Automobile centering device and calibration system

Abstract

The embodiment of the utility model provides an automobile centering device and a calibration system, and the device comprises a first supporting part which comprises two groups of first roller mechanisms for supporting two groups of front wheels of an automobile respectively; the second supporting part comprises two groups of second roller mechanisms for supporting and positioning two groups of rear wheels of the automobile respectively; one of the two groups of adjusting mechanisms is used for expanding two groups of front wheels of the automobile, and the other group of adjusting mechanisms is used for expanding two groups of rear wheels of the automobile; and at least part of the upper surface of the floor is connected between the first supporting part and the second supporting part, and the floor is used for bearing front wheels and / or rear wheels of the automobile to pass through. The front wheels and the rear wheels of the automobile are supported through the first supporting part and the second supporting part respectively, and the floor is arranged between the first supporting part and the second supporting part, so that automobile running is facilitated, the automobile chassis can be prevented from colliding with the centering device or the collision possibility can be reduced, and the centering device is more suitable for low-chassis vehicles.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile calibration, and in particular to an automobile centering device and a calibration system. Background Art

[0002] As the automobile industry enters the intelligent stage, major automobile companies are now competing to develop advanced driver assistance systems (ADAS). ADAS calibration laboratory is an indispensable infrastructure for the development of advanced driver assistance systems, and the vehicle centering device is the core device of the ADAS calibration laboratory. The working performance of the centering device will directly affect whether the car can be accurately positioned, and thus affect the development and verification of advanced driver assistance systems.

[0003] China Patent Network Announcement No. CN116907877A provides a car straightening device, in which a hydraulic cylinder is driven through connecting rods 107 and 106 to push a spreading plate 103, and only the middle part of the spreading plate is connected to the connecting rod, and the entire spreading plate is suspended and extended to push the tire. However, the spreading plate lacks effective and reliable support, and is prone to bending, deformation, or even damage when subjected to reverse resistance from the tire. At the same time, the structural stability of the connecting rod transmission is also poor. Summary of the invention

[0004] In view of this, the embodiments of the present specification provide a vehicle centering device and a calibration system, which support the front wheels and rear wheels of the vehicle respectively through a first support part and a second support part, and a floor is arranged between the first support part and the second support part to facilitate the driving of the vehicle, and can prevent the vehicle chassis from colliding with the centering device or reduce the possibility of collision, and is more suitable for low-floor vehicles.

[0005] The embodiments of this specification provide the following technical solutions: a vehicle centering device, comprising:

[0006] A first supporting part, the first supporting part comprising two groups of first roller mechanisms for supporting two groups of front wheels of the vehicle respectively;

[0007] A second supporting part, the second supporting part comprising two sets of second roller mechanisms for supporting and positioning two sets of rear wheels of the vehicle respectively;

[0008] Two sets of adjustment mechanisms, one set of the adjustment mechanisms is used to open the two sets of front wheels of the car, and the other set of the adjustment mechanisms is used to open the two sets of rear wheels of the car;

[0009] A floor, wherein at least a portion of the upper surface of the floor is connected between the first supporting portion and the second supporting portion, and is used to support the front wheels and / or rear wheels of the automobile passing therethrough, and a height difference can be formed between at least a portion of the upper surface and a reference plane, and the first supporting portion and the second supporting portion are both arranged on the reference plane.

[0010] Preferably, at least one of the adjustment mechanisms comprises a driving member, a gear, two sets of push rods and two sets of racks, and the two sets of racks are respectively meshed with opposite sides of the gear.

[0011] The driving member is used to drive one group of the racks to move in a first direction, and to drive another group of the racks to move in a second direction synchronously through the gear, wherein the first direction is opposite to the second direction.

[0012] The two groups of racks are used to drive the two groups of push rods to move toward or away from each other through movement in opposite directions;

[0013] The two sets of push rods are used to spread the tires of the vehicle by moving in opposite directions.

