WO2022193943A1 - 一种辅助定位装置及定位方法 - Google Patents

一种辅助定位装置及定位方法 Download PDF

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Publication number
WO2022193943A1
WO2022193943A1 PCT/CN2022/078626 CN2022078626W WO2022193943A1 WO 2022193943 A1 WO2022193943 A1 WO 2022193943A1 CN 2022078626 W CN2022078626 W CN 2022078626W WO 2022193943 A1 WO2022193943 A1 WO 2022193943A1
Authority
WO
WIPO (PCT)
Prior art keywords
connecting rod
laser
horizontal reference
rod
locking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2022/078626
Other languages
English (en)
French (fr)
Inventor
周均勇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autel Intelligent Technology Corp Ltd
Original Assignee
Autel Intelligent Technology Corp Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autel Intelligent Technology Corp Ltd filed Critical Autel Intelligent Technology Corp Ltd
Priority to EP22770298.2A priority Critical patent/EP4292884B1/en
Priority to US18/282,546 priority patent/US12583398B2/en
Publication of WO2022193943A1 publication Critical patent/WO2022193943A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/27—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/40—Means for monitoring or calibrating
    • G01S7/4052—Means for monitoring or calibrating by simulation of echoes
    • G01S7/4082—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder
    • G01S7/4086—Means for monitoring or calibrating by simulation of echoes using externally generated reference signals, e.g. via remote reflector or transponder in a calibrating environment, e.g. anechoic chamber
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
    • B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/0049—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means for non integrated articles
    • B60R2011/005—Connection with the vehicle part
    • B60R2011/0052—Connection with the vehicle part using screws, bolts, rivets or the like
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports

Definitions

  • Embodiments of the present invention relate to the technical field of automobiles, and in particular, to an auxiliary fixing device and a positioning method.
  • Typical car side parts are installed with angle requirements.
  • the installation of radar components in the car steering assist system needs to have certain angle requirements based on the car side plane.
  • the inventor found that in the prior art, the simple measurement and fixation of the angle and direction of the installation position are carried out by manually using measuring instruments such as angle rulers. Poor, it cannot be guaranteed that the installation angle is within the error range required by the angle of the parts (radar components), so that the safety performance of the car cannot be guaranteed.
  • the embodiments of the present invention aim to provide an auxiliary positioning device and a positioning method, so as to improve the accuracy of the installation angle of the radar assembly to be installed, thereby improving the safety performance of the vehicle.
  • an auxiliary positioning device comprising:
  • the first fixer is installed on the front wheel on one side of the vehicle;
  • a second anchor mounted on a rear wheel on one side of the vehicle, and the first anchor and the second anchor are located on the same side of the vehicle;
  • the first connecting rod is connected between the first fixing device and the second fixing device, and the vertical plane where the center line along the length direction of the first connecting rod is located is parallel to the central axis of the vehicle ;
  • a horizontal reference rod mounted on the second connecting rod and rotatable around the second connecting rod, and the horizontal plane where the center line along the length of the horizontal reference rod is perpendicular to the length of the first connecting rod
  • a laser is movably mounted on the horizontal reference rod, the laser is used to emit laser light downward to form a laser line on the object located under the laser, and the horizontal angle of the laser relative to the first connecting rod can be adjusted
  • the radar assembly to be installed is installed on the side of the car, the angle of the energy transmitting and receiving surface of the radar assembly to be installed relative to the central axis of the car is adjusted, and the level of the laser relative to the first connecting rod is adjusted.
  • the angle is the angle between the direction of the laser line emitted by the laser and the center line along the length of the first connecting rod in the horizontal plane where the centering line along the length direction of the first connecting rod is located.
  • the laser is horizontally rotatable relative to the horizontal reference rod.
  • the laser is slidable along a centerline along the length of the horizontal reference rod.
  • the horizontal reference rod is slidable relative to the second connecting rod along the length of the second connecting rod.
  • the horizontal reference rod includes a moving part and a rotating part extending vertically from the moving part, the moving part is sleeved on the second connecting rod, and the moving part can move along the second connecting rod.
  • the length direction of the connecting rod slides relative to the second connecting rod, the rotating part is rotatable relative to the second connecting rod, and the laser is movably mounted on the rotating part.
  • the auxiliary positioning device includes a first locking mechanism, and the first locking mechanism can lock the horizontal reference rod relative to the second connecting rod, so as to restrict the horizontal reference rod from being relative to each other. move on the second connecting rod.
