Automatic adjustment device for vehicle calibration target

Abstract

The present invention discloses an automatic adjustment device for a vehicle calibration target, which is characterized in that it includes: a target surface, a counterweight, a bearing, a fixed block and a mounting fixture. The target surface is connected to the fixed block, and the fixed block is connected to the mounting fixture fixed to the vehicle tire, and the calibration target surface is fixed to the vehicle tire by 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, thereby constructing 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 target surface rotation angle under different wheel posture states is automatically adjusted by the added counterweight, thereby performing vehicle calibration.

Description

Technical Field

[0001] The present 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 pioneering transportation system in recent years, intelligent rail vehicles (IRTs) have been introduced and deployed in numerous cities both domestically and internationally, integrating the strengths of both trams and buses. They offer trackless active steering, high passenger capacity, high operational flexibility, low investment costs, and a short construction period. IRTs are long and consist of multiple trains. Without tracks, precise chassis calibration (such as toe adjustment and angle calibration) of axles and articulated disc angles is essential to ensure active axle steering and accurate tracking of each train.

[0003] The current chassis calibration method for smart rail vehicles uses four-lens 3D vision and fixed planar targets. During the calibration process, as the wheels rotate, a human operator manually manipulates the target on each wheel to align the painted surface with the camera for imaging. However, due to the large number of wheels on smart rail vehicles, chassis calibration requires capturing images of the axles at different postures to obtain target images in different postures for computational processing and complete the calibration process. Each calibration requires hundreds of position adjustments to the fixed targets, resulting in complex operations, low calibration efficiency, and the potential for human error. Summary of the Invention

[0004] The following is a brief summary of one or more aspects to provide a basic understanding of these aspects. This summary is not an exhaustive overview of all conceivable aspects and is neither intended to identify key or critical elements of all aspects nor to define the scope of any or all aspects. Its sole purpose is to present some concepts of one or more aspects in a simplified form as a prelude to the more detailed description that will be provided later.

[0005] The purpose of the present invention is to solve the above-mentioned problems and provide an automatic adjustment device for a vehicle calibration target. Through bearings and target surface counterweights, the target surface direction can be automatically adjusted in 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 the fixing block, and the fixing block is connected to the mounting fixture fixed to the vehicle tire. 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 added bearing, thereby constructing the target surface fixed coordinate system;

[0010] The counterweight is added to 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 a 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, and the side shaft is connected to the added bearing, and the fixed block for fixing 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 the target surface fixed coordinate system, it first establishes a wheel coordinate system based on the mounting fixture and the side shaft, and then establishes the target surface fixed coordinate system 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 upward direction perpendicular to the ground 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 a counterweight block at the corresponding position of 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, 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 center of mass coordinates in the target surface are then used to calculate the rotation angle under the current target surface orientation state based on the integrated center of mass coordinates; wherein, the combined body is fixed on 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 as follows:

[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 target surface fixed coordinate system O of the combination body. 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 convert 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 coordinates of the center of mass (x w ,y w ,z w ), then according to the wheel coordinate system O w -X w Y w Z w The coordinates of the center of mass (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:

[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 coordinates of the center of mass (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 coordinates of the center of mass (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] Where θ represents the target surface rotating under the action of gravity until the integrated center of mass rotates to a position 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: Aiming at wheel steering calibration under different wheel posture states, the present invention adds a mounting fixture, bearings, and target surface counterweights, allowing the target to be positioned on different wheels, in different vehicle body states, and in different camera installation positions. This allows the target surface to automatically adjust its direction as the wheel rotates during the calibration process, utilizing the center of gravity to stabilize the target. This allows the target's marking paint surface to always automatically face the camera lens at the desired angle. This invention significantly reduces the workload of the vehicle calibration process, shortens the calibration process, and avoids damage to the target's marking paint surface caused by manual operation, such as bumps and wear. This improves vehicle calibration efficiency and saves vehicle calibration costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The above features and advantages of the present invention will 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 characteristics may have the same or similar reference numerals.

[0032] Figure 1 1 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 1 is a schematic diagram showing an embodiment of a vehicle calibration target automatic adjustment device in a counterweight adjustment angle state according to the present invention. DETAILED DESCRIPTION

[0034] To more clearly illustrate the technical solutions of the embodiments of this application, the following is a brief introduction to the drawings required for describing the embodiments. Obviously, the drawings described below are merely examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without inventive effort. Unless otherwise apparent from the context or otherwise noted, the same reference numerals in the figures represent the same structure or operation.

[0035] As used in this application and the claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" are not intended to refer to the singular but may include the plural. Generally speaking, the terms "comprises" and "include" only indicate the inclusion of the steps and elements specifically identified, and these steps and elements do not constitute an exclusive list. A method or apparatus may also include other steps or elements.