[0014] Preferably, the adjustment mechanism also includes guide rails, sliders, bases, support plates and connecting blocks corresponding to the two groups of racks and the two groups of push rods respectively. The sliders are slidably connected to the guide rails, the base is installed on the sliders, the support plate is connected to the base, the support plate is fixedly connected to the corresponding push rods through the connecting blocks, and the base is connected to the corresponding racks, so that the base and the corresponding racks move synchronously.

[0015] Preferably, the support plate is T-shaped, and a wider end of the support plate is connected to the base.

[0016] Preferably, the base comprises a channel steel, and a groove matching with the base is formed on the end surface of the sliding block close to the base, and the base is embedded in the groove.

[0017] Preferably, the driving member is a hydraulic cylinder or a pneumatic cylinder.

[0018] Preferably, the centering device further comprises a bracket, and the bracket supports the floor; the floor is also distributed in at least one of the following positions:

[0019] A side of the second supporting portion away from the first supporting portion:

[0020] a side of the first supporting portion away from the second supporting portion;

[0021] between two sets of the first roller mechanisms;

[0022] between two sets of the second roller mechanisms.

[0023] Preferably, the floor includes a first floor, a second floor, a third floor, a fourth floor and a fifth floor, the at least part of the upper surface includes the upper surface of the first floor, the second floor is arranged on the side of the second supporting portion away from the first supporting portion, the third floor is arranged on the side of the first supporting portion away from the second supporting portion, the first part of the fourth floor is arranged between two groups of the first roller mechanisms, the first part of the fifth floor is arranged between two groups of the second roller mechanisms, the two sides of the first floor are respectively connected to the second part of the fourth floor and the second part of the fifth floor, the at least part of the upper surface also includes the upper surface of the second part of the fourth floor and the upper surface of the second part of the fifth floor, the third part of the fourth floor is connected to the third floor, and the third part of the fifth floor is connected to the second floor.

[0024] Preferably, the second roller mechanism comprises a V-shaped roller mechanism, and the upper surface of the first floor is located between the highest point and the lowest point of the upper surface of the V-shaped roller mechanism and / or is in the same horizontal plane as the upper surface of the first roller mechanism.

[0025] A calibration system comprises a calibration site, a calibration target and a centering device as described in any one of the above items, wherein the calibration target and the centering device are both arranged in the calibration site.

[0026] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0027] The front wheels and rear wheels of the car are supported respectively by the first supporting part and the second supporting part, and a floor is arranged between the first supporting part and the second supporting part, which is convenient for the car to drive, can prevent the car from colliding with the centering device or reduce the possibility of collision, and is more suitable for low-floor vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 It is a structural schematic diagram of a vehicle centering device provided by an embodiment of the present application;

[0030] Figure 2 It is a structural schematic diagram of a first supporting portion of a vehicle centering device provided by an embodiment of the present application;

[0031] Figure 3It is a structural schematic diagram of a second supporting portion of a vehicle centering device provided by an embodiment of the present application;

[0032] Figure 4 It is a structural schematic diagram of an adjustment mechanism of a vehicle centering device provided by an embodiment of the present application;

[0033] Figure 5 It is a schematic diagram of a calibration system provided by an embodiment of the present application.

[0034] In the figure, 1. first supporting part; 101. first roller mechanism; 2. second supporting part; 201. second roller mechanism; 3. adjusting mechanism; 301. push rod; 3011. first push rod; 3012. second push rod; 302. driving member; 303. gear rack module; 3031. gear; 3032. first rack; 3033. second rack; 304. guide rail; 305. slider; 306. base; 307. support plate; 308. connecting block; 4. first floor; 5. second floor; 6. third floor; 7. fourth floor; 8. bracket; 9. through groove; 10. calibration place; 11. calibration target. DETAILED DESCRIPTION

[0035] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0036] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0037] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0038] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0039] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0040] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0041] like Figure 1-Figure 4 As shown, a vehicle centering device comprises:

[0042] A first support part 1, wherein the first support part 1 comprises two groups of first roller mechanisms 101 for supporting two groups of front wheels of the vehicle respectively;

[0043] A second support part 2, the second support part 2 comprises two sets of second roller mechanisms 201 for supporting and positioning two sets of rear wheels of the vehicle respectively;

[0044] Two groups of adjustment mechanisms 3, one group of the adjustment mechanisms 3 is used to open the two groups of front wheels of the vehicle, and the other group of the adjustment mechanisms 3 is used to open the two groups of rear wheels of the vehicle;

[0045] A floor, wherein at least a portion of the upper surface of the floor is connected between the first support portion 1 and the second support portion 2, and is used to support the front wheels and / or rear wheels of the automobile passing therethrough, and a height difference can be formed between at least a portion of the upper surface and a reference plane, and the first support portion 1 and the second support portion 2 are both arranged on the reference plane.

