Depth camera-based calibration system and four-wheel aligner

Abstract

The utility model is suitable for the technical field of vehicle detection, and provides a calibration system based on a depth camera and a four-wheel aligner, the calibration system comprises a first device and a second device which are used in pairs, the first device and the second device are used for being arranged on one side, provided with a to-be-detected wheel, of a to-be-detected vehicle, the first device comprises a first camera, and the second device comprises a second camera. The first camera is a depth camera, and the second equipment comprises a calibration part; the first camera of the first device is used for acquiring depth image information of the calibration part of the second device located on the opposite side; and the control device is connected with the first camera and is used for receiving the depth image information from the first camera and processing the depth image information. According to the calibration system, the depth image information of the second equipment on the opposite side is obtained through the first camera, the depth image information comprises the distance relation and the relative position relation between the first equipment and the second equipment, and when four-wheel positioning detection is carried out through a four-wheel positioning instrument comprising the calibration system, the detection accuracy can be guaranteed.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection technology, and in particular to a calibration system and a four-wheel aligner based on a depth camera. Background Art

[0002] For vehicles, four-wheel alignment has a significant impact on the safety of the entire vehicle. If the wheel parameters are abnormal, it will directly affect the vehicle's driving safety and daily use.

[0003] A vehicle's four-wheel alignment test uses the calibration and detection device in the wheel aligner to obtain parameter information for each wheel of the vehicle. Specifically, a reference piece for detection is fixedly installed on each wheel, and the calibration and detection device is installed in a fixed position outside the vehicle to be tested. The calibration and detection device detects the reference piece to obtain parameter information for each wheel. Before the calibration test, it is necessary to ensure that the calibration and detection devices on both sides are installed in the predetermined position to ensure that they can accurately perform the four-wheel alignment test on the vehicle.

[0004] In the existing four-wheel aligner, the calibration detection devices on both sides are installed separately, and there may be deviations in the positions of the two, resulting in deviations in the detection of the four-wheel alignment of the vehicle. Utility Model Content

[0005] The purpose of the embodiments of the present application is to provide a calibration system based on a depth camera, aiming to solve the technical problem that existing four-wheel aligners have deviations in detecting the four-wheel alignment of a vehicle.

[0006] The embodiment of the present application is implemented as follows: a first device and a second device for use in pair, wherein the first device and the second device are respectively arranged on a side of a vehicle to be inspected where a wheel to be inspected is arranged;

[0007] The first device includes a first camera, which is a depth camera, and the second device includes a calibration component;

[0008] The first camera of the first device is used to obtain depth image information of the calibration piece of the second device located on the opposite side;

[0009] A control device is connected to the first camera and is configured to receive the depth image information from the first camera and process the depth image information.

[0010] In one embodiment, the second device further includes the first camera, and the first device further includes the calibration piece, and the first camera of the second device is used to obtain depth image information of the calibration piece of the first device; the control device includes a first control module provided in the first device, and a second control module provided in the second device, the first control module is connected to the first camera of the first device, and the second control module is connected to the first camera of the second device;

[0011] The first control module and the second control module are both communicatively connected to the control terminal, and the control terminal is used to receive the depth image information from the first control module and the depth image information from the second control module, and process the two depth image information; or, the first control module and the second control module are both communicatively connected to the control terminal, and the first control module is used to receive the depth image information obtained by the control device from the second control module, and process the two depth image information; or, the first control module is used to receive the depth image information from the second control module and process the two depth image information.

[0012] In one embodiment, there are multiple calibration pieces, and the projections of the multiple calibration pieces along the width direction of the vehicle to be inspected do not overlap; along the width direction of the vehicle to be inspected, the distances between at least two of the calibration pieces and the vehicle to be inspected are different; and each calibration piece is provided with at least one calibration point.

[0013] In one embodiment, the number of the calibration pieces is four, the first calibration piece and the third calibration piece are arranged at intervals along the length direction of the vehicle to be inspected; the second calibration piece is located on the lower side of the first calibration piece and on the side of the first calibration piece close to the vehicle to be inspected, and the fourth calibration piece is located on the upper side of the first calibration piece and on the side of the first calibration piece away from the vehicle to be inspected.