  • the first locking mechanism includes a locking ring, a first locking bolt and a first locking nut;
  • Both ends of the locking ring are provided with a first through hole and a first through hole for the first locking bolt to pass through, the first locking ring is sleeved on the moving part, and the first The locking nut is used to cooperate with the first locking bolt after the first locking bolt passes through the first through hole and the first through hole.
  • one of the horizontal reference rod and the second connecting rod is provided with a first arc scale, and the other is provided with a first arc scale.
  • a first reference indicator line is provided at the connection between the horizontal reference rod and the second connecting rod.
  • the auxiliary positioning device further includes a second locking mechanism for locking the laser relative to the horizontal reference rod, so as to restrict the laser relative to the The horizontal reference rod activity described above.
  • the second locking mechanism includes a locking plate, a second locking bolt and a second locking nut, the locking plate is fixed to the laser, and the locking plate is provided with a The arc-shaped hole through which the second locking bolt passes, the horizontal reference rod is provided with a chute for the second locking bolt to pass through, and the second locking nut is used for The locking bolt cooperates with the second locking bolt after passing through the arc hole and the chute;
  • the second bolt can slide along the arc direction of the arc-shaped hole, and the sum of the arc of the arc-shaped hole is greater than or equal to 180 degrees.
  • a sliding block is sleeved on the horizontal reference rod, the sliding block can slide along the length direction of the horizontal reference rod, and a sliding block is provided on the sliding block for the second locking bolt to pass through.
  • the second through hole, the second locking bolt is matched with the second locking nut after passing through the arc-shaped hole, the second through hole and the chute;
  • the arc-shaped hole is provided with a second arc-shaped scale
  • the second locking bolt is provided with a second reference indicator line.
  • the first holder includes a first mounting seat and two first claw assemblies, the two first claw assemblies are clamped on the hub of the front wheel, and the first installation The seat is located at the center of the two first jaw assemblies, and the first end of the first fixing rod is mounted on the first mounting seat;
  • the second holder includes a second mounting seat and two second claw assemblies, the second mounting seat is located at the center of the two second claw assemblies, and the two second claw assemblies are clamped. Connected to the hub of the rear wheel, the second end of the first fixing rod is mounted on the second mounting seat.
  • An embodiment of the present invention further provides an auxiliary positioning method, including the above-mentioned auxiliary positioning device, and the method includes:
  • the horizontal reference rod is adjusted so that the included angle between the horizontal reference rod and the first connecting rod is the same as the installation angle, and the horizontal reference rod is relative to the installation angle.
  • the deflection direction of the first connecting rod is the same as the installation direction, wherein the first connecting rod and the adjusted horizontal reference rod are used to assist in the installation of the to-be-installed radar assembly.
  • the step of adjusting the horizontal reference rod according to the installation direction and the installation angle, so that the included angle between the horizontal reference rod and the first connecting rod is the same as the installation angle further includes :
  • the auxiliary positioning device and positioning method provided by the embodiments of the present invention can determine the side installation position of the radar component to be installed on one side of the vehicle by adjusting the laser and the horizontal reference rod.
  • FIG. 1 is a schematic plan view of an auxiliary positioning device according to an embodiment of the present invention.
  • FIG. 2 is a schematic diagram of an application scenario of a first fixture in the auxiliary positioning device shown in FIG. 1;
  • FIG. 3 is a schematic structural diagram of a first fixture in the auxiliary positioning device shown in FIG. 1;
  • FIG. 4 is a schematic structural diagram of a second fixture in the auxiliary positioning device shown in FIG. 1;
  • FIG. 5 is a schematic structural diagram of a first drive module in the first holder shown in FIG. 3;
  • Fig. 6 is the installation schematic diagram of the horizontal reference rod and the second connecting rod in the auxiliary positioning device shown in Fig. 1;
  • Fig. 7 is another installation schematic diagram of the horizontal reference rod and the second connecting rod in the auxiliary positioning device shown in Fig. 1;
  • Fig. 8 is the installation schematic diagram of the horizontal reference rod and the laser in the auxiliary positioning device shown in Fig. 1;
  • Fig. 9 is another installation schematic diagram of the horizontal reference rod and the laser in the auxiliary positioning device shown in Fig. 1;
  • FIG. 10 is a schematic flowchart of an assisted positioning method provided by another embodiment of the present invention.
  • FIG. 11 is a schematic sub-flow diagram of step S50 in the assisted positioning method shown in FIG. 10 .