[0036] Unless otherwise specifically stated, the relative arrangement of the parts and steps, numerical expressions and numerical values 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 drawings are not drawn according to actual proportional relationships. The techniques, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the techniques, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as being merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, and therefore, once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0037] When describing the embodiments of the present invention, for ease of explanation, cross-sectional views illustrating device structures may be partially enlarged and not to scale. Furthermore, these schematic views are merely illustrative and should not limit the scope of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0038] In the description of this application, it should be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this 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. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional words "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0039] Disclosed herein is an embodiment of an automatic adjustment device for a vehicle calibration target. Figure 1 This is a schematic diagram showing an embodiment of the automatic adjustment device for vehicle calibration targets 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. 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. 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, thereby constructing 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 target surface rotation angle under different wheel posture states is automatically adjusted by the added counterweight, thereby performing vehicle calibration.

[0040] Specifically, in this embodiment, a T-shaped mounting fixture is used to securely connect the target surface counterweight to the vehicle tire to establish a target surface fixed coordinate system. The mounting fixture includes a main shaft, a side shaft, and a fixing bracket. The main shaft is directly fixed to the vehicle tire via the fixing bracket, and the side shaft is connected to an additional bearing. The attached bearing secures the target surface fixed block to the wheel, thereby establishing a target surface fixed coordinate system.

[0041] When 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 , thus 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 setting Z w The positive direction is consistent with the direction of the connecting rod between the mounting fixture and the target surface, and the tire surface is (X w , Y w ) plane. Due to the effect of 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 and has no other degrees of freedom. 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 gravity magnitude 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 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 and 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 stops, the combination will automatically reach a state of rotational equilibrium 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 This is a schematic diagram showing an embodiment of the automatic adjustment device for vehicle calibration target in the state where the counterweight is adjusted in angle. Figure 2 As shown, a coordinate system O is established at the bearing installation location that is fixed to the mounting fixture / tire. 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 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 Is perpendicular to the horizontal ground and passes 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 fixed block.

[0047] When calculating the rotation angle under the current target surface orientation, 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 as follows:

[0048] ,

[0049] Among them, m p Indicates the mass of the counterweight, m b Indicates the mass of the combined body 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 convert 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 coordinates of the center of mass (x w ,y w ,z w ), then according to the wheel coordinate system O w -X w Y w Z w The coordinates of the center of mass (x w ,y w ,z w ) to calculate the rotation angle under the current target surface orientation state. Among them, the rotating 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 convert 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 coordinates of the center of mass (x w ,y w ,z w ), then according to the wheel coordinate system O w -X w Y w Z w The coordinates of the center of mass (x w ,y w ,z w ) to calculate the rotation angle under the current target surface orientation state. Among them, the rotating 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 coordinates of the center of mass (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 integrated 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 mounting position of the counterweight, the target surface's rotation angle relative to its original equilibrium state can be adjusted. This allows for variable target orientation control, ensuring the target is always oriented toward the corresponding camera lens at the desired angle. In particular, when the original target surface has a uniform mass distribution and its center of mass is located at the bearing's rotational center, the target surface's orientation is determined solely by the counterweight's mounting position and the fixed block's cone angle β, and is unaffected by the counterweight's mass.

[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 is to be accorded 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 algorithmic steps described in conjunction with the embodiments disclosed herein can 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. A skilled person 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 using 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 the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A 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 conjunction with a DSP core, or any other such configuration.

[0061] The steps of the methods or algorithms 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 RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, 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 the processor so that the processor can read and write information from / to the storage medium. In an alternative, the storage medium may be integrated into the processor. The processor and storage medium may reside in an ASIC. The ASIC may reside in a user terminal. In an alternative, the processor and 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 in software as a computer program product, the functions may be stored on or transmitted via a computer-readable medium as one or more instructions or code. Computer-readable media includes both computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one location to another. A storage medium may be any available medium that can be accessed by a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Any connection is also properly referred to as a computer-readable medium. For example, if 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 microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of medium. As used herein, disk and disc include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc, where disks typically 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 the fixing block, and the fixing block is connected to the mounting fixture fixed to the vehicle tire. 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 added bearing, thereby constructing the 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, thereby performing vehicle calibration. 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 a counterweight at the corresponding position of 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 under the current target surface orientation state based on the target surface fixed coordinate system and the wheel coordinate system, thereby performing vehicle tire calibration; wherein, When calculating the rotation angle of the target surface under 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 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 based on the integrated center of mass coordinates; wherein, the combined body is fixed on 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 as follows: ， 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 uses a T-shaped mounting fixture as a 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, 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 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, it first establishes a wheel coordinate system based on the mounting fixture and the side shaft, and then establishes a target surface fixed coordinate system 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.

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 upward direction perpendicular to the ground 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 target surface fixed coordinate system O of the combination body. 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 convert 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 coordinates of the center of mass (x w ,y w ,z w ), then according to the wheel coordinate system O w -X w Y w Z w The coordinates of the center of mass (x w ,y w ,z w ), to calculate the rotation angle under the current target surface orientation state; wherein, 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 coordinates of the center of mass (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 coordinates of the center of mass (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: Where θ represents the target surface rotating under the action of gravity until the integrated center of mass rotates to a position perpendicular to the horizontal ground and passes through Z w The rotation angle in the axis plane.

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