[0014] In one embodiment, each calibration component includes a stacked light board and a target board, wherein the target board is located on a side of the light board facing the vehicle to be inspected; at least one through hole is provided on the target board, and the through hole forms the calibration point.

[0015] In one embodiment, the calibration part includes a stacked light board and a target board, wherein the target board is located on the side of the light board facing the vehicle to be inspected; a plurality of step surfaces are provided on the side of the target board facing away from the light board, and the distances from each step surface to the light board are different; each step surface is provided with at least one through hole, and the through hole forms a calibration point.

[0016] In one embodiment, the calibration component further includes a light diffusion plate disposed between the light board and the target board.

[0017] In one embodiment, the depth camera is a structured light depth camera, a time-of-flight depth camera, or a binocular stereo vision depth camera.

[0018] In one embodiment, the first device and the second device both include magnetic seats, and the first device and the second device are arranged on a carrying device for carrying the vehicle to be inspected through the magnetic seats, and are respectively located on a side of the vehicle to be inspected where the wheel to be inspected is provided.

[0019] Another purpose of an embodiment of the present application is to provide a four-wheel aligner, including a calibration system based on a depth camera as described in the above embodiments, wherein the first device and the second device each include two second cameras; the two second cameras of the first device are used to obtain image information of auxiliary tools on the front wheels and rear wheels on one side of the vehicle to be inspected, and the two second cameras of the second device are used to obtain image information of auxiliary tools on the front wheels and rear wheels on the other side of the vehicle to be inspected; the control device is connected to each second camera to receive each image information and process the image information.

[0020] The depth camera-based calibration system and four-wheel aligner provided in the embodiments of the present application have the following beneficial effects: through a first device and a second device used in pairs, the first device and the second device are used to be respectively arranged on the side of the vehicle to be inspected where the wheel to be inspected is provided, the first device includes a first camera, which is a depth camera, and the second device includes a calibration part; the first camera of the first device is used to obtain depth image information of the calibration part of the second device located on the opposite side; the control device is connected to the first camera, and is used to receive the depth image information from the first camera and process the depth image information. The depth camera-based calibration system of the present application obtains the depth image information of the second device on the opposite side through its first camera, and the distance relationship and relative position relationship between the first device and the second device can be detected through the depth image information. When the four-wheel alignment detection is performed by the four-wheel aligner including the depth camera-based calibration system, the accuracy of the detection can be guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments. 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 creative work.

[0022] Figure 11 is a schematic diagram of the overall structure of the first device in the depth camera-based calibration system provided in an embodiment of the present application;

[0023] Figure 2 is a three-dimensional exploded schematic diagram of a first device in a depth camera-based calibration system provided in an embodiment of the present application;

[0024] Figure 3 Schematic diagram of the structure of the calibration component and the detection component in the depth camera-based calibration system provided in an embodiment of the present application;

[0025] Figure 4 1 is a schematic diagram of a three-dimensional decomposition of a calibration component and a detection component in a depth camera-based calibration system provided in an embodiment of the present application;

[0026] Figure 5 is a structural diagram of a calibration component in a depth camera-based calibration system provided in an embodiment of the present application;

[0027] Figure 6 This is a schematic structural diagram of a calibration component in a depth camera-based calibration system provided in an embodiment of the present application;

[0028] Figure 7 is another structural schematic diagram of a calibration component in a depth camera-based calibration system provided in an embodiment of the present application;

[0029] Figure 8 is a schematic diagram of a three-dimensional decomposition of a detection component in a depth camera-based calibration system provided in an embodiment of the present application;

[0030] Figure 9 This is a schematic diagram of the use of the four-wheel aligner provided in an embodiment of the present application.