  • FIG. 1 is an auxiliary positioning device provided by an embodiment of the present invention, including a first fixer 10 , a second fixer 20 , a first connecting rod 30 , a second connecting rod 40 , a horizontal reference rod 50 , and a laser 60.
  • the first fixer 10 is installed on the front wheel on the side of the car (as shown in FIG.
  • the second fixer 20 is installed on the rear wheel on the side of the car, and the first fixer 10 and the second holder 20 are located on the same side of the car, the first connecting rod 30 is connected between the first holder 10 and the second holder 20, and along the first
  • the vertical plane where the center line O1 of the length direction of the connecting rod 30 is located is parallel to the central axis plane of the automobile.
  • the second connecting rod 40 is arranged perpendicular to the first connecting rod 30 .
  • the horizontal reference rod 50 is mounted on the second connecting rod 40 and can be rotated around the second connecting rod 40 , and the horizontal plane along the center line of the length direction of the horizontal reference rod 50 is at the center axis of the vehicle. face vertical.
  • the laser 60 is movably mounted on the horizontal reference rod 50, the laser 60 is used to emit laser light downward to form a laser line on the object located under the laser 60, the laser 60 is relative to the horizontal reference
  • the horizontal angle of the rod 50 can be adjusted to the angle of the energy transmitting and receiving surface of the radar assembly to be installed relative to the central axis of the car when the radar assembly to be installed is installed on one side of the car, and the laser 60 relative to the central axis of the car.
  • the horizontal angle of the first connecting rod 30 is the center of the direction of the laser line emitted by the laser 60 and the center along the length of the first connecting rod 30 in the horizontal plane where the center line along the length direction of the first connecting rod 30 is located. line angle.
  • central axis plane of the automobile refers to a plane perpendicular to the ground and passing through the midpoint of the two front wheels and the midpoint of the two rear wheels of the automobile.
  • the energy transmitting and receiving surface of the radar component to be installed refers to the antenna surface of the radar or a plane parallel to the antenna surface of the radar.
  • the side of the car includes the underside of the rearview mirror of the car, or the side guardrail of the car.
  • the first holder 10 and the second holder 20 may have the same structure, and both may be wheel hub clamping devices.
  • the first holder 10 includes a first mounting seat 110, two first claw assemblies 120, a first driving module 130 and a first locking module 140, the first mounting seat 110 is located at the center of the two first claw assemblies 120 position, the first end of the first connecting rod 30 is mounted on the first mounting seat 110, the two first claw assemblies 120 are engaged with the hub of the front wheel, and the two first The claw assembly 120 is installed on the first driving module 130, and the first driving module 130 is used for synchronously driving the two first claw assemblies 120 to move, so that the two first claw assemblies 120 can be relative to each other.
  • the first mounting bases 110 move synchronously toward or away from each other to accommodate different sizes of wheel hubs
  • the first locking module 140 is used to lock the first driving module 130 to ensure that the two first jaws Assembly 120 is stationary.
  • the second holder 20 includes a second mounting seat 210, two second claw assemblies 220, a second driving module 230 and a second locking module 240, the second mounting seat 210 is located at two of the second The center position of the claw assembly 220, the second end of the first connecting rod 30 is mounted on the second mounting seat 210, the two second claw assemblies 220 are clamped on the hub of the rear wheel, the two The second claw assemblies 220 are mounted on the second driving module 230, and the second driving module 230 is used to synchronously drive the two second claw assemblies 220 to move, so that the two second claw assemblies 220 move
  • the claw assembly 220 can move synchronously toward or away from the second mounting seat 210 to accommodate different sizes of wheel hubs
  • the second locking module 240 is used for locking the second driving module 230 to ensure two The second jaw assembly 220 is fixed.
  • the first driving module 130 and the second driving module 230 may be screw mechanisms, and the first driving module 130 is used as an example for description herein.
  • the first drive module 130 includes a guide assembly and a drive member 131
  • the guide assembly is used to guide the movement of the two first jaw assemblies 120
  • the drive member 131 is used to synchronously drive the two first jaw assemblies 131.
  • the jaw assemblies 120 are moved closer or apart from each other.
  • the driving member 131 may be a driving rod, including a left-handed threaded portion, a right-handed threaded portion, and a connecting portion, the connecting portion is connected to the left-handed threaded portion and the right-handed threaded portion, and the left-handed threaded portion and the right-handed threaded portion are connected.
