of the axles to obtain the target images in different postures for calculation and processing, and then complete the calibration process. Each time a calibration is completed, the fixed target needs to be adjusted hundreds of times in position and posture, which has the disadvantages of complicated operation, low calibration efficiency, and easy introduction of manual operation errors. Summary of the invention

[0004] A brief summary of one or more aspects is given below to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceived aspects, and is neither intended to identify the key or critical elements of all aspects nor to define the scope of any or all aspects. Its only purpose is to give some concepts of one or more aspects in a simplified form as a prelude to a more detailed description that will be given later.

[0005] The purpose of the present invention is to solve the above-mentioned problem and provide an automatic adjustment device for a vehicle calibration target. Through bearings and target surface counterweights, the target can automatically adjust the target surface direction under different wheel posture states so that the target marking paint surface is always facing the camera lens at the angle required by the user.

[0006] The technical solution of the present invention is:

[0007] The present invention provides an automatic adjustment device for a vehicle calibration target, comprising: a target surface, a counterweight, a bearing, a fixing block and a mounting fixture; wherein:

[0008] The target surface is connected to a fixing block, and the fixing block is connected to a mounting fixture fixed to a vehicle tire, and the calibration target surface is fixed to the vehicle tire through the mounting fixture and the fixing block;

[0009] The main shaft of the mounting fixture is fixedly connected to the vehicle tire, and the side shaft is connected to the fixed block through the installed bearing, so as to construct a target surface fixed coordinate system;

[0010] The counterweight is installed on the target surface according to the target surface orientation required for calibration. The added counterweight is used to automatically adjust the target surface rotation angle under different wheel posture states, thereby performing vehicle calibration.

[0011] According to one embodiment of the automatic adjustment device for a vehicle calibration target of the present invention, the automatic adjustment device for a vehicle calibration target adopts a T-shaped mounting fixture as the mounting fixture, including a main shaft, a side shaft and a fixed bracket; wherein the main shaft is directly fixed to the vehicle tire through the fixed bracket, the side shaft is connected to the added bearing, and the fixed block used to fix the target surface is fixedly connected to the wheel through the connected bearing, thereby constructing a fixed coordinate system of the target surface.

[0012] According to one embodiment of the vehicle calibration target automatic adjustment device of the present invention, when the vehicle calibration target automatic adjustment device constructs a target surface fixed coordinate system, a wheel coordinate system is first established based on the mounting fixture and the side shaft, and then a target surface fixed coordinate system is established based on the established wheel coordinate system, so as to calculate the target surface rotation angle under different wheel posture states through the wheel coordinate system and the target surface fixed coordinate system.

[0013] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, when establishing the wheel coordinate system, the vehicle calibration target automatic adjustment device takes the connection point between the bearing and the mounting fixture in the original equilibrium state as the origin. w , along the main axis perpendicular to the ground upward direction is Y w , along the direction horizontal to the ground and perpendicular to the target surface is X w , perpendicular to Y w And the direction of the target plane is Z w , thereby establishing the wheel coordinate system O w -X w Y w Z w .

[0014] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, the vehicle calibration target automatic adjustment device completes the wheel coordinate system O w -X w Y w Z w After the establishment of the target surface and the counterweight block, the target surface and the counterweight block are combined, and the center of mass of the combination in the original equilibrium state is taken as the origin O b , the direction perpendicular to the ground upward is , along the direction horizontal to the ground and perpendicular to the target surface is X b , perpendicular to Yb The direction of the target plane is To establish the target surface fixed coordinate system O b -X b Y b Z b The target surface rotation angle under different wheel posture states is calculated by establishing the target surface fixed coordinate system and the wheel coordinate system.

[0015] According to one embodiment of the vehicle calibration target automatic adjustment device of the present invention, after the vehicle calibration target automatic adjustment device completes the establishment of the target surface fixed coordinate system, it automatically adjusts the target surface orientation by adding weights at corresponding positions on the target surface based on the constructed target surface fixed coordinate system and the target surface orientation required for calibration, and then calculates the rotation angle in the current target surface orientation state based on the target surface fixed coordinate system and the wheel coordinate system, thereby performing vehicle tire calibration.

[0016] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, when calculating the rotation angle of the current target surface orientation state, the vehicle calibration target automatic adjustment device first calculates the rotation angle of the target surface based on the mass of the counterweight block and the installation position of the counterweight block (0, y p ,z p ) to calculate the current state of the combined body in the target surface fixed coordinate system O b -X b Y b Z b The integrated centroid coordinates in the target surface are then used to calculate the rotation angle under the current target surface orientation state based on the integrated centroid coordinates; wherein the combination is fixed to the target surface coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the integrated center of mass coordinates (x b ,y b ,z b ) is shown below:

[0017] ,

[0018] Among them, m p Indicates the mass of the counterweight.