[0031] The meanings of the marks in the figure are:

[0032] 100 - first device, 200 - second device, 91 - vehicle to be tested, 92 - wheel to be tested, 93 - load-bearing device;

[0033] 1-housing;

[0034] 2-Magnetic seat;

[0035] 3-calibration assembly, 30-base plate, 31-first camera, 32-calibration component, 321-light board, 322-target board, 3220-through hole, 3221-step surface, 323-diffuser plate, 325-fixing plate, 3250-opening, 33-adapter circuit board;

[0036] 4-detection component, 41-first mounting plate, 42-second mounting plate, 43-second camera, 44-fill light;

[0037] 51-first control module;

[0038] 6-Battery;

[0039] 7-Indicator light. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0041] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this patent. The terms "first" and "second" are only used for the convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0042] In order to illustrate the technical solution described in this application, the following is a detailed description with reference to specific drawings and embodiments.

[0043] See also Figure 9 As shown, an embodiment of the present application provides a four-wheel aligner, including a depth camera-based calibration system and an auxiliary tool. The depth camera-based calibration system is used to be installed outside the vehicle 91 to be inspected, and the auxiliary tool is used to be fixed to the wheel 92 to be tested on the vehicle 91 to be inspected. The four-wheel aligner directly or indirectly obtains relevant image information of the wheel 92 to be tested by detecting or probing the auxiliary tool, thereby performing a four-wheel alignment test on the vehicle 91 to be inspected.

[0044] See also Figure 1 and Figure 2 、 Figure 9 As shown, the depth camera-based calibration system includes a first device 100 and a second device 200 . The first device 100 and the second device 200 are used to be installed at a fixed position outside the vehicle to be inspected 91 and are located on opposite sides of the vehicle to be inspected 91 .

[0045] For example, see Figure 9As shown, based on the direction of the driving seat, the first device 100 is arranged on the right side of the vehicle to be inspected 91, and is used to detect the right front wheel and the right rear wheel of the vehicle to be inspected 91. The second device 200 is arranged on the left side of the vehicle to be inspected 91, and is used to detect the left front wheel and the left rear wheel of the vehicle to be inspected 91.

[0046] In the embodiment of the present application, the first device 100 includes a first camera 31, and the second device 200 includes a calibration element 32 (please refer to Figure 2 The calibration part 32 of the first device 100 shown in the figure is a calibration part 32 of the first device 100, the first camera 31 is a depth camera, and the first camera 31 of the first device 100 is used to obtain depth image information of the calibration part 32 of the second device 200 located on the opposite side; the calibration system based on the depth camera also includes a control device, which is connected to the first camera 31 of the first device 100 and is used to receive depth image information from the first camera 31 and process the depth image information.

[0047] That is, the first device 100 can use its first camera 31 to obtain depth image information between the second device 200 on the opposite side. This first image information can be used to detect the relative positional relationship between the first device 100 and the second device 200. This allows personnel to determine whether the first device 100 and the second device 200 are simultaneously installed in the predetermined position. Based on this, when the four-wheel aligner performs four-wheel alignment testing on the wheels 92 to be tested on both sides, the accuracy of the testing can be guaranteed.

[0048] In the technical solution of this embodiment, a first device 100 and a second device 200 are used in pairs, and the first device 100 and the second device 200 are respectively arranged on the side of the vehicle 91 to be inspected where the wheel 92 to be inspected is provided. The first device 100 includes a first camera 31, which is a depth camera, and the second device 200 includes a calibration part 32. The first camera 31 of the first device 100 is used to obtain depth image information of the calibration part 32 of the second device 200 located on the opposite side; the control device is connected to the first camera 31, and is used to receive the depth image information from the first camera 31 and process the depth image information. The depth camera-based calibration system of the present application obtains the depth image information of the second device 200 on the opposite side through its first camera 31. The distance relationship and relative position relationship between the first device 100 and the second device 200 can be detected through the depth image information. When a four-wheel alignment test is performed using a four-wheel aligner that includes a depth camera-based calibration system, the accuracy of the test can be guaranteed.