  • the threaded portion and the right-handed threaded portion are disposed opposite to each other.
  • the left-handed thread portion is provided with a left-handed thread
  • the right-handed thread portion is provided with a right-handed thread
  • one of the first jaw assemblies 120 is screwed on the left-handed thread portion
  • the other of the first jaws The assembly 120 is screwed to the right-handed threaded portion, thus, when the driving member 131 is rotated, the two first jaw assemblies 120 move the same distance synchronously to ensure that the first mounting seat 110 is always Being in the middle of the two first jaw assemblies 120 ensures that the central axis of the first mounting seat 110 coincides with the central axis of the mounting hub.
  • the guide assembly includes a first guide column 132, a second guide column 133 and a connecting block 134.
  • the first guide column 132 and the second guide column 133 are located on two sides of the driving member 131 respectively.
  • the claw assembly 120 is installed on one end of the first guide column 132 and the second guide column 133 , and the other first claw assembly 120 is installed on the other end of the first guide column 132 and the second guide column 133 .
  • the driving member 131 is connected with the connecting block 134 .
  • one end of the first guide post 132 passes through the two first claw assemblies 120 in sequence and is connected to the connecting block 134 , and the other end of the first guide post 132 is connected to the lock
  • the tightening module 140 is connected.
  • one end of the second guide column 133 is connected to the other end of the connecting block 134 after passing through the two first claw assemblies 120 in sequence, and the first guide column 132 and the second guide post 133 are parallel to each other. Therefore, the two first jaw assemblies 120 can move along the first guide post 132 and the second guide post 133 to ensure that the two first jaw assemblies 120 follow a preset path move.
  • One end of the driving member 131 is connected to the connecting block 134 , and the other end is connected to the locking module 140 .
  • the guide assembly 210 can also be in the form of at least two pairs of sliders and two guide rails, for example, the sliders fix the first On a jaw assembly, the slider is slidably connected to the guide rail.
  • the embodiment of the present application does not impose any restrictions, as long as the rotation of the driving member 131 can be restricted.
  • the first end of the first connecting rod 30 is mounted on the first mounting seat 110, and the second end of the first connecting rod 30 is mounted on the second mounting seat 210.
  • the first mounting The seat 110 is provided with a first installation hole for installing the first connecting rod 30, and the first installation hole is coaxial with the central axis of the first installation seat 110;
  • the second installation seat 210 is provided with a For installing the second mounting hole of the first connecting rod 30, the second mounting hole is coaxial with the central axis of the second mounting seat 210, so as to ensure that the center line of the length direction of the first fixing rod 30 is located.
  • the vertical plane of the vehicle is parallel to the central axis of the vehicle.
  • the first installation hole and the second installation hole can be both threaded holes, and the two ends of the first connecting rod 30 can be respectively provided with threads, through the first connecting rod 30 and the first and second installation holes.
  • the first connecting rod 30 is fixed between the first mounting seat 110 and the second mounting seat 120 in cooperation with each other.
  • first holder 10 and the second holder 20 can also be different, as long as the first holder 10 and the second holder 20 can be clamped to the wheel hub of the automobile, and the first holder 10 and the second holder 20 can be clamped along the first
  • the vertical plane where the center line in the length direction of the connecting rod 30 is located may be parallel to the central axis plane of the automobile.
  • the second connecting rod 40 is mounted on the second mounting seat 120 and is perpendicular to the first connecting rod 30 .
  • the second connecting rod 40 may be installed on the ground or other devices, as long as the second connecting rod 40 is perpendicular to the first connecting rod 30 , which is not made in the embodiments of the present application. any restrictions.
  • the horizontal reference rod 50 can only rotate around the second connecting rod 40 , or the horizontal reference rod 50 can both rotate around the second connecting rod 40 and along the second connecting rod 40 .
  • the length direction of the two connecting rods 40 slides relative to the second connecting rod 40 .
  • the horizontal reference rod 50 can be of L-shaped, T-shaped or straight-shaped structures.
  • the horizontal reference rod 50 is T-shaped as an example for description.
  • the horizontal reference rod 50 includes a moving part 510 and a rotating part 520 extending vertically along the moving part 510 , and the moving part 510 is sleeved on the second connecting rod 40 and can go around the first connecting rod The two connecting rods 40 rotate, and the laser 60 is movably mounted on the rotating portion 520 .