[0046] Among them, the reference plane is, for example, the ground, and for another example, the reference plane can also be the surface of a liftable platform. In this case, the first support part and the second support part are arranged on the liftable platform and rise and fall accordingly, and the floor can also rise and fall. The floor and the liftable platform can be lifted and lowered together and synchronously, or can be driven to rise and fall separately, and then after the lifting control is completed, at least part of the surface of the floor forms a height difference with the surface of the liftable platform.

[0047] The front wheels of the automobile are supported by the first support part 1, which includes a first roller mechanism 101. The axis direction of the roller of the first roller mechanism 101 is the same as the length direction of the automobile, which is convenient for spreading the front wheels of the automobile. The second support part 2 provides positioning support for the rear wheels of the automobile. When the length direction positioning of the automobile is completed, the front wheels and rear wheels of the automobile are spread respectively by two sets of adjustment mechanisms 3, so as to simultaneously push the inner side of the automobile tires and realize the positioning of the automobile in the width direction. By setting a floor, at least part of the upper surface of the floor is connected between the first support part 1 and the second support part 2, and is higher than the reference plane (such as the ground), which is convenient for the front wheels and / or rear wheels of the automobile to pass through, can avoid the automobile from colliding with the centering device or reduce the possibility of collision, and is more suitable for low-floor vehicles.

[0048] Specifically, taking the ground as a reference plane, in an ideal state, the distance between the front and rear support parts can accurately adapt to the front and rear wheels. When the rear wheel reaches one support part, the front wheel should also reach the other support part. At this time, even if there is a significant height difference between the ground and the support part, the vehicle body is relatively stable and the probability of collision is relatively small. However, the actual situation is often not ideal, and the vehicle model that the centering device needs to adapt to is not fixed. This results in: the distance between the front and rear support parts cannot accurately adapt to the front and rear wheel spacing of each vehicle model. In order to support the front and rear wheels under various wheel spacing conditions, the two support parts are often designed as follows:

[0049] Assume that the centering device needs to be adapted to N types of vehicles, among which the vehicle with the smallest distance between the front and rear wheels is recorded as the first vehicle, and the vehicle with the largest distance between the front and rear wheels is recorded as the second vehicle, then:

[0050] The spacing between the side of the first support portion relative to the second support portion and the side of the second support portion relative to the first support portion can be adapted to the front and rear wheel spacing of the first vehicle, wherein the adaptation is, for example, less than, and the gap reaches a preset first target gap; further, even if the distance between the front and rear wheels of a vehicle is smaller (such as the first vehicle), the front and rear wheels can be supported by two support portions and stably, and the spacing between the side of the first support portion opposite to the second support portion and the side of the second support portion opposite to the first support portion can be adapted to (for example, greater than) the front and rear wheel spacing of the second vehicle, wherein the adaptation is, for example, greater than, and the gap reaches a preset second target gap; further, even if the distance between the front and rear wheels of a vehicle is larger (such as the second vehicle), the front and rear wheels can be supported by two support portions and stably. It can be seen that the first target gap and the second target gap are aimed at being able to be supported by two support portions and being stably supported, and the target gap that can achieve this goal can be used as an optional implementation.