[0019] m b Represents the mass of the complex in the original equilibrium state.

[0020] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, the vehicle calibration target automatic adjustment device calculates the combined body in the target surface fixed coordinate system O b -X b Y b Z b After the integrated center of mass coordinates in the wheel coordinate system Ow -X w Y w Z w Coordinate system O fixed to the target surface b -X b Y b Z b The rotating coordinate system T that is used to transform between y To fix the target surface to the coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), and then according to the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), to calculate the rotation angle of the current target surface orientation state; where the rotation coordinate system T y As shown below:

[0021] ,

[0022] Where β represents the target surface fixed coordinate system O b -X b Y b Z b Along the Y b Convert clockwise to wheel coordinate system O w -X w Y w Z w conversion angle.

[0023] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, the vehicle calibration target automatic adjustment device calculates the wheel coordinate system O by the following formula: w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ):

[0024] ,

[0025] Among them, m pIndicates the mass of the counterweight.

[0026] m b Represents the mass of the complex in the original equilibrium state.

[0027] According to an embodiment of the vehicle calibration target automatic adjustment device of the present invention, the vehicle calibration target automatic adjustment device calculates the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ) and then, based on the calculated centroid coordinates (x w ,y w ,z w ) to calculate the target surface rotation angle, the formula is as follows:

[0028] ,

[0029] Among them, θ represents the rotation of the target surface under the action of gravity until the integrated center of mass rotates to be perpendicular to the horizontal ground and passes through Z w The rotation angle in the axis plane.

[0030] Compared with the prior art, the present invention has the following beneficial effects: the present invention aims at wheel steering calibration under different wheel posture states, by adding mounting fixtures, bearings and target surface counterweights, so that the target can be on different wheels, under different vehicle body states and under different camera installation positions, the wheel rotates during the calibration process under the action of center of gravity stabilization, thereby automatically adjusting the target surface direction, so that the target's marking paint surface can always automatically face the camera lens at the required angle. Through the present invention, the workload of the vehicle calibration process is greatly reduced, the time spent on calibration work is reduced, and damage to the target's marking paint surface caused by bumps, wear and tear due to manual operation is avoided, thereby improving the vehicle calibration efficiency and saving vehicle calibration costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0032] Figure 1 It is a schematic diagram showing an embodiment of a device for automatically adjusting a vehicle calibration target in an original equilibrium state according to the present invention.

[0033] Figure 2 It is a schematic diagram showing an embodiment of a vehicle calibration target automatic adjustment device in a counterweight block adjustment angle state of the present invention. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. Unless it is obvious from the language environment or otherwise explained, the same reference numerals in the figures represent the same structure or operation.

[0035] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0036] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present application. At the same time, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant field may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, so that once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0037] When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional views showing the device structure will not be partially enlarged according to the general scale, and the schematic views are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0038] In the description of the present application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present application; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0039] Disclosed herein is an embodiment of a vehicle calibration target automatic adjustment device. Figure 1 This is a schematic diagram showing an embodiment of the automatic adjustment device for vehicle calibration target in the original equilibrium state of the present invention. Figure 1 As shown, in this embodiment, the automatic adjustment device for the vehicle calibration target includes: a target surface, a counterweight, a bearing, a fixed block and a mounting fixture. Among them, the target surface is connected to the fixed block, and the fixed block (such as a conical fixed block) is connected to the mounting fixture fixed to the vehicle tire, and the calibration target surface is fixed to the vehicle tire through the mounting fixture and the fixed block. The main shaft of the mounting fixture is fixedly connected to the vehicle tire, and the side shaft is connected to the fixed block through the additional bearing, so as to construct a target surface fixed coordinate system. The counterweight is added to the target surface according to the target surface orientation required for calibration, and the rotation angle of the target surface under different wheel posture states is automatically adjusted by the additional counterweight, so as to perform vehicle calibration.

[0040] Specifically, in this embodiment, in order to fix the target surface counterweight block to the vehicle tire to construct the target surface fixed coordinate system, a T-shaped mounting fixture is used as a mounting fixture for fixed connection. The mounting fixture includes a main shaft, a side shaft and a fixed bracket. The main shaft is directly fixed to the vehicle tire through the fixed bracket, and the side shaft is connected to the added bearing. The fixed block used to fix the target surface is fixedly connected to the wheel through the connected bearing, thereby constructing the target surface fixed coordinate system.