  • the moving part 510 when one end of the moving part 510 is a closed end and the other end is an open end, the moving part 510 is sleeved on the second connecting rod 40 and the closed end of the moving part 510 is connected to the first connecting rod 40 .
  • the tops of the two connecting rods 40 are in contact with each other.
  • the horizontal reference rod 50 can only rotate around the second connecting rod 40; when both ends of the moving part 510 are open ends, the moving part 510
  • the horizontal reference rod 50 is sleeved on the second connecting rod 40 and can slide along the second connecting rod 40. At this time, the horizontal reference rod 50 can not only rotate around the second connecting rod 40, but also can move along the second connecting rod 40.
  • the length direction of the connecting rod 40 slides relative to the second connecting rod 40 .
  • the horizontal reference rod 50 can not only rotate around the second connecting rod 40 , but also can slide relative to the second connecting rod 40 along the length direction of the second connecting rod 40 as an example for description.
  • the auxiliary positioning device includes a first locking mechanism 70 , and the first locking mechanism 70 can lock the horizontal reference rod 50 relative to the second connecting rod 40 to restrict the The horizontal reference rod 50 moves relative to the second connecting rod 40,
  • restricting the movement of the horizontal reference rod 50 relative to the second connecting rod 40 refers to restricting the rotation and sliding of the horizontal reference rod 50 relative to the second connecting rod 40 .
  • the first locking mechanism 70 includes a locking ring, a first locking bolt and a first locking nut, the first locking ring is sleeved on the moving part 510, and both ends of the locking ring are provided There are first through holes and first through holes for the first locking bolts to pass through, and the first locking nut is used to pass through the first through holes and the first through holes when the first locking bolts pass through. The through hole is then matched with the first locking bolt.
  • the first locking mechanism 70 realizes the locking of the horizontal reference rod 50; when the horizontal reference rod 50 needs to rotate relative to the second connecting rod 40 or When sliding, just loosen the first locking bolt.
  • the first locking ring may be omitted, and the moving portion is configured as an open-loop structure, and the open-loop structure constitutes the above-mentioned locking ring, as shown in FIG. 7 .
  • the first locking mechanism 70 can also be other mechanisms.
  • the first locking mechanism includes two locking nuts, the outer surface of the connecting rod 40 is provided with threads, and the two locking nuts are respectively It is screwed on both ends of the connecting rod, and the moving part is located between the two nuts.
  • the horizontal reference rod 50 can be locked.
  • the horizontal reference rod 50 needs to rotate or slide relative to the second connecting rod 40, loosen the two locking nuts.
  • the horizontal reference rod can rotate around the second connecting rod 40.
  • the horizontal reference rod can slide between the two locking nuts along the second connecting rod 40 .
  • first locking mechanism 70 is not limited to the embodiment of the present application, and other means that can restrict the rotation and sliding of the horizontal reference rod 50 are included in the embodiment of the present application.
  • one of the horizontal reference rod 50 and the second connecting rod is provided with a first arc scale
  • the other one is provided with a first reference indication line O2
  • the moving part 510 is provided with the first arc scale
  • the second connecting rod 40 is provided with the first reference indication line O2 (all the above).
  • the first reference indication line O2 may be a straight line located on the outer surface of the second connecting rod 40 and extends from the top of the second connecting rod to the bottom of the second connecting rod, as shown in FIG. 6 ) , so that when the horizontal reference rod 50 rotates relative to the second connecting rod 40, it can be known that the horizontal reference rod 50 rotates according to the first reference indicator line O2 and the first arc scale on the moving part Angle.
  • the first reference indicating line O2 is provided with a distance scale, so that when the horizontal reference rod 50 slides relative to the second connecting rod 40, the first reference indicating line O2 The distance scale knows how far the horizontal reference rod 50 slides.
  • first reference indicator line O2 can also be set on the moving part, and the second connecting rod 40 is provided with an arc-shaped scale. The top extends to the bottom of the second connecting rod.
  • the horizontal angle of the laser 60 relative to the first connecting rod 30 can be adjusted.
  • the laser 60 is movably installed on the horizontal reference rod 50.
  • the laser 60 is movably installed on the horizontal reference rod 50, which means that the laser 60 can be relative to the horizontal reference rod. 50 horizontal rotations.
  • the laser 60 can be rotated horizontally relative to the horizontal reference rod 50, and the auxiliary positioning device further includes a second locking mechanism 80, and the second locking mechanism 80 is used for positioning the laser 60 relative to the The horizontal reference rod 50 is locked to limit the movement (eg, horizontal rotation) of the laser 60 relative to the horizontal reference rod 50 .