[0051] In this case, if there is no floor between the two support parts, it is possible that: the rear wheel has climbed onto one support part but the front wheel has not climbed onto it (or has not completely climbed onto it), or: the front wheel has climbed onto one support part but the rear wheel has not climbed onto it (or has not completely climbed onto it). In this case, the vehicle will be tilted at certain moments. The greater the height difference between the ground and the upper side of the support part, the greater the tilt angle, and the change in tilt is likely to cause a collision between the vehicle and the centering device. After the floor is set, the occurrence of such a collision can be effectively reduced or even avoided. In order to avoid the occurrence of a collision, at least two technical routes can be adopted, one of which is the solution of the present application, and the other is the patent of CN116907877A, in which the two roller mechanisms used to support the vehicle are decoupled from each other, and then, the positions of the two roller mechanisms can be freely changed according to the distance between the front and rear wheels. The present application adopts a completely different solution. At the same time, the method in the patent of CN116907877A also has the disadvantages that the roller mechanism is not easy to adjust and the stability is poor.

[0052] like Figure 2-Figure 4As shown, in some embodiments, at least one group of the adjustment mechanism 3 includes a driving member 302, a gear 3031, two groups of push rods 301 and two groups of racks, the two groups of racks are respectively meshed with the opposite sides of the gear 3031, the driving member 302 is used to drive one group of the racks to move in the first direction, and drive the other group of the racks to move synchronously in the second direction through the gear 3031, the first direction and the second direction are opposite directions, the two groups of racks are used to drive the two groups of push rods 301 to move towards or away from each other through movement in opposite directions; the two groups of push rods 301 are used to prop up the tires of the car through movement away from each other. The adjustment mechanism 3 is adjusted by the driving member 302 driving the gear rack module 303, the driving member 302 drives the corresponding rack to move in the first direction, the rack drives another group of racks to move in the second direction through the gear 3031, so that the two groups of racks move in opposite directions, and the two groups of racks drive the two groups of push rods 301 to move respectively, so as to adjust the distance between the two groups of push rods 301.

[0053] like Figure 2-Figure 4 As shown, for ease of understanding, the two sets of racks are named as the first rack 3032 and the second rack 3033, and the two sets of push rods 301 are named as the first push rod 3011 and the second push rod 3012, respectively. The first rack 3032 is used to drive the first push rod 3011 to move, and the second rack 3033 is used to drive the second push rod 3012 to move. The first rack 3032 and the second rack 3033 are respectively engaged with the opposite sides of the gear 3031. The driving member 302 drives the first rack 3032 to move, and the first rack 3032 drives the first push rod 3011 to move. The rack 3032 drives the gear 3031 to rotate, and the gear 3031 drives the second rack 3033 to move while rotating. The second rack 3033 moves in the opposite direction to the first rack 3032. The second rack 3033 drives the second push rod 3012 to move. The first push rod 3011 and the second push rod 3012 move in opposite directions respectively, so as to adjust the distance between the first push rod 3011 and the second push rod 3012. The first push rod 3011 and the second push rod 3012 respectively adjust the tire positions on both sides of the car to realize the positioning of the car in the width direction.

[0054] like Figure 2-Figure 4As shown, in some embodiments, the adjustment mechanism further includes a guide rail 304, a slider 305, a base 306, a support plate 307 and a connecting block 308 corresponding to the two groups of racks and the two groups of push rods 301, respectively. The slider 305 is slidably connected to the guide rail 304, the base 306 is installed on the slider 305, the support plate 307 is connected to the base 306, the support plate 307 is fixedly connected to the corresponding push rod 301 through the connecting block 308, and the base 306 is connected to the corresponding The racks are connected so that the base 306 and the corresponding racks move synchronously. By adopting the structure of the guide rail 304 and the slider 305, when the rack moves, the rack drives the corresponding base 306 to move, and the base 306 drives the slider 305 to slide along the guide rail 304. The guide rail 304 can play a role of limiting and guiding to ensure the direction of movement. The base 306 drives the support plate 307 to move, and the support plate 307 drives the corresponding push rod 301 to move through the connecting block 308, thereby realizing the adjustment of the distance between the two groups of push rods 301.

[0055] It should be noted that the driving member 302 can be directly connected to the rack, and the corresponding base 306, slider 305, support plate 307 and push rod 301 can be driven to move by directly driving the rack to move. The driving member 302 can also be connected to the base 306, slider 305 or support plate 307 to ensure that the corresponding rack, base 306, slider 305, support plate 307 and push rod 301 move synchronously.

