Positioning device, positioning method, and program

Abstract

A positioning device for determining a position of a target used in adjustment of a vehicle includes a photographing section that photographs a plurality of position-finding marks respectively arranged at specific positions of the vehicle and at least one reference mark arranged inside or outside the vehicle and generates a sample image, a processing section that processes the sample image, a storage section that stores a target condition related to the position of the target, and a control section that calculates the position of the target. The processing section calculates relative positions of the plurality of position-finding marks with respect to the reference mark based on the sample image. The control section calculates the position of the target based on information related to the relative positions and the target condition.

Description

Technical Field

[0001] The present invention relates to a positioning device, positioning method, and procedure for determining the position of a target used in the adjustment of a vehicle. Background Technology

[0002] Vehicles are utilizing advanced detection equipment equipped with driver assistance systems. This equipment includes cameras, radar, and sensors. When mounting the detection equipment on a vehicle, the alignment of the equipment is adjusted. Alignment refers to the function of the detection equipment in targeting an object. Alignment is adjusted by having the detection equipment identify a predetermined target.

[0003] The target is positioned at a predetermined distance from the vehicle. The target's position is predetermined based on factors such as the vehicle model. For example, the target's position may be specified in the vehicle's maintenance manual. The operator performing the alignment adjustment positions the target at the predetermined location based on the maintenance manual.

[0004] Patent Document 1 discloses a method for determining the position of a target using a laser rangefinder. In Patent Document 1, a plate is positioned at a reference position relative to a vehicle for illumination by a laser from the laser rangefinder. The laser rangefinder is mounted on a movable platform. The position of the movable platform is adjusted so that the distance between the laser rangefinder and the plate becomes a predetermined distance as specified in the repair manual. Based on the adjusted movable platform, the target is positioned.

[0005] Existing technical documents Patent documents Patent Document 1: Japanese Patent No. 7044332 Summary of the Invention The problem that the invention aims to solve In the method of Patent Document 1, when the middle of two positions is determined, the working time and error are likely to increase.

[0006] The purpose of this invention is to provide a positioning device and positioning method that can solve such problems.

[0007] Solution for solving the problem The present invention relates to the following [1] to

[12] .

[0008] [1] A positioning device for determining the position of a target used in adjusting a vehicle, wherein the positioning device comprises: The imaging unit captures images of multiple positioning markers located at specific positions on the vehicle and at least one reference marker located inside or outside the vehicle, and generates sample images. The processing unit processes the sample image; A storage unit that stores target conditions related to the location of the target; and The control unit calculates the position of the target. Based on the sample image, the processing unit calculates the relative positions of the multiple positioning markers with respect to the reference marker. The control unit calculates the position of the target based on information related to the relative position and the target conditions.

[0009] [2] According to the positioning device described in [1], the positioning mark may also include a front mark disposed on the front mark of the vehicle and a rear mark disposed on the rear mark of the vehicle, and the target condition may also include a first target condition that positions the target at a position on the central reference line at a first distance from the front mark, and the central reference line may also be a straight line passing through the front mark and the rear mark.

[0010] [3] According to the positioning device described in [1], the positioning mark may also include a right front mark disposed on the right front wheel of the vehicle, a right rear mark disposed on the right rear wheel of the vehicle, a left front mark disposed on the left front wheel of the vehicle, and a left rear mark disposed on the left rear wheel of the vehicle. The target condition may also include a second target condition that positions the target at the midpoint between a position on the right baseline at a second distance from the right front mark and a position on the left baseline at a second distance from the left front mark. The right baseline may also be a straight line passing through the right front mark and the right rear mark, and the left baseline may also be a straight line passing through the left front mark and the left rear mark.

[0011] [4] The positioning device according to any one of [1] to [3], wherein the imaging unit may also generate a first sample image and a second sample image, the first sample image including a first positioning mark and the reference mark, and the second sample image including a second positioning mark and the reference mark.

[0012] [5] The positioning device according to any one of [1] to [3], wherein the imaging unit may also generate a first sample image and a second sample image, the first sample image including a first positioning mark, a second positioning mark and the reference mark, and the second sample image including a third positioning mark, a fourth positioning mark and the reference mark.

[0013] [6] The positioning device according to any one of [1] to [3], wherein the imaging unit may also generate a first sample image and a second sample image, the first sample image including a first positioning mark and the reference mark, and the second sample image including a second positioning mark and the first positioning mark.

[0014] [7] The positioning device according to any one of [1] to [3], wherein the imaging unit may also generate a first sample image, a second sample image and a third sample image, the first sample image including a first positioning mark and the reference mark, the second sample image including a second positioning mark and the first positioning mark, and the third sample image including a third positioning mark and at least one mark included in the first sample image or the second sample image.

[0015] [8] The positioning device according to any one of [1] to [7], wherein the processing unit may also construct a virtual plane based on the relative positions of the plurality of positioning marks relative to the reference mark.