  • the horizontal rotation and locking mechanism of the laser 60 relative to the horizontal reference rod 50 may be the same mechanism.
  • the second locking mechanism 80 includes a locking plate 81 , a second locking bolt 82 and a second lock tighten the nut, the locking plate 81 is connected to the laser 60, the locking plate 81 is perpendicular to the central axis of the vehicle, and the second locking bolt 82 is provided on the locking plate 81
  • the horizontal reference rod 50 is provided with a sliding groove 530 for the second locking bolt 82 to pass through, and the second locking bolt 82 can slide along the sliding groove 530
  • the sliding groove 530 is arranged along the length direction of the horizontal reference rod 50 , and the second locking nut is used for connecting with the second locking bolt 82 after passing through the arc hole 811 and the sliding groove 530 .
  • the second locking bolt 82 is matched. Wherein, the second locking bolt 82 can slide along the arc direction of the arc-shaped hole 811, and the sum of the arc of the arc-shaped hole 811 is greater than or equal to 180 degrees. The arc direction of the arc hole 811 slides, so that the horizontal angle of the laser 60 relative to the horizontal reference rod 50 can be adjusted.
  • the laser 60 can be locked relative to the horizontal reference rod 50 when the second locking nut is tightened. When the laser 60 needs to rotate horizontally relative to the horizontal reference rod 50, loosen the The second lock nut is sufficient.
  • connection between the laser 60 and the locking plate 81 can be a fixed connection or a movable connection, for example, the laser 60 is fixedly connected to the locking plate 81, or the laser 60 is movably connected to the locking plate 81. Tighten the plate 81, such as hinged.
  • the laser is movably connected (eg hinged) to the locking plate 81 , the laser can move relative to the locking plate 81 only under the action of an external force.
  • the arc-shaped hole 811 is provided with a second arc-shaped scale
  • the second locking bolt 82 is provided with a second reference indicator line, passing through the second arc on the arc-shaped hole 811
  • the horizontal angle of the rotation of the laser 60 relative to the horizontal reference rod 50 can be known.
  • the laser 60 can also slide along the length direction of the horizontal reference rod 50.
  • the rotating part 520 of the horizontal reference rod 50 is a square structure, so The locking plate 81 is parallel to the top surface of the rotating part 520 , and a sliding block 90 is sleeved on the rotating part 520 , and the sliding block 90 can slide along the length direction of the horizontal reference rod 50 .
  • the block 90 is provided with a second through hole for the second locking bolt 82 to pass through. When the second locking nut is tightened, the locking plate 81 and the slider 90 remain relatively fixed, and the slider 90 can drive the second locking device 80 and the The laser 60 slides along the length of the horizontal reference rod 50 .
  • one of the side of the horizontal reference rod and the side of the slider opposite the side of the horizontal reference shown is provided with a rib,
  • the other is provided with a groove for accommodating the protruding ribs, and the protruding ribs can slide along the grooves.
  • the sliding block 80 can slide along the length direction of the horizontal reference rod only under the action of external force.
  • the locking plate 81 may be omitted.
  • the second locking mechanism 80 includes a second locking bolt 82 and a second locking nut, and the laser 60 is mounted on the On the second locking bolt 82, the second locking bolt passes through the second through hole and the chute 530 and then cooperates with the second locking nut, and the second locking bolt can be rotated.
  • the horizontal angle of the laser 60 relative to the horizontal reference rod 50 is adjusted.
  • one of the second locking bolt 82 and the slider 90 is provided with a second arc scale, and the other is provided with a second arc scale. is provided with a second reference line.
  • the laser 60 can be movably mounted on the second locking bolt 82 or fixedly mounted on the second locking bolt 82 .
  • the laser 60 can slide along the horizontal reference rod 50 so that the laser energy emitted by the laser 60 can form a laser line on the first connecting rod 30, so as to prevent the laser 60 from emitting laser downward due to The shielding of the horizontal reference rod 50 cannot form a laser line on the first connecting rod 30 .
  • the length of the first connecting rod is greater than the length of the rotating portion 520 of the horizontal reference rod 50 .
  • mechanism for moving and locking the laser 60 relative to the horizontal reference rod 50 is not limited to the embodiment of the present application, and other mechanisms that enable the laser to move and lock relative to the horizontal reference rod are included in the implementation of the present application example.