[0041] In constructing the target surface fixed coordinate system O b -X b Y b Z b When the target surface is fixed, a wheel coordinate system is first established based on the mounting fixture and the side shaft, and then a target surface fixed coordinate system is established based on the established wheel coordinate system. w -X w Y w Z w , so that through the wheel coordinate system O w -X w Y w Z w And the target surface fixed coordinate system O b -Xb Y b Z b To calculate the target surface rotation angle under different wheel posture states. w -X w Y w Z w When Z w The positive direction is consistent with the connecting rod direction between the mounting fixture and the target surface, and the tire surface is (X w , Y w ) plane. Due to the bearing installed on the connecting rod between the mounting fixture and the target surface, the target surface can only be rotated around the Z w The shaft rotates freely, has no freedom in other directions, and the friction torque of the bearing can be ignored.

[0042] In this embodiment, after completing the wheel coordinate system O w -X w Y w Z w After the establishment of the target surface and the counterweight block, the target surface and the counterweight block are combined, and the center of mass of the combination in the original equilibrium state is taken as the origin O b , the direction perpendicular to the ground is Y b , along the direction horizontal to the ground and perpendicular to the target surface is X b , perpendicular to Y b The direction on the target plane is Z b To establish the target surface fixed coordinate system O b -X b Y b Z b The target surface rotation angle under different wheel posture states is calculated by establishing the target surface fixed coordinate system and the wheel coordinate system.

[0043] At this time, in the original equilibrium state, the center of mass of the combination of the target surface and the counterweight (hereinafter sometimes referred to as the combination) is O, and the magnitude of gravity G t , its direction is along Y w The supporting force of the mounting bracket bearing is F S , direction is along Y w According to Newton's first law, when the combination is in equilibrium, G t is equal to Fs, and G t Relative to Z w The moment of the axis is 0, that is, the center of mass is O, which is perpendicular to the horizontal ground and passes through Z. w in the plane of the axis.

[0044] In this embodiment, after the target surface fixed coordinate system is established, a counterweight is added to the corresponding position of the target surface based on the constructed target surface fixed coordinate system and the target surface orientation required for calibration to automatically adjust the target surface orientation, and then the rotation angle in the current target surface orientation state is calculated based on the target surface fixed coordinate system and the wheel coordinate system to perform vehicle tire calibration.

[0045] During the calibration process, as the axle wheel rotates, the combination moves in space with the wheel and loses its balance. When the wheel rotates to the predetermined position and then stops, the combination will automatically reach a rotational balance due to the stabilization of the center of gravity. At this time, the center of mass O is perpendicular to the horizontal ground and passes through Z. w The target surface is in the plane of the axis, so the target surface can be automatically adjusted.

[0046] Figure 2 Schematic diagram showing an embodiment of the automatic adjustment device for vehicle calibration target in the state where the counterweight block is adjusted in angle. Figure 2 As shown, a coordinate system O fixed to the mounting fixture / tire is established at the bearing mounting location. w -X w Y w Z w , where Y w Vertically upward from the ground, Z w Outward along the bearing axis, X w Determined by the right-hand rule. Assume that there is an original uniform target surface (for the original target surface with uneven mass distribution, it can be regarded as an equivalent body with uniform mass distribution and a counterweight block with a deadweight of m b , whose center of mass is located at Z w According to the above, the equilibrium state of the original target surface must be the center of mass O b In a perpendicular position to the horizontal ground and through Z w The target surface fixed coordinate system O is established at its center of mass. b -X b Y b Z b , where Y b Vertically upward from the ground, Z b In the target plane, perpendicular to Y b Outward, X b Determined by the right-hand rule. At this time, Z b With Z w The included angle is β, which is determined by the angle of the actual fixing block.

[0047] When calculating the rotation angle under the current target surface orientation state, firstly based on the mass of the counterweight block and the position of the counterweight block (0, y p ,z p ) to calculate the current state of the combined body in the target surface fixed coordinate system O b-X b Y b Z b The integrated center of mass coordinates in the target surface are then used to calculate the rotation angle under the current target surface orientation state. b -X b Y b Z b The integrated center of mass coordinates in the integrated center of mass coordinates (x b ,y b ,z b ) is shown below:

[0048] ,

[0049] Among them, m p Indicates the mass of the counterweight, m b represents the mass of the combination in the original equilibrium state. b -X b Y b Z b After the integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w Coordinate system O fixed to the target surface b -X b Y b Z b The rotating coordinate system T that is used to transform between y To fix the target surface to the coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), and then according to the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ) to calculate the rotation angle of the current target surface orientation. Among them, the rotation coordinate system T y As shown below:

[0050] ,

[0051] Where β represents the target surface fixed coordinate system O b -X b Y b Z b Along the Y b Convert clockwise to wheel coordinate system O w -X w Y w Z w The conversion angle of the target surface is determined by the fixed coordinate system O b -X b Y b Z b After the integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w Coordinate system O fixed to the target surface b -X b Y b Z b The rotating coordinate system T that is used to transform between y To fix the target surface to the coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), and then according to the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ) to calculate the rotation angle of the current target surface orientation. Among them, the rotation coordinate system T y As shown below:

[0052] ,

[0053] Where β represents the target surface fixed coordinate system O b -X b Y b Z b Along the Y b Convert clockwise to wheel coordinate system O w -X w Y w Z w The wheel coordinate system O is then calculated using the following formula:w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ):

[0054] ,

[0055] Among them, m p Indicates the mass of the counterweight, m b Indicates the mass of the combination in the original equilibrium state. At this time, the comprehensive center of mass of the combination is in the wheel coordinate system O w -X w Y w Z w The coordinates inside (x w ,y w ,z w ) is not perpendicular to the horizontal ground and passes through Y w Z w The target surface will rotate under the action of gravity until the integrated center of mass rotates to a plane perpendicular to the horizontal ground and passing through the Zw axis. The rotation angle θ is:

[0056] ,

[0057] In summary, in this embodiment, by adjusting the weight and installation position of the counterweight, the rotation angle of the target surface relative to the original equilibrium state can be adjusted, so that different target orientation controls can be achieved, and the target surface is always oriented toward the corresponding camera lens at an angle required by the user. In particular, when the original target surface is a target surface with uniform mass distribution and the center of mass is located at the rotation center of the bearing, the orientation of the target surface will only be determined by the installation position of the counterweight and the cone angle β of the fixed block, and will not be affected by the mass of the counterweight.

[0058] The previous description of the disclosure is provided to enable any person skilled in the art to make or use the disclosure. Various modifications to the disclosure will be apparent to those skilled in the art, and the general principles defined herein may be applied to other variations without departing from the spirit or scope of the disclosure. Thus, the disclosure is not intended to be limited to the examples and designs described herein, but should be granted the widest scope consistent with the principles and novel features disclosed herein.

[0059] Those skilled in the art will further appreciate that the various illustrative logic blocks, modules, circuits, and algorithm steps described in conjunction with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or a combination of the two. To clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits, and steps are generally described above in terms of their functionality. Whether such functionality is implemented as hardware or software depends on the specific application and the design constraints imposed on the overall system. The technician may implement the described functionality in different ways for each specific application, but such implementation decisions should not be interpreted as resulting in a departure from the scope of the present invention.

[0060] The various illustrative logic blocks, modules, and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed with a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general purpose processor may be a microprocessor, but in an alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in cooperation with a DSP core, or any other such configuration.

[0061] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. The software module may reside in a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read and write information from / to the storage medium. In an alternative, a storage medium may be integrated into a processor. The processor and the storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and the storage medium may reside in a user terminal as discrete components.

[0062] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented as a computer program product in software, each function may be stored on or transmitted by a computer-readable medium as one or more instructions or codes. Computer-readable media include both computer storage media and communication media, including any media that facilitates the transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a computer. As an example and not limitation, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of an instruction or data structure and can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using a coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwaves, the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwaves are included in the definition of the medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks usually reproduce data magnetically, while discs reproduce data optically with lasers. Combinations of the above should also be included within the scope of computer-readable media.