[0056] It should also be noted that both ends of the push rod 301 are connected to the base 306 through the support plate 307 , and the base 306 drives the slider 305 to move along the slide rail, providing reliable and stable support for the push rod 301 .

[0057] like Figure 2-Figure 4 As shown, in some embodiments, the support plate 307 is T-shaped, and the wider end of the support plate 307 is connected to the base 306. The support plate 307 is T-shaped, and the larger end of the support plate 307 is connected to the base 306, ensuring the contact area between the support plate 307 and the base 306, and having good stability.

[0058] like Figure 2-Figure 4 As shown, in some embodiments, the base 306 includes a channel steel, and a groove matching the base 306 is opened on the end surface of the slider 305 close to the base 306, and the base 306 is embedded in the groove. The base 306 adopts a channel steel structure, and a groove matching the channel steel is opened on the top of the slider 305 to ensure the stability of the base 306 and the slider 305 after the connection.

[0059] It should be noted that other fastening connection structures may also be provided between the base 306 and the slider 305 , and it is only necessary to ensure the stability of the connection between the base 306 and the slider 305 , and the arrangement may be made according to actual conditions.

[0060] like Figure 2-Figure 4 As shown, in some embodiments, the driving member 302 is a hydraulic cylinder or a pneumatic cylinder. By using a pneumatic cylinder or a hydraulic cylinder as the driving member 302, a larger driving force is provided and the driving stability is higher.

[0061] It should be noted that, in other embodiments, a motor may be used for driving, such as connecting the motor to the gear 3031 to achieve position adjustment between the two sets of push rods 301, which can be set according to actual conditions.

[0062] like Figure 1 As shown, in some embodiments, the centering device further includes a bracket 8, and the bracket 8 supports the floor. By setting the bracket 8, the bracket 8 is fixedly connected to the bottom of the floor, and the bracket 8 supports the floor; the floor is also distributed in at least one of the following positions:

[0063] The side of the second support part 2 away from the first support part 1 is provided with a floor, so that the car can drive onto the second support part 2:

[0064] A side of the first support portion 1 away from the second support portion 2 is provided with a floor, so that the car can easily drive down from the first support portion 1;

[0065] Between the two groups of the first roller mechanisms 101, a floor is arranged between the two groups of the first roller mechanisms 101 to ensure the stability of the support for the car above the first roller mechanisms 101;

[0066] A floor is provided between the two groups of the second roller mechanisms 201 to ensure the stability of the support for the car above the second roller mechanisms 201 .

[0067] It should be noted that the bracket 8 can be provided with a plurality of legs and a horizontal frame and a vertical frame. As long as the support requirements are met, the bracket 8 can be designed in any manner.

[0068] like Figure 1As shown, in some embodiments, the floor further includes a first floor 4, a second floor 5, a third floor 6, a fourth floor 7 and a fifth floor, the at least part of the upper surface includes the upper surface of the first floor 4, the second floor 5 is arranged on the side of the second support portion 2 away from the first support portion 1, the third floor 6 is arranged on the side of the first support portion 1 away from the second support portion 2, the first part of the fourth floor 7 is arranged between the two groups of the first roller mechanisms 101, the first part of the fifth floor is arranged between the two groups of the second roller mechanisms 201, the two sides of the first floor 4 are respectively connected to the second part of the fourth floor 7 and the second part of the fifth floor, and the at least part of the upper surface also It includes the upper surface of the second part of the fourth floor 7 and the upper surface of the second part of the fifth floor, the third part of the fourth floor 7 is connected to the third floor 6, and the third part of the fifth floor is connected to the second floor 5. By arranging the second floor 5 on the side of the second support part 2 away from the first support part 1, it is convenient for the car to drive onto the second support part 2. By arranging the third floor 6 on the side of the first support part 1 away from the second support part 2, it can play a supporting role when the front wheel of the car drives over the first support part 1. By arranging the fourth floor 7, the third floor 6 and the first floor 4 can be connected. By arranging the fifth floor, the first floor 4 and the second floor 5 can be connected to ensure stability.