[0049] In an alternative embodiment, if Figure 2 and Figure 3As shown, the first device 100 also includes a calibration component 32, and the second device 200 also includes a first camera 31. In this way, the first camera 31 of the second device 200 is used to obtain depth image information of the calibration component 32 in the first device 100. The control module is connected to the first camera 31 of the second device 200 to obtain the depth image information provided by the first camera 31. In other words, mutual calibration of the first device 100 and the second device 200 is achieved. Through the mutual calibration of the two depth image information, it is possible to further ensure that the first device 100 and the second device 200 are installed at the predetermined position at the same time, and further improve the detection accuracy of the two.

[0050] The control device may be provided in the first device 100 , or in the second device 200 , or in both the second device 200 and the first device 100 .

[0051] In an optional embodiment, the control device includes a first control module 51 provided in the first device 100 and a second control module provided in the second device 200. The first control module 51 is connected to the first camera 31 of the first device 100, and the second control module is connected to the first camera 31 of the second device 200. This facilitates the first control module 51 and the second control module to be connected to different first cameras 31 respectively.

[0052] In this way, the first device 100 and the second device 200 can be as similar in structure as possible, that is, they can be completely identical devices (here, the communication method between the first control module 51 and the second control module is not considered). The first device 100 and the second device 200 can be batch-processed and manufactured according to unified requirements and processes. The following description of this application uses this as an example. Figure 1 and Figure 2 FIG. 1 shows a first device 100 including a first camera 31 and a calibration element 32. For the first device 100, at least the first camera 31 and the calibration element 32 constitute a calibration component 3, see FIG. Figure 2 and Figure 3 shown.

[0053] In one embodiment, the first control module 51 and the second control module are configured to be communicatively connected to a control terminal. The control terminal is used to receive depth image information from the first control module 51 and depth image information from the second control module, and process the two depth image information. The control terminal can be a smart device such as a mobile phone or a smart tablet.

[0054] Alternatively, both the first control module 51 and the second control module are communicatively connected to the control terminal, with the first control module 51 configured to receive the depth image information obtained by the control terminal from the second control module and process the two depth image information. In other words, the control terminal functions as a relay for the depth image information between the first control module 51 and the second control module. It is understood that the control terminal may also receive and display the processing results from the first control module 51.

[0055] Alternatively, the first control module 51 is configured to receive the depth image information from the second control module and process the two depth image information. In this case, the first control module 51 serves as the main control terminal.

[0056] The depth camera may be a structured light depth camera, a time-of-flight depth camera, or a binocular stereo vision depth camera.

[0057] See also Figure 1 and Figure 2 As shown, in one embodiment, the first device 100 includes a magnetic base 2. The first device 100 is installed at a fixed position outside the vehicle 91 to be inspected via the magnetic base 2. For example, the first device 100 is adsorbed onto a supporting device 93 for supporting the vehicle 91 to be inspected via the magnetic base 2. The supporting device 93 is specifically a lift.

[0058] The magnetic base 2 may include a permanent magnet or an electromagnet.

[0059] like Figure 2 As shown, in one embodiment, the first device 100 and the second device 200 further include a battery 6 for providing the power required for the operation of the first camera 31 (and the electromagnet), etc. The first device 100 and the second device 200 further include an indicator light 7, which is connected to the control device and is used to display the operating status of the first camera 31, etc.

[0060] like Figure 2 As shown, in one embodiment, the first device 100 and the second device 200 further include a housing 1 for housing the first camera 31, calibration member 32, control device, battery 6, etc. A magnetic base 2 is fixedly connected to one end of the housing 1. The housing 1 can be of any design, but is typically designed to accommodate the relative positions of the first camera 31, calibration member 32, battery 6, control device, etc. within the housing, while also being easily accessible to personnel.

[0061] To ensure the accuracy of relative position calibration between the first device 100 and the second device 200, the calibration member 32 is provided with multiple calibration points, and the multiple calibration points are arranged at different positions in space so that the distances from the multiple calibration points to the first camera 31 are different.

[0062] Taking the example of a situation where both the first control module 51 and the second control module are communicatively connected to a control terminal, and the control terminal is used to receive depth image information from the first control module 51 and depth image information from the second control module and process the two depth image information, multiple depth image information are transmitted to the control terminal, which processes each depth image information and converts it into multiple coordinate points of the first device 100 in the coordinate system of the second device 200, and multiple coordinate points of the second device 200 in the coordinate system of the first device 100. In this way, mutual calibration of three-dimensional spatial coordinates between the first device 100 and the second device 200 can be achieved.