[0016] [9] According to the positioning device described in [8], the storage unit may also contain data related to the reference plane, and the control unit may also compare the data related to the reference plane and the data related to the virtual plane.

[0017]

[10] The positioning device according to any one of [1] to [9], wherein the imaging unit may also capture the reference mark and the target mark and generate a confirmation image, and the control unit may also determine whether the position of the target mark is consistent with the calculated position of the target based on the information of the confirmation image.

[0018]

[11] A positioning method for determining the location of a target used in the adjustment of a vehicle, wherein the positioning method includes: In the first shooting step, multiple positioning marks disposed at specific locations on the vehicle and at least one reference mark disposed inside or outside the vehicle are photographed to generate sample images; The processing step includes calculating, based on the sample image, the relative positions of the plurality of positioning markers relative to the reference marker; and The first calculation step involves calculating the position of the target based on information related to the relative position and target conditions related to the position of the target.

[0019]

[12] A program, wherein the program is used to enable a computer to function as the processing unit, the storage unit and the control unit of the positioning device described in any one of [1] to

[10] .

[0020] The effects of the invention According to the present invention, the position of the target used in the adjustment of the vehicle can be easily determined. Attached Figure Description

[0021] Figure 1This is a diagram illustrating an example of the structure of a positioning device.

[0022] Figure 2 This is a diagram illustrating the preparation process for configuring the markings in the first embodiment.

[0023] Figure 3 This is a diagram showing the first shooting step, marked by a shooting marker.

[0024] Figure 4 This is a diagram showing the processing steps for calculating the position of the marker.

[0025] Figure 5 This is a diagram showing the process of calculating the target position.

[0026] Figure 6 This diagram represents the second shooting step, which involves photographing the target marker.

[0027] Figure 7 This is a diagram showing the process of placing the target at the target location.

[0028] Figure 8 This is a diagram illustrating the preparation process for configuring the markings in the second embodiment.

[0029] Figure 9 This is a diagram showing the first shooting step, marked by a shooting marker.

[0030] Figure 10 This is a diagram showing the processing steps for calculating the position of the marker.

[0031] Figure 11 This is a diagram showing the process of calculating the target position.

[0032] Figure 12 This is a diagram illustrating the preparation process for configuring the markings in the third embodiment.

[0033] Figure 13 This is a diagram illustrating the preparation process for configuring the markings in the fourth embodiment.

[0034] Figure 14 This is a diagram illustrating the preparation process for configuring the markings in the fifth embodiment.

[0035] Figure 15 This is a diagram showing the calculation of the target position in the 7th embodiment. Detailed Implementation

[0036] This invention relates to a positioning device and method for determining the position of a target used in vehicle alignment. The target is used to align detection equipment such as cameras, radars, and sensors mounted on the vehicle. By identifying external conditions through the detection equipment, vehicle safety can be improved.

[0037] [First Embodiment] The first embodiment of the present invention will be described with reference to the accompanying drawings. In the drawings accompanying this specification, for ease of understanding, the scale and aspect ratios of the actual objects have been appropriately altered and exaggerated.

[0038] (Positioning device) Figure 1 This diagram shows an example of the structure of a positioning device 10 used to determine the location of a target. The positioning device 10 includes, for example, an imaging unit 11, a processing unit 12, a control unit 13, a storage unit 14, and a display unit 15.

[0039] The imaging unit 11 captures images of positioning marks, reference marks, and other markers, and generates images. Images containing positioning marks and reference marks are also called sample images. The imaging unit 11 can also capture images of the vehicle 1 along with the positioning marks and reference marks. The imaging unit 11 is, for example, a camera.

[0040] Processing unit 12 processes the sample image. For example, processing unit 12 calculates the relative position of the positioning mark relative to the reference mark based on the sample image. Control unit 13 calculates the position of the target based on information related to the relative position of the positioning mark and target conditions. Storage unit 14 stores the target conditions. Processing unit 12, control unit 13, and storage unit 14 are, for example, configured as a computer including logic ICs and memory ICs. Target conditions are conditions related to the position of the target to be configured.

[0041] Display unit 15 displays information related to the relative position of the positioning mark calculated by processing unit 12 and the position of the target calculated by control unit 13. Position-related information can also be displayed as character information such as coordinates. Display unit 15 can also display images such as sample images captured by imaging unit 11. Display unit 15 can also display position-related information as a graph.

[0042] The positioning device 10 can also be a single device. For example, the positioning device 10 can be a tablet PC or a laptop PC equipped with a camera unit 11 and a display unit 15. The positioning device 10 can also be composed of multiple devices. For example, the positioning device 10 can include a camera constituting the camera unit 11 and a computer constituting the processing unit 12, control unit 13, storage unit 14, and display unit 15. The computer can also receive information from the camera via wired or wireless means.

[0043] (Location method) This describes a positioning method that uses positioning device 10 to determine the location of a target.