[0069] It should be noted that the first floor panel 4, the second floor panel 5, the third floor panel 6, the fourth floor panel 7 and the fifth floor panel can be designed as an integrally formed floor panel or can be processed separately, which can be selected according to actual conditions.

[0070] It should also be noted that a through slot 9 is opened on the floor, and the support plate 307 passes through the through slot 9 and is connected to the push rod 301. The length direction of the through slot 9 is the same as the width direction of the car, which facilitates the movement of the support plate 307 along the through slot 9.

[0071] like Figure 1 As shown, in some embodiments, the second roller mechanism 201 includes a V-shaped roller mechanism, and the upper surface of the first floor 4 is between the highest point and the lowest point of the upper surface of the V-shaped roller mechanism and / or is in the same horizontal plane as the upper surface of the first roller mechanism 101. By setting the second roller mechanism 201 as a V-shaped roller mechanism, when the rear wheels of the automobile travel into the V-shaped groove of the V-shaped roller mechanism 201, the length direction of the automobile is positioned. By setting the upper surface of the first floor 4 to be between the highest point and the lowest point of the upper surface of the V-shaped roller mechanism, it is convenient for the front wheels of the automobile to travel from the first support portion 1 to the second support portion 2, thereby avoiding collision between the chassis of the automobile and the first support portion 1.

[0072] It should be noted that in actual application, the height of the first floor 4 can be flush with the upper surface of the first roller mechanism 101 of the first support part 1, or slightly lower or higher. The height of the first floor 4 can also be flush with the upper surface of the first roller mechanism 101, or slightly lower or higher.

[0073] It should also be noted that in actual application, the bracket 8 and the like can be embedded below the ground, and the floor can be level with the ground. In this case, the vehicle can drive directly from the ground to the floor, or: a slope can be set behind the second floor 5, and then the vehicle can drive from the slope to the floor. In addition, each floor can not only allow vehicles to drive, but also protect the structure below. When inspecting, the corresponding floor can be removed for inspection.

[0074] like Figure 1-Figure 5 As shown, based on the same inventive concept, an embodiment of this specification provides a calibration system, including a calibration site 10, a calibration target 11 and a centering device as described in any one of the above items, wherein the calibration target 11 and the centering device are both arranged in the calibration site 10.

[0075] In a specific application scenario, the centering device is set at a calibration site 10, and a calibration target 11 is set on the ground of the calibration site 10. The calibration target 11 is, for example, a calibration plate with a black and white grid pattern. The entire test process is as follows:

[0076] A coordinate system is established in advance, and the positions of various calibration targets 11 on the ground in the spatial coordinate system are fixed. The vehicle is driven onto the centering device. Through the centering of the centering device, the vehicle can be in a standard position. At this time, the relative position of the vehicle coordinate system (which can be understood as a coordinate system based on the vehicle) and the spatial coordinate system is fixed. The purpose of the entire centering device is to allow the vehicle to be in this standard position after entering the calibration site 10. The vehicle is equipped with sensors such as cameras and radars. The purpose of calibration is to calculate the conversion relationship between the detection data of different sensors. For example, the points collected by the camera are based on the data of the image coordinate system, such as the coordinates of the points in the image coordinate system, and the points detected by the radar are based on the data of the radar coordinate system, such as the coordinates of the points in the radar coordinate system. If they are to be placed in a coordinate system, it is necessary to calibrate how the coordinate systems are converted (for example, how the points in the radar coordinate system are projected to the image coordinate system of the camera), which can be described using information such as a conversion matrix.

[0077] During calibration, the vehicle is in a standard position, and different sensors will capture the same calibration target 11 . Then, based on the coordinates of the midpoint of the calibration target 11 , the corresponding transformation matrix can be calculated.

[0078] In practice, the ground of the calibration site 10 may be provided with a plurality of positioning parts (such as positioning holes, etc.), and the calibration target 11 may be installed on the positioning parts, so that the position of the calibration target 11 can be standardized.