[0063] See also Figure 4 、 Figure 5 and Figure 6 As shown, in one embodiment, there are multiple calibration members 32, and the projections of the multiple calibration members 32 along the width direction of the vehicle 91 to be inspected do not completely overlap. At least two calibration members 32 are at different distances from the vehicle 91 to be inspected in the width direction. Each calibration member 32 is provided with at least one calibration point. This creates multiple calibration points at different distances from the vehicle 91 to be inspected in the width direction. In other words, at least two calibration members 32 are staggered along the length direction of the vehicle 91 to be inspected, resulting in different distances from the first camera 31.

[0064] Optionally, in one embodiment, there are multiple calibration members 32, with at least two calibration members 32 spaced apart in the length direction of the vehicle 91 to be inspected, at least two calibration members 32 spaced apart in the width direction of the vehicle 91 to be inspected, and at least two calibration members 32 spaced apart in the height direction. In this way, multiple calibration points have coordinates on each coordinate axis in the three-dimensional coordinate system, and the control module can calibrate the positions of the calibration members 32 more accurately.

[0065] It should be noted that the so-called calibration point is not a point in the strict mathematical sense, but an area that can be captured and clearly distinguished by the depth camera. Different areas correspond to different depth information.

[0066] More specifically, see Figure 4 and Figure 5 As shown, in an optional embodiment, the number of calibration pieces 32 is four, and the first calibration piece 32 and the third calibration piece 32 are arranged at intervals along the length direction of the vehicle to be inspected 91; the second calibration piece 32 is located on the lower side of the first calibration piece 32 and on the side of the first calibration piece 32 close to the vehicle to be inspected 91, and the fourth calibration piece 32 is located on the upper side of the first calibration piece 32 and on the side of the first calibration piece 32 away from the vehicle to be inspected 91.

[0067] The first camera 31 is positioned near the calibration elements 32 and can be fixedly connected to any of the calibration elements 32. In one embodiment, the calibration assembly 3 further includes a base plate 30. When the magnetic base 2 is positioned on the support device 93, the base plate 30 is substantially parallel to the ground. The first camera 31 and each calibration element 32 are fixedly mounted on the base plate 30.

[0068] See also Figure 3 and Figure 4 As shown, in one embodiment, the calibration component 3 also includes a adapter circuit board 33, which is arranged on the base plate 30 and connected to the first camera 31 and the second control module, for powering the first camera 31 and transmitting the signal of the first camera 31 to the first control module 51.

[0069] In one embodiment, the calibration element 32 is self-luminous, that is, it emits light to form multiple light spots, which serve as calibration points. The calibration points are brighter than other areas, making them clearly distinguishable from surrounding areas and the surrounding environment. Consequently, the depth camera can more accurately obtain depth information at these calibration points.

[0070] Specifically, if Figure 5 and Figure 6 As shown, in one embodiment, each calibration member 32 includes a stacked light board 321 and a target board 322, and the target board 322 is fixed to the side of the light board 321 facing the vehicle to be inspected 91; at least one through hole 3220 is provided on the target board 322, and the light emitted by the light board 321 can pass through the through hole 3220, and the through hole 3220 forms a calibration point.

[0071] In addition, if Figure 6 As shown, each calibration member 32 further includes a fixing plate 325, the lower end of which is connected to the base plate 30, and the upper end of which is connected to the aforementioned light board 321 and target board 322, so that the light board 321 and target board 322 are maintained at a distance above the base plate 30 and facing the vehicle to be inspected 91. The stacking order of the fixing plate 325, the light board 321, and the target board 322 is not limited, as long as the light board 321 and the target board 322 can be fixed together.

[0072] In an optional embodiment, each calibration piece 32 further includes a diffuser plate 323, which is arranged between the light board 321 and the target board 322, and is used to make the light board 321 form a uniform surface light source and evenly illuminate the target board 322, so that the brightness of each area within each through hole 3220 and different through holes 3220 is uniform and consistent, which is beneficial to improving the detection accuracy of the calibration piece 32 by the first camera 31.