[0044] Figure 2This diagram illustrates the preparation process. During preparation, the operator places multiple positioning marks and reference marks 31, etc. These positioning marks are placed at specific locations on the vehicle. Figure 2 In the example shown, the front sign of vehicle 1 is provided with a front mark 21, and the rear sign of vehicle 1 is provided with a rear mark 22.

[0045] Reference mark 31 is a mark indicating the position that serves as a reference for a plurality of positioning marks. As described later, the positions of the plurality of positioning marks are calculated relative to the position of reference mark 31. Reference mark 31 is disposed, for example, on the ground outside the vehicle 1. Although not shown, reference mark 31 may also be disposed inside the vehicle 1.

[0046] The reference mark 31 can also be configured at a specific location on the vehicle in the same way as the positioning mark. As described later, one of a plurality of positioning marks can also be designated as the reference mark.

[0047] like Figure 2 As shown, the reference mark 31 may also include a plate 3 disposed on the ground and a film 4 adhered to the plate 3. The film 4 may include, for example, printed marks.

[0048] Although not illustrated, the positioning marks such as front mark 21 and rear mark 22 can also be made of a film containing the printed mark. For example, front mark 21 can also be made of a film pasted onto the front mark. Alternatively, the positioning marks can also be combined with... Figure 2 The reference mark 31 shown also includes a plate and a film. For example, the front mark 21 can also be composed of a plate with a film attached to it and mounted on the front mark.

[0049] Figure 3 This diagram illustrates the first imaging process. In the first imaging process, the imaging unit 11 captures multiple positioning marks and reference marks 31 and generates sample images.

[0050] In the first shooting step, the shooting unit 11 captures the front mark 21 and the reference mark 31 from the first shooting position 41. The first shooting position 41 is, for example, the front right side of the vehicle 1. The first viewing angle 41R of the shooting unit 11 at the first shooting position 41 is set so that the front mark 21 and the reference mark 31 are included in the sample image. Additionally, in the first shooting step, the shooting unit 11 captures the rear mark 22 and the reference mark 31 from the second shooting position 42. The second shooting position 42 is, for example, the rear right side of the vehicle 1. The second viewing angle 42R of the shooting unit 11 at the second shooting position 42 is set so that the rear mark 22 and the reference mark 31 are included in the sample image. Thus, at least two sample images are generated.

[0051] In this embodiment, the sample image generated by shooting at the first shooting position 41 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 42 is also referred to as the second sample image. In this embodiment, the positioning mark included in the first sample image is also referred to as the first positioning mark, and the positioning mark included in the second sample image is also referred to as the second positioning mark. In this embodiment, the first sample image, the second sample image, and other sample images all include a reference mark 31.

[0052] Figure 4 This diagram illustrates the processing steps for processing a sample image. In the processing steps, the processing unit 12 calculates the relative positions of multiple positioning markers relative to the reference marker 31 based on the sample image. For example, the processing unit 12 calculates the relative coordinates (X1, Y1, Z1) of the front marker 21 relative to the reference marker 31 and the relative coordinates (X2, Y2, Z2) of the rear marker 22 relative to the reference marker 31.

[0053] The position of reference mark 31 is a reference position in the X, Y, and Z directions. Alternatively, the X and Y directions can be parallel to the ground, and the Z direction can be perpendicular to the ground. The X direction can also be the direction of a straight line extending through the front mark 21 and the rear mark 22.

[0054] In the first shooting step described above, multiple images can be captured at each shooting position. In this case, the relative coordinates of each positioning mark can be calculated based on each of the multiple images. For example, multiple relative coordinates of the front mark 21 relative to the reference mark 31 can be calculated. Alternatively, a single coordinate can be calculated based on approximate values, average values, etc., of the multiple relative coordinates. As a result, the processing accuracy is improved.

[0055] Figure 5 This diagram illustrates the first calculation step for calculating the target position. In this first calculation step, the control unit 13 calculates the target position based on information related to the relative positions of multiple positioning markers and target conditions. Target conditions may be, for example, "position the target on the central baseline at a position a first distance from the previous marker." In this embodiment, the target condition is also referred to as the first target condition.

[0056] For example, the control unit 13 calculates the straight line passing through the front mark 21 and the rear mark 22, i.e., the central reference line L1, based on the coordinates of the front mark 21 and the rear mark 22. Next, the control unit 13 calculates the coordinates (Xt1, Yt1, Zt1) of the target position t1 on the central reference line L1, which is a distance K1 away from the front mark 21. The first distance K1 is, for example, 160cm.

[0057] The Z-coordinate Zt1 of the target position t1 can also be calculated based on information related to the height of the first target's position above the ground, as described later. The position of the reference mark 31 can also be the position of the ground, i.e., the zero point of the Z-coordinate. In this case, the height of the first target's position above the ground is used as the Z-coordinate Zt1 of the target position t1.

[0058] The control unit 13 may also display information related to the target position t1 on the display unit 15. For example, the control unit 13 may also display position information such as the positions of multiple positioning marks, the position of the reference mark 31, and the position of the target mark 51 as a graph in the XY coordinate system.