Claims

1. A vehicle calibration target automatic adjustment device, characterized in that: include: Target surface, counterweight, bearing, fixed block and mounting fixture; among which, The target surface is connected to a fixing block, and the fixing block is connected to a mounting fixture fixed to a vehicle tire, and the calibration target surface is fixed to the vehicle tire through the mounting fixture and the fixing block; The main shaft of the mounting fixture is fixedly connected to the vehicle tire, and the side shaft is connected to the fixed block through the installed bearing, so as to construct a target surface fixed coordinate system; The counterweight is installed on the target surface according to the target surface orientation required for calibration. The target surface rotation angle under different wheel postures is automatically adjusted by the installed counterweight, so as to perform vehicle calibration; wherein, After the vehicle calibration target automatic adjustment device completes the establishment of the target surface fixed coordinate system, a counterweight is added to the corresponding position of the target surface based on the constructed target surface fixed coordinate system and the target surface orientation required for calibration to automatically adjust the target surface orientation, and then the rotation angle under the current target surface orientation state is calculated based on the target surface fixed coordinate system and the wheel coordinate system, so as to perform vehicle tire calibration; wherein, When calculating the rotation angle of the target surface in the current state, the vehicle calibration target automatic adjustment device first calculates the rotation angle based on the mass of the counterweight block and the installation position of the counterweight block (0, y p ,z p ) to calculate the current state of the combined body in the target surface fixed coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the target surface are then used to calculate the rotation angle under the current target surface orientation state; wherein the combination is fixed to the target surface coordinate system O b -X b Y b Z b The integrated center of mass coordinates (x b ,y b ,z b ) is shown below: ， Among them, m p Indicates the mass of the counterweight. m b Represents the mass of the complex in the original equilibrium state.

2. The vehicle calibration target automatic adjustment device according to claim 1, characterized in that: The vehicle calibration target automatic adjustment device adopts a T-shaped mounting fixture as the mounting fixture, including a main shaft, a side shaft and a fixed bracket; wherein the main shaft is directly fixed to the vehicle tire through the fixed bracket, the side shaft is connected to the added bearing, and the fixed block used to fix the target surface is fixedly connected to the wheel through the connected bearing, thereby constructing a target surface fixed coordinate system.

3. The vehicle calibration target automatic adjustment device according to claim 2, characterized in that: When the vehicle calibration target automatic adjustment device constructs a target surface fixed coordinate system, a wheel coordinate system is first established based on the mounting fixture and the side shaft, and then a target surface fixed coordinate system is established based on the established wheel coordinate system, so that the target surface rotation angle under different wheel posture states is calculated through the wheel coordinate system and the target surface fixed coordinate system.

4. The vehicle calibration target automatic adjustment device according to claim 3, characterized in that: When the vehicle calibration target automatic adjustment device establishes the wheel coordinate system, the connection point between the bearing and the mounting fixture in the original equilibrium state is taken as the origin. w , along the main axis perpendicular to the ground upward direction is Y w , along the direction horizontal to the ground and perpendicular to the target surface is X w , perpendicular to Y w And the direction of the target plane is Z w , thereby establishing the wheel coordinate system O w -X w Y w Z w .

5. The vehicle calibration target automatic adjustment device according to claim 4, characterized in that: The vehicle calibration target automatic adjustment device completes the wheel coordinate system O w -X w Y w Z w After the establishment of the target surface and the counterweight block, the target surface and the counterweight block are combined, and the center of mass of the combination in the original equilibrium state is taken as the origin O b , the direction perpendicular to the ground upward is , along the direction horizontal to the ground and perpendicular to the target surface is X b , perpendicular to Y b The direction of the target plane is To establish the target surface fixed coordinate system O b -X b Y b Z b The target surface rotation angle under different wheel posture states is calculated by establishing the target surface fixed coordinate system and the wheel coordinate system.

6. The vehicle calibration target automatic adjustment device according to claim 1, characterized in that: The vehicle calibration target automatic adjustment device calculates the combined body in the target surface fixed coordinate system O b -X b Y b Z b After the integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w Coordinate system O fixed to the target surface b -X b Y b Z b The rotating coordinate system T that is used to transform between y To fix the target surface to the coordinate system O b -X b Y b Z b The integrated center of mass coordinates in the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), then according to the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ), to calculate the rotation angle under the current target surface orientation state; where the rotation coordinate system T y As shown below: ， Where β represents the target surface fixed coordinate system O b -X b Y b Z b Along the Y b Convert clockwise to wheel coordinate system O w -X w Y w Z w conversion angle.

7. The vehicle calibration target automatic adjustment device according to claim 6, characterized in that: The vehicle calibration target automatic adjustment device calculates the wheel coordinate system O by the following formula: w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ): ， Among them, m p Indicates the mass of the counterweight. m b Represents the mass of the complex in the original equilibrium state.

8. The vehicle calibration target automatic adjustment device according to claim 7, characterized in that: The vehicle calibration target automatic adjustment device calculates the wheel coordinate system O w -X w Y w Z w The center of mass coordinates (x w ,y w ,z w ) and then based on the calculated centroid coordinates (x w ,y w ,z w ) to calculate the target surface rotation angle, the formula is as follows: Among them, θ represents the rotation of the target surface under the action of gravity until the integrated center of mass rotates to be perpendicular to the horizontal ground and passes through Z w The rotation angle in the axis plane.

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