[0073] In a specific embodiment, please refer to Figure 6As shown, the fixing plate 325 is provided with an opening 3250. The light panel 321 is disposed on the side of the fixing plate 325 facing away from the vehicle. The edge of the light panel 321 is fixedly connected to the periphery of the opening 3250 of the fixing plate 325, allowing light emitted by the light panel 321 to pass through the opening 3250. The diffuser panel 323 and the target panel 322 are sequentially disposed on the side of the fixing plate 325 that is closer to the vehicle. Of course, other fixed connection sequences and methods may be employed to connect the light panel 321, diffuser panel 323, target panel 322, and fixing plate 325, if permitted.

[0074] Alternatively, in one embodiment, the number of the calibration member 32 is one, including a stacked light board 321 and a target board 322, wherein the target board 322 is located on a side of the light board 321 close to the vehicle 91 to be inspected; Figure 7 As shown, some of the target plate 322 facing away from the light board 321 are provided with multiple step surfaces 3221, and the distances between each step surface 3221 and the light board 321 are different; each step surface 3221 is provided with at least one through hole 3220, and the through hole 3220 forms a calibration point.

[0075] By providing a plurality of stepped surfaces 3221 , the distances between the calibration points on different stepped surfaces 3221 and the first camera 31 opposite to them are different.

[0076] Optionally, the step surfaces 3221 are arranged parallel to each other, and the step surfaces 3221 are perpendicular to the bottom plate 30. In this case, the distances from different calibration points to the first camera 31 are different.

[0077] At this time, a light diffusion plate 323 may also be provided between the light plate 321 and the target plate 322 .

[0078] Next, see Figure 3 and Figure 4 As shown, in one embodiment, the first device 100 and the second device 200 each include two detection components 4, which are respectively arranged on the left and right sides of the calibration component 3, and are used to face a front wheel and a rear wheel respectively; Figure 8 As shown, each detection component 4 includes a second camera 43; the first device 100 is arranged between the front wheel and the rear wheel on the right side of the vehicle to be inspected 91, and the two second cameras 43 of the first device 100 are respectively tilted toward the front wheel and the rear wheel on that side, so as to obtain image information of the auxiliary tools on the front wheel and the rear wheel on that side of the vehicle to be inspected 91; the second device 200 is arranged between the front wheel and the rear wheel on the left side of the vehicle to be inspected 91, and the two second cameras 43 of the second device 200 are respectively tilted toward the front wheel and the rear wheel on that side, so as to obtain image information of the auxiliary tools on the front wheel and the rear wheel on that side of the vehicle to be inspected 91.

[0079] In the control device, the first control module 51 is connected to each second camera 43 in the first device 100, and the second control module is connected to each second camera 43 in the second device 200 to receive image information from each second camera 43 and process the image information. Since the four-wheel aligner determines the relative positional relationship between the first device 100 and the second device 200 distributed on both sides of the vehicle 91 to be inspected, and the first device 100 and the second device 200 on both sides capture the image information of the auxiliary tool fixed to the wheel 92 to be tested of the vehicle 91 to be inspected through each second camera 43, it is convenient to perform four-wheel alignment detection on the vehicle 91 to be inspected based on the image information of the auxiliary tool and the relative positional relationship between the first device 100 and the second device 200, and then obtain the four-wheel parameters of the vehicle 91 to be inspected.

[0080] See also Figure 8 As shown, in one embodiment, the detection component 4 also includes a first mounting plate 41, the lower end of the first mounting plate 41 is fixedly connected to the base plate 30 of the calibration component 3, and the second camera 43 is arranged on the first mounting plate 41 so that the relative position between the second camera 43 and the base plate 30 remains fixed.