[0059] Next, as Figure 6 As shown, a second imaging step can also be performed. In the second imaging step, the imaging unit 11 captures the target mark 51 and the reference mark 31 positioned at the target position t1 to generate an image. The image generated in the second imaging step, which includes the target mark 51 and the reference mark 31, is also called a confirmation image.

[0060] In the second shooting process, the shooting unit 11 shoots the target mark 51 and the reference mark 31 from the third shooting position 43. The third viewing angle 43R of the shooting unit 11 at the third shooting position 43 is set so that the target mark 51 and the reference mark 31 are included in the image.

[0061] Next, a process is performed to determine whether the position of the target marker 51 matches the calculated target position t1 based on the information from the confirmation image. For example, the processing unit 12 performs a second calculation process to calculate the coordinates (Xt1', Yt1', Zt1') of the position t1' of the target marker 51 relative to the reference marker 31. Next, the control unit 13 performs a determination process. In the determination process, the coordinates (Xt1', Yt1', Zt1') of the position t1' of the target marker 51 are compared with the coordinates (Xt1, Yt1, Zt1) of the target position t1. If the difference between the coordinates of the two positions is below a threshold, the control unit 13 determines that the position t1' of the target marker 51 matches the target position t1. That is, a pass / fail determination is performed. In the determination process, only the difference between the X and Y coordinates of the two positions may be considered. The determination result may also be displayed on the display unit 15.

[0062] The target mark 51 may also include, similarly to the reference mark 31, a plate disposed on the ground and a membrane adhered to the plate. Alternatively, the target mark 51 may also include a plate erected perpendicular to the ground and a membrane adhered to the plate.

[0063] Next, as Figure 7 As shown, a setting process is performed to place the first target 61 at the target position t1. The first target 61 can function as a target object detected by the detection equipment mounted on the vehicle 1.

[0064] The first target 61 can also be set at the position of the target mark 51 that is determined to be qualified in the judgment process. Alternatively, the first target 61 can also be set at the position t1 of the target calculated by the first calculation process. In the latter case, the second shooting process, the second calculation process, and the judgment process may not be performed.

[0065] like Figure 7 As shown, other targets can also be set at other target locations around the target location t1. For example, a second target 62 can be set at the second target location t2, and a third target 63 can be set at the third target location t3. The second target location t2 and the third target location t3 can also be the same as the target location t1, and are calculated by the control unit 13 based on information related to the positions of multiple positioning markers and target conditions.

[0066] The second target position t2 can be a position located at a distance of K18 from target position t1 in a direction orthogonal to the central baseline L1. The third target position t3 can also be a position located at a distance of K18 from target position t1 in a direction orthogonal to the central baseline L1 and opposite to the second target position t2. The distance K18 is, for example, 50 cm.

[0067] According to the first embodiment described above, the position of the target mark 51 is calculated by using the positioning device 10 to capture images of multiple positioning marks and reference marks 31. Therefore, the position of the first target 61 can be easily determined. For example, an operator can determine the position of the first target 61 by themselves. Compared with conventional methods, the operation time is reduced, thus reducing the cost of the operation. In addition, compared with conventional methods, the operation that depends on the operator's skills is reduced, thus improving the positioning accuracy of the first target 61.

[0068] The aforementioned processing steps, the first calculation step, the second calculation step, and the determination step can also be performed by the computer constituting the positioning device 10. For example, a program for enabling the computer to function as the processing unit 12, the control unit 13, and the storage unit 14 can also be installed on the computer.

[0069] The program can be pre-installed on the computer at the time of manufacture, or it can be installed on the computer after manufacture using a computer-readable, non-volatile recording medium containing the program. There are no particular limitations on the type of recording medium; various recording media can be considered, such as portable recording media like disks and optical discs, fixed recording media like hard disk drives and memory. Furthermore, the program can also be distributed via communication lines such as the Internet. It should be noted that when the program is distributed via a communication line, a recording medium containing the program of this embodiment is temporarily stored on the server used for distribution.

[0070] [Second Implementation] The second embodiment of the present invention will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the description, parts that can be configured in the same way as those in the first embodiment are referred to by the same reference numerals as those used for the corresponding parts in the first embodiment, and repeated descriptions are omitted. In addition, when it is clear that the effects obtained in the first embodiment can also be obtained in the second embodiment, the description of such effects is sometimes omitted.

[0071] (Location method) The positioning method for determining the position of a target using the positioning device 10 is described.

[0072] Figure 8 This is a diagram illustrating the preparation process. In this embodiment, the operator also configures multiple positioning marks and reference marks 31, etc. Figure 8 In the example shown, a right front mark 23 is provided on the right front wheel of vehicle 1, a right rear mark 24 is provided on the right rear wheel, a left front mark 25 is provided on the left front wheel, and a left rear mark 26 is provided on the left rear wheel.