[0079] The same or similar parts between the various embodiments in this specification can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the method embodiment described later, since it corresponds to the system, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0080] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A vehicle centering device, characterized in that: include: A first supporting part, the first supporting part comprising two groups of first roller mechanisms for supporting two groups of front wheels of the vehicle respectively; A second supporting part, the second supporting part comprising two sets of second roller mechanisms for supporting and positioning two sets of rear wheels of the vehicle respectively; Two sets of adjustment mechanisms, one set of the adjustment mechanisms is used to open the two sets of front wheels of the car, and the other set of the adjustment mechanisms is used to open the two sets of rear wheels of the car; A floor, wherein at least a portion of the upper surface of the floor is connected between the first supporting portion and the second supporting portion, and is used to support the front wheels and / or rear wheels of the automobile passing therethrough, and a height difference can be formed between at least a portion of the upper surface and a reference plane, and the first supporting portion and the second supporting portion are both arranged on the reference plane.

2. The vehicle centering device according to claim 1, characterized in that: At least one of the adjustment mechanisms comprises a driving member, a gear, two push rods and two racks, wherein the two racks are respectively meshed with opposite sides of the gear. The driving member is used to drive one group of the racks to move in a first direction, and to drive another group of the racks to move in a second direction synchronously through the gear, wherein the first direction is opposite to the second direction. The two groups of racks are used to drive the two groups of push rods to move toward or away from each other through movement in opposite directions; The two sets of push rods are used to spread the tires of the vehicle by moving in opposite directions.

3. The vehicle centering device according to claim 2, characterized in that: The adjustment mechanism also includes guide rails, sliders, a base, a support plate and a connecting block corresponding to the two groups of racks and the two groups of push rods respectively. The slider is slidably connected to the guide rails, the base is installed on the slider, the support plate is connected to the base, the support plate is fixedly connected to the corresponding push rods through the connecting block, and the base is connected to the corresponding racks, so that the base and the corresponding racks move synchronously.

4. The vehicle centering device according to claim 3, characterized in that: The support plate is T-shaped, and a wider end of the support plate is connected to the base.

5. The vehicle centering device according to claim 3, characterized in that: The base comprises a channel steel, and a groove matching with the base is formed on the end surface of the sliding block close to the base, and the base is embedded in the groove.

6. The vehicle centering device according to claim 2, characterized in that: The driving member is a hydraulic cylinder or a pneumatic cylinder.

7. The vehicle centering device according to any one of claims 1 to 6, characterized in that: The centering device further comprises a bracket, wherein the bracket supports the floor; the floor is also distributed in at least one of the following positions: A side of the second supporting portion away from the first supporting portion: a side of the first supporting portion away from the second supporting portion; between two sets of the first roller mechanisms; between two sets of the second roller mechanisms.

8. The vehicle centering device according to claim 7, characterized in that: The floor includes a first floor, a second floor, a third floor, a fourth floor and a fifth floor, wherein at least a portion of the upper surface includes an upper surface of the first floor, the second floor is arranged on a side of the second supporting portion away from the first supporting portion, the third floor is arranged on a side of the first supporting portion away from the second supporting portion, the first part of the fourth floor is arranged between two groups of the first roller mechanisms, the first part of the fifth floor is arranged between two groups of the second roller mechanisms, the two sides of the first floor are respectively connected to the second part of the fourth floor and the second part of the fifth floor, the at least portion of the upper surface also includes an upper surface of the second part of the fourth floor and an upper surface of the second part of the fifth floor, the third part of the fourth floor is connected to the third floor, and the third part of the fifth floor is connected to the second floor.

9. The vehicle centering device according to claim 8, characterized in that: The second roller mechanism comprises a V-shaped roller mechanism, and the upper surface of the first floor is located between the highest point and the lowest point of the upper surface of the V-shaped roller mechanism and / or is in the same horizontal plane as the upper surface of the first roller mechanism.

10. A calibration system, characterized in that: It comprises a calibration place, a calibration target and a centering device as described in any one of claims 1 to 9, wherein the calibration target and the centering device are both arranged in the calibration place.

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