[0081] In an optional embodiment, the detection assembly 4 further includes a fill light 44 for providing supplemental light to the second camera 43 to improve the clarity and accuracy of the image detection of the wheel 92 to be detected. The fill light 44 is annular in shape and is positioned around the second camera 43. The detection assembly 4 may include a second mounting plate 42, the lower end of which is fixedly connected to the first mounting plate 41 and / or the base plate 30. The upper end of the second mounting plate 42 is annular in shape, corresponding to the shape of the fill light 44, and the fill light 44 is mounted on the upper end of the second mounting plate 42.

[0082] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A depth camera-based calibration system, characterized in that: It comprises a first device and a second device for use in pair, wherein the first device and the second device are respectively arranged on a side of a vehicle to be inspected where a wheel to be inspected is arranged; The first device includes a first camera, which is a depth camera, and the second device includes a calibration component; The first camera of the first device is used to obtain depth image information of the calibration piece of the second device located on the opposite side; A control device is connected to the first camera and is configured to receive the depth image information from the first camera and process the depth image information.

2. The depth camera-based calibration system according to claim 1, characterized in that: The second device further includes the first camera, and the first device further includes the calibration piece, and the first camera of the second device is used to obtain depth image information of the calibration piece of the first device; the control device includes a first control module provided in the first device, and a second control module provided in the second device, the first control module is connected to the first camera of the first device, and the second control module is connected to the first camera of the second device; The first control module and the second control module are both communicatively connected to the control terminal, and the control terminal is used to receive the depth image information from the first control module and the depth image information from the second control module, and process the two depth image information; or, the first control module and the second control module are both communicatively connected to the control terminal, and the first control module is used to receive the depth image information obtained by the control device from the second control module, and process the two depth image information; or, the first control module is used to receive the depth image information from the second control module and process the two depth image information.

3. The depth camera-based calibration system according to claim 1, wherein: There are multiple calibration pieces, and the projections of the multiple calibration pieces along the width direction of the vehicle to be inspected do not overlap; along the width direction of the vehicle to be inspected, the distances between at least two of the calibration pieces and the vehicle to be inspected are different; each calibration piece is provided with at least one calibration point.

4. The depth camera-based calibration system according to claim 3, characterized in that: There are four calibration pieces, the first and third calibration pieces are spaced apart along the length direction of the vehicle to be inspected; the second calibration piece is located below the first calibration piece and on the side of the first calibration piece close to the vehicle to be inspected, and the fourth calibration piece is located above the first calibration piece and on the side of the first calibration piece away from the vehicle to be inspected.

5. The depth camera-based calibration system according to claim 3, characterized in that: Each of the calibration components includes a stacked light board and a target board, wherein the target board is located on a side of the light board facing the vehicle to be inspected; at least one through hole is provided on the target board, and the through hole forms the calibration point.

6. The depth camera-based calibration system according to claim 1, characterized in that: The calibration part includes a stacked light board and a target board, wherein the target board is located on the side of the light board facing the vehicle to be inspected; a plurality of step surfaces are provided on the side of the target board facing away from the light board, and the distances from each step surface to the light board are different; each step surface is provided with at least one through hole, and the through hole forms a calibration point.

7. The depth camera-based calibration system according to claim 5 or 6, characterized in that: The calibration component further includes a light diffusion plate arranged between the light board and the target board.

8. The depth camera-based calibration system according to any one of claims 1 to 6, characterized in that: The depth camera is a structured light depth camera, a time-of-flight depth camera, or a binocular stereo vision depth camera.

9. The depth camera-based calibration system according to any one of claims 1 to 6, characterized in that: The first device and the second device both include a magnetic seat, and the first device and the second device are arranged on a carrying device for carrying the vehicle to be inspected through the magnetic seat, and are respectively located on a side of the vehicle to be inspected where the wheel to be inspected is provided.

10. A four-wheel aligner, characterized in that: The depth camera-based calibration system comprises the following: the first device and the second device each comprise two second cameras; the two second cameras of the first device are used to obtain image information of auxiliary tools on the front wheels and rear wheels on one side of the vehicle to be inspected, and the two second cameras of the second device are used to obtain image information of auxiliary tools on the front wheels and rear wheels on the other side of the vehicle to be inspected; the control device is connected to each of the second cameras to receive each of the image information and process the image information.

Images