[0073] Figure 9 This diagram illustrates the first shooting process. In the first shooting process, the shooting unit 11 captures images of the right front mark 23, the right rear mark 24, and the reference mark 31 from a first shooting position 46. The first shooting position 46 is, for example, the front right side of vehicle 1. The first viewing angle 46R of the shooting unit 11 at the first shooting position 46 is set so that the right front mark 23, the right rear mark 24, and the reference mark 31 are included in the sample image. Additionally, in the first shooting process, the shooting unit 11 captures images of the left front mark 25, the left rear mark 26, and the reference mark 31 from a second shooting position 47. The second shooting position 47 is, for example, the front left side of vehicle 1. The second viewing angle 47R of the shooting unit 11 at the second shooting position 47 is set so that the left front mark 25, the left rear mark 26, and the reference mark 31 are included in the sample image. Thus, at least two sample images are generated.

[0074] In this embodiment, the sample image generated by shooting at the first shooting position 46 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 47 is also referred to as the second sample image. In this embodiment, the two positioning marks included in the first sample image are also referred to as the first positioning mark and the second positioning mark, and the two positioning marks included in the second sample image are also referred to as the third positioning mark and the fourth positioning mark. In this embodiment, the first sample image, the second sample image, and other sample images all include a reference mark 31.

[0075] Figure 10This diagram illustrates the processing steps for processing a sample image. In this processing step, the processing unit 12 calculates the relative positions of multiple positioning markers relative to the reference marker 31 based on the sample image. For example, the processing unit 12 calculates the relative coordinates of the right front marker 23, the right rear marker 24, the left front marker 25, and the left rear marker 26 relative to the reference marker 31.

[0076] Figure 11 This diagram illustrates the first calculation step for calculating the target position. In this first calculation step, the control unit 13 calculates the target position based on information related to the relative positions of multiple positioning markers and target conditions. The target condition is, for example, "to position the target at the midpoint between a position on the right baseline at a second distance from the right front marker and a position on the left baseline at a second distance from the left front marker." In this embodiment, the target condition is also referred to as the second target condition.

[0077] For example, based on the coordinates of the right front mark 23 and the right rear mark 24, the control unit 13 calculates the straight line passing through the right front mark 23 and the right rear mark 24, i.e., the right reference line L2. Next, the control unit 13 calculates the coordinates (Xp1, Yp1, Zp1) of the first position p1 on the right reference line L2, which is a second distance K2 away from the right front mark 23. Additionally, based on the coordinates of the left front mark 25 and the left rear mark 26, the control unit 13 calculates the straight line passing through the left front mark 25 and the left rear mark 26, i.e., the left reference line L3. Next, the control unit 13 calculates the coordinates (Xp2, Yp2, Zp2) of the second position p2 on the left reference line L3, which is a second distance K2 away from the left front mark 25. Finally, the control unit 13 calculates the coordinates (Xt1, Yt1, Zt1) of the target position t1, which is the midpoint between the first position p1 and the second position p2.

[0078] Next, the second shooting step, the second calculation step, and the determination step can be performed in the same manner as in the first embodiment described above. After the determination step, the first target 61 can be set at the position of the target mark 51. Alternatively, the second shooting step, the second calculation step, and the determination step can be omitted, and the first target 61 can be set at the target position t1.

[0079] In the second embodiment, the position of the target mark 51 is calculated by using the positioning device 10 to capture images of multiple positioning marks and reference marks 31. Therefore, the position of the first target 61 can be easily determined. For example, an operator can determine the position of the first target 61 alone. Compared to conventional methods, the operation time is reduced, thus reducing the cost of the operation. Furthermore, compared to conventional methods, the operation relies less on the operator's skill, thus improving the accuracy of the positioning of the first target 61.

[0080] [Third Implementation] The third embodiment of the present invention will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the description, parts that can be configured in the same way as the corresponding parts in the above embodiments are given the same reference numerals as those used for the corresponding parts in the above embodiments, and repeated descriptions are omitted. In addition, when it is clear that the effects obtained in the above embodiments can also be obtained in the third embodiment, the description of such effects is sometimes omitted.

[0081] (Location method) The positioning method for determining the position of a target using the positioning device 10 is described.

[0082] Figure 12 This is a diagram illustrating the preparation process. In this embodiment, the operator configures at least three positioning marks. Figure 12 In the example shown, front marking 21 is configured on the front of vehicle 1, right front marking 23 is configured on the right front wheel, and left front marking 25 is configured on the left front wheel.

[0083] Next, as Figure 12 As shown, the first shooting step is performed. In the first shooting step, the shooting unit 11 shoots the front mark 21 and the right front mark 23 from the first shooting position 71. The first shooting position 71 is, for example, the position of the right front of vehicle 1. In addition, in the first shooting step, the shooting unit 11 shoots the front mark 21 and the left front mark 25 from the second shooting position 72. The second shooting position 72 is, for example, the position of the left front of vehicle 1. In this way, at least two sample images are generated.