  • the side position of the radar assembly to be installed on the side of the car can be determined according to the position of the horizontal reference rod 50 relative to the first connecting rod 30 , that is, the energy transmitting and receiving surface of the radar assembly is relative to the car.
  • the angle of one side is determined.
  • the slider 90 can be slid as required.
  • An auxiliary positioning method provided by an embodiment of the present application includes the above-mentioned auxiliary positioning device, which is used for auxiliary installation of the above-mentioned radar component to be installed.
  • Step S10 adjusting the first holder 10 and the second holder 20 to ensure that the vertical plane where the center line along the length of the first connecting rod 30 is located is parallel to the central axis of the vehicle;
  • Step S20 rotating the laser 60 until the laser line direction of the laser emitted by the laser on the horizontal reference rod 50 is parallel to the center line in the length direction of the horizontal reference rod;
  • Step S30 rotate the horizontal reference rod 50 until the laser line direction of the laser emitted by the laser 60 on the first connecting rod 30 is parallel to the center line in the length direction of the first connecting rod 30, and record the The position is zero position;
  • Step S40 acquiring the installation angle and installation direction of the energy transmitting and receiving surface of the radar assembly to be installed relative to the central axis of the car when the radar assembly to be installed is installed on one side of the vehicle;
  • the installation angle of the energy transmitting and receiving surface of the radar component to be installed relative to the central axis of the vehicle refers to the horizontal angle of the laser 60 relative to the first connecting rod 30 .
  • the installation direction of the energy transmitting and receiving surface of the radar component to be installed relative to the central axis of the vehicle refers to the deflection direction of the laser relative to the first connecting rod.
  • the horizontal angle of the laser 60 relative to the first connecting rod 30 is the direction of the laser line emitted by the laser in the horizontal plane where the center line along the length of the first connecting rod 30 is located and the direction of the laser line along the first connecting rod 30 An angle of the center line O1 in the length direction of the connecting rod.
  • Step S50 Adjust the horizontal reference rod 50 according to the installation direction and installation angle, so that the angle between the horizontal reference rod 50 and the first connecting rod 30 is the same as the installation angle, and the The deflection direction of the horizontal reference rod 50 relative to the first connecting rod 30 is the same as the installation direction.
  • first connecting rod 30 and the adjusted horizontal reference rod 50 are used to assist in the installation of the to-be-installed radar assembly.