[0084] In this embodiment, the sample image generated by shooting at the first shooting position 71 is also referred to as the first sample image, and the sample image generated by shooting at the second shooting position 72 is also referred to as the second sample image. In this embodiment, one of the multiple positioning marks included in the first sample image functions as a reference mark. For example, the right front mark 23 functions as a reference mark. The other positioning marks included in the first sample image, namely the front mark 21, are also referred to as the first positioning mark. The first positioning mark is also included in the second sample image. The other positioning mark included in the second sample image, namely the left front mark 25, is also referred to as the second positioning mark.

[0085] In the processing step, the processing unit 12 calculates the relative positions of multiple positioning marks relative to a reference mark based on the sample images. Specifically, based on the first sample image, the relative position of the first positioning mark relative to the reference mark is calculated. Furthermore, based on the second sample image, the relative position of the second positioning mark relative to the first positioning mark is calculated. Next, based on the information regarding the relative position of the first positioning mark relative to the reference mark, the relative position of the second positioning mark relative to the reference mark is calculated. Thus, since the two sample images contain common positioning marks, the relative positions of multiple positioning marks relative to the reference mark can be calculated separately.

[0086] Subsequently, the first calculation step, the second shooting step, the second calculation step, and the determination step can be performed in the same manner as in the first or second embodiment described above.

[0087] [Fourth Implementation] The fourth embodiment of the present invention will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the description, parts that can be configured in the same way as the corresponding parts in the above embodiments are given the same reference numerals as those used for the corresponding parts in the above embodiments, and repeated descriptions are omitted. In addition, where it is clear that the effects obtained in the above embodiments can also be obtained in the fourth embodiment, such descriptions are sometimes omitted.

[0088] Figure 13 This is a diagram illustrating the preparation process. In this embodiment, in addition to the three positioning marks described in the third embodiment, a rear mark 22 is also provided on the rear mark of vehicle 1.

[0089] Next, as Figure 13 As shown, the first shooting step is performed. In this embodiment, in addition to shooting at the first shooting position 71 and the second shooting position 72 described in the third embodiment, shooting at the third shooting position 73 is also performed. At the third shooting position 73, the left front mark 25 and the rear mark 22 are photographed. The third shooting position 73 is, for example, the position to the left rear of vehicle 1. In this way, three sample images are generated.

[0090] In this embodiment, in addition to the first and second sample images described in the third embodiment, a third sample image is generated by capturing an image at a third shooting position 73. The third sample image contains at least one marker contained in either the first or second sample image. For example, the second positioning marker contained in the second sample image, namely the left front marker 25, is also contained in the third sample image. The other positioning marker contained in the third sample image, namely the rear marker 22, is also referred to as the third positioning marker.

[0091] In the processing step, similar to the third embodiment, the processing unit 12 calculates the relative positions of multiple positioning marks relative to a reference mark based on the sample image. In this embodiment, the relative position of the third positioning mark relative to the second positioning mark is calculated based on the third sample image. Next, the relative position of the third positioning mark relative to the reference mark is calculated based on the information of the relative position of the second positioning mark relative to the reference mark. Each sample image contains positioning marks common to other sample images, therefore, the relative positions of multiple positioning marks relative to the reference mark can be calculated separately.

[0092] Subsequently, the first calculation step, the second shooting step, the second calculation step, and the determination step can be performed in the same manner as in the first or second embodiment described above.

[0093] [Fifth Implementation] The fifth embodiment of the present invention will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the description, parts that can be configured in the same way as the corresponding parts in the above embodiments are given the same reference numerals as those used for the corresponding parts in the above embodiments, and repeated descriptions are omitted. In addition, when it is clear that the effects obtained in the above embodiments can also be obtained in the fifth embodiment, the description of such effects is sometimes omitted.

[0094] Figure 14 This is a diagram illustrating the preparation process. In this embodiment, in addition to the four positioning marks described in the fourth embodiment, a right rear mark 24 is provided on the right rear wheel of the vehicle 1, and a left rear mark 26 is provided on the left rear wheel.

[0095] Next, as Figure 14 As shown, the first shooting process is performed. In the first shooting process, the shooting unit 11 shoots the front mark 21 and the right front mark 23 from the first shooting position 81, the right front mark 23 and the right rear mark 24 from the second shooting position 82, the right rear mark 24 and the rear mark 22 from the third shooting position 83, the rear mark 22 and the left rear mark 26 from the fourth shooting position 84, the left rear mark 26 and the left front mark 25 from the fifth shooting position 85, and the left front mark 25 and the front mark 21 from the sixth shooting position 86. In this way, 6 sample images are generated.

[0096] In this embodiment, the sample images generated by shooting at the first shooting position 81 to the sixth shooting position 86 are also referred to as the first sample image to the sixth sample image, respectively. In this embodiment, one of the multiple positioning markers included in the first sample image functions as a reference marker. For example, the front marker 21 functions as a reference marker. The right front marker 23, right rear marker 24, rear marker 22, left rear marker 26, and left front marker 25 are also referred to as the first positioning marker, the second positioning marker, the third positioning marker, the fourth positioning marker, and the fifth positioning marker, respectively.

[0097] Each sample image contains location markers common to other sample images. For example, the nth location marker is included in the nth sample image and the (n+1)th sample image. In this embodiment, n is a positive integer from 1 to 6. When n is the largest, which is 6 in this case, the 7th location marker included in the 6th sample image can also function as a reference marker.

[0098] In the processing step, similar to the third embodiment, the processing unit 12 calculates the relative positions of multiple positioning marks relative to the reference mark based on the sample image. In this embodiment, since each sample image contains positioning marks common to other sample images, it is possible to calculate the relative positions of multiple positioning marks relative to the reference mark separately.

[0099] Subsequently, the first calculation step, the second shooting step, the second calculation step, and the determination step can be performed in the same manner as in the first or second embodiment described above.

[0100] [Sixth Implementation] The sixth embodiment of the present invention will be described. In the following description, parts that can be configured in the same way as the corresponding parts in the above embodiments will be referred to by the same reference numerals as those used for the corresponding parts in the above embodiments, and repeated descriptions will be omitted. In addition, when it is clear that the effects obtained in the above embodiments can also be obtained in the sixth embodiment, the description of such effects will sometimes be omitted.

[0101] As described in the embodiments above, in the first imaging step, at least three markers are photographed. As a result, the relative positions of at least two positioning markers with respect to the reference marker are calculated. That is, the positions of at least three markers are calculated. In the processing step, the processing unit 12 may also construct a virtual plane based on information related to the positions of the at least three markers. For example, a virtual plane passing through the position coordinates of the at least three markers may also be constructed.

[0102] In the first imaging step, when calculating the positions of four or more markers, the processing unit 12 can construct two or more virtual planes based on information related to the positions of the four or more markers. For example, the processing unit 12 can construct a first virtual plane based on information related to the positions of the first to third markers, and a second virtual plane based on information related to the positions of the second to fourth markers. The processing unit 12 can also construct a single virtual plane based on two or more virtual planes. For example, it can construct a single virtual plane based on approximate values ​​or average values ​​of the first and second virtual planes. By constructing a single virtual plane based on multiple virtual planes, accuracy can be improved.

[0103] The work surface of the work area where alignment adjustments are performed is sometimes tilted relative to the horizontal plane. When the work surface is tilted, the vehicle's posture may also be tilted. In this variation, by constructing a virtual plane, the tilt of the work surface or the vehicle's posture can be taken into account, allowing for a more accurate calculation of the target position.

[0104] The control unit 13 can also compare data related to the reference plane and data related to the virtual plane. Data related to the reference plane includes, for example, information related to the target location. Data related to the reference plane is stored in the storage unit 14. The control unit 13 can also calculate the target location, etc., based on the comparison results.

[0105] Then, the second shooting step, the second calculation step, and the determination step can be performed in the same manner as in the first or second embodiment described above.

[0106] [Seventh Implementation] The seventh embodiment of the present invention will be described with reference to the accompanying drawings. In the following description and the accompanying drawings used in the description, parts that can be configured in the same way as the corresponding parts in the above embodiments are given the same reference numerals as those used for the corresponding parts in the above embodiments, and repeated descriptions are omitted. In addition, when it is clear that the effects obtained in the above embodiments can also be obtained in the seventh embodiment, the description of such effects is sometimes omitted.

[0107] In the first embodiment described above, an example where the target position is set in front of the vehicle 1 was described. In this embodiment, an example where the target position is set to the side of the vehicle 1 will be described.

[0108] like Figure 15As shown, the control unit 13 calculates the straight line passing through the front mark 21 and the rear mark 22, i.e., the central reference line L1, based on the coordinates of the front mark 21 and the rear mark 22. Next, the control unit 13 calculates the 11th reference line L11, which extends parallel to the central reference line L1 at a distance K27 away from the central reference line L1 in a direction orthogonal to the central reference line L1. Additionally, the control unit 13 calculates the 12th reference line L12, which extends parallel to the central reference line L1 at a distance K27 away from the central reference line L1 in a direction orthogonal to the central reference line L1 and opposite to the 11th reference line L11. The distance K27 is, for example, 1.25m or more and 1.50m or less.

[0109] Next, the control unit 13 calculates the coordinates of the first target position t1, the second target position t2, the third target position t3, and the fourth target position t4. The first target position t1 is located at the intersection of the 11th baseline L11 and a straight line orthogonal to the 11th baseline L11 that passes through the previous mark 21. The second target position t2 is located at the intersection of the 11th baseline L11 and a straight line orthogonal to the 11th baseline L11 that passes through the next mark 22. The third target position t3 is located at the intersection of the 12th baseline L12 and a straight line orthogonal to the 12th baseline L12 that passes through the previous mark 21. The fourth target position t4 is located at the intersection of the 12th baseline L12 and a straight line orthogonal to the 12th baseline L12 that passes through the next mark 22.

[0110] like Figure 15 As shown, targets 64 can also be configured at the first target position t1, the second target position t2, the third target position t3, and the fourth target position t4. These four targets 64 are used, for example, to adjust the alignment of the panoramic surround-view monitor. Each of the four targets 64 can extend outwards by a distance K24 from its target position and inwards by a distance K24 from its target position. "Outwards" refers to a direction away from the center of vehicle 1 in a direction parallel to the central reference line L1. "Inwards" refers to a direction closer to the center of vehicle 1 in a direction parallel to the central reference line L1. The distance K24 can also be 0.8m or more. The distance K25 can also be 0.2m or more. The thickness of each of the four targets 64 can also be 20mm or more and 30mm or less.

[0111] Explanation of reference numerals in the attached figures 1. Vehicle; 10. Positioning device; 11. Imaging unit; 12. Processing unit; 13. Control unit; 14. Storage unit; 15. Display unit; 21. Front mark; 22. Rear mark; 23. Right front mark; 24. Right rear mark; 25. Left front mark; 26. Left rear mark; 31. Reference mark; 51. Target mark; 61. First target; L1. Central reference line; L2. Right reference line; L3. Left reference line; K1. First distance; K2. Second distance.

Claims

1. A positioning device for determining the position of a target used in the adjustment of a vehicle, wherein, The positioning device includes: The imaging unit captures images of multiple positioning markers respectively disposed at specific locations on the vehicle and at least one reference marker disposed inside or outside the vehicle, and generates at least one sample image; The processing unit processes the sample image; The storage unit stores target conditions related to the location of the target; as well as The control unit calculates the position of the target. Based on the sample image, the processing unit calculates the relative positions of the multiple positioning markers with respect to the reference marker. The control unit calculates the position of the target based on information related to the relative position and the target conditions.

2. The positioning device according to claim 1, wherein, The positioning marks include a front mark disposed on the front sign of the vehicle and a rear mark disposed on the rear sign of the vehicle. The target condition includes a first target condition that positions the target at a position on the central baseline at a distance of a first distance from the previous mark. The central baseline is a straight line that passes through the front mark and the rear mark.

3. The positioning device according to claim 1, wherein, The positioning marks include a right front mark disposed on the right front wheel of the vehicle, a right rear mark disposed on the right rear wheel of the vehicle, a left front mark disposed on the left front wheel of the vehicle, and a left rear mark disposed on the left rear wheel of the vehicle. The target condition includes a second target condition that positions the target at the midpoint between a position on the right baseline at a second distance from the right front mark and a position on the left baseline at a second distance from the left front mark. The right-side baseline is a straight line that passes through the right-side front mark and the right-side rear mark. The left baseline is a straight line that passes through the left front mark and the left rear mark.

4. The positioning device according to claim 1, wherein, The imaging unit generates a first sample image and a second sample image. The first sample image includes a first positioning mark and the reference mark, and the second sample image includes a second positioning mark and the reference mark.

5. The positioning device according to claim 1, wherein, The imaging unit generates a first sample image and a second sample image. The first sample image includes a first positioning marker, a second positioning marker, and the reference marker. The second sample image includes a third positioning marker, a fourth positioning marker, and the reference marker.

6. The positioning device according to claim 1, wherein, The imaging unit generates a first sample image and a second sample image. The first sample image includes a first positioning mark and the reference mark, and the second sample image includes a second positioning mark and the first positioning mark.

7. The positioning device according to claim 1, wherein, The imaging unit generates a first sample image, a second sample image, and a third sample image. The first sample image includes a first positioning marker and the reference marker. The second sample image includes a second positioning marker and the first positioning marker. The third sample image includes a third positioning marker and at least one marker contained in either the first or the second sample image.

8. The positioning device according to any one of claims 1 to 7, wherein, The processing unit constructs a virtual plane based on the relative positions of the multiple positioning markers with respect to the reference marker.

9. The positioning device according to claim 8, wherein, The storage unit contains data related to the reference plane. The control unit compares the data associated with the reference plane with the data associated with the virtual plane.

10. The positioning device according to any one of claims 1 to 7, wherein, The imaging unit captures images of the reference marker and the target marker and generates a confirmation image. The control unit determines, based on the information in the confirmed image, whether the position of the target marker matches the calculated position of the target.

11. A positioning method for determining the position of a target used in the adjustment of a vehicle, wherein, The positioning method includes: In the first shooting step, multiple positioning marks disposed at specific locations on the vehicle and at least one reference mark disposed inside or outside the vehicle are photographed to generate sample images; The processing step includes calculating, based on the sample image, the relative positions of the plurality of positioning markers relative to the reference marker; and The first calculation step involves calculating the position of the target based on information related to the relative position and target conditions related to the position of the target.

12. A program, wherein, The program is used to enable the computer to function as the processing unit, the storage unit, and the control unit of the positioning device according to any one of claims 1 to 7.

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