  • the step of adjusting the horizontal reference rod 50 according to the installation direction and installation angle so that the included angle between the horizontal reference rod 50 and the first connecting rod is the same as the installation angle which further includes:
  • Step S510 horizontally rotating the installation angle of the laser 60 in a direction opposite to the installation direction;
  • Step S520 Rotate the horizontal reference rod 50 until the laser line direction of the laser emitted by the laser 60 on the first connecting rod is parallel to the center line in the length direction of the first connecting rod.
  • An auxiliary positioning device and method provided by the embodiments of the present invention can determine the installation position of the radar component to be installed on the side of the vehicle by adjusting the laser and the horizontal reference rod.
  • the operation is simple, convenient and fast, and the installation precision is high.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Optical Radar Systems And Details Thereof (AREA)

Abstract

一种辅助定位装置，包括第一固定器（10），安装于汽车一侧的前轮；第二固定器（20），安装于汽车同一侧的后轮；第一连接杆（30），连接于第一固定器（10）与第二固定器（20）之间，并且沿第一连接杆（30）长度方向的居中线（O1）所在的竖直面与汽车的中轴面平行；第二连接杆（40），垂直于第一连接杆（30）设置；水平参考杆（50），安装于第二连接杆（40）并可绕第二连接杆（40）转动；激光器（60），活动安装于水平参考杆（50）上，激光器（60）相对于水平参考杆（50）的水平角度可被调节为待安装雷达组件安装于汽车一侧时，安装雷达组件的能量收发面相对于汽车的中轴面的角度。通过该辅助定位装置，使得调节激光器和水平参考杆即可确定待安装雷达组件安装于汽车一侧的安装位置，方便快捷，安装精度高。还公开了一种辅助定位方法。

Description

一种辅助定位装置及定位方法
本申请要求于2021年03月19日提交中国专利局、申请号为202110296223.7、申请名称为“一种辅助定位装置及定位方法”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及汽车技术领域，尤其涉及一种辅助固定装置及定位方法。
背景技术
典型的汽车侧面零部件安装有角度要求，如汽车转向辅助系统(Turn Assist)中雷达组件的安装需要基于汽车侧面平面有一定的角度要求。
在实现本发明的过程中，发明人发现现有技术中，均是通过人工使用角度尺等测量仪器进行简单的安装位置角度及方向的测量和固定，这些方法效率低且实际给出的角度精度差，无法保证安装角度在零部件(雷达组件)角度要求的误差范围内，使得汽车的安全性能得不到保证。
因此，有必要提供一种辅助定位装置及定位方法以解决上述问题。
发明内容
本发明实施例旨在提供一种辅助定位装置及定位方法，以提高待安装雷达组件安装角度的精度，从而提高汽车的安全性能。
本发明实施例解决其技术问题采用以下技术方案：提供一种辅助定位装置包括：
第一固定器，安装于汽车一侧的前轮；
第二固定器，安装于所述汽车一侧的后轮，且所述第一固定器和所述第二固定器位于所述汽车的同一侧；
第一连接杆，连接于所述第一固定器与所述第二固定器之间，并且沿所述第一连接杆长度方向的居中线所在的竖直面与所述汽车的中轴面平行；
第二连接杆，垂直于所述第一连接杆设置；
水平参考杆，安装于所述第二连接杆并可绕所述第二连接杆转动，且沿所述水平参考杆长度方向的居中线所在的水平面垂直于沿所述第一连接杆的长度方向的居中线所在的水平面；
激光器，活动安装于所述水平参考杆上，所述激光器用于向下发射激光以在位于所述激光器下的物体上形成激光线，所述激光器相对于所述第一连接杆的水平角度可被调节为待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车的中轴面的角度，所述激光器相对于所述第一连接杆的水平角度为在沿所述第一连接杆长度方向的居中线所在的水平面内所述激光器发射的激光线方向与沿所述第一连接杆长度方向的居中线的角度。
在一些实施例中，所述激光器可相对所述水平参考杆水平转动。
在一些实施例中，所述激光器可沿所述水平参考杆长度方向的居中线滑动。
在一些实施例中，所述水平参考杆可沿所述第二连接杆的长度方向相对所述第二连接杆滑动。
在一些实施例中，所述水平参考杆包括移动部和自所述移动部垂直延伸的转动部，所述移动部套设于所述第二连接杆，所述移动部可沿所述第二连接杆的长度方向相对所述第二连接杆滑动，所述转动部可相对所述第二连接杆转动，所述激光器活动安装于所述转动部。
在一些实施例中，所述辅助定位装置包括第一锁紧机构，所述第一锁紧机构可将所述水平参考杆相对所述第二连接杆锁紧，以限制所述水平参考杆相对于所述第二连接杆移动。
在一些实施例中，所述第一锁紧机构包括锁紧环、第一锁紧螺栓及第一锁紧螺母；
所述锁紧环的两端设有供所述第一锁紧螺栓穿过的第一过孔及第一通孔，所述第一锁紧环套设于所述移动部，所述第一锁紧螺母用于在所述第一锁紧螺栓穿过所述第一过孔及第一通孔后与所述第一锁紧螺栓配合。
在一些实施例中，在所述水平参考杆与所述第二连接杆的连接处，所述水平参考杆与所述第二连接杆二者之一设置有第一弧形刻度，另一者设置有第一 参考指示线。
在一些实施例中，所述辅助定位装置还包括第二锁紧机构，所述第二锁紧机构用于将所述激光器相对于所述水平参考杆锁紧，以限制所述激光器相对于所述水平参考杆活动。
在一些实施例中，所述第二锁紧机构包括锁紧板、第二锁紧螺栓及第二锁紧螺母，所述锁紧板固定于所述激光器，所述锁紧板上设置有供所述第二锁紧螺栓穿过的弧形孔，所述水平参考杆上设置有供所述第二锁紧螺栓穿过的滑槽，所述第二锁紧螺母用于在所述第二锁紧螺栓穿过所述弧形孔及滑槽后与所述第二锁紧螺栓配合；
其中，所述第二螺栓可沿所述弧形孔的弧度方向滑动，且所述弧形孔的弧度之和大于或等于180度。
在一些实施例中，所述水平参考杆上套设有滑块，所述滑块可沿所述水平参考杆长度方向滑动，所述滑块上设置有供所述第二锁紧螺栓穿过的第二过孔，所述第二锁紧螺栓穿过所述弧形孔、第二过孔及滑槽后与所述第二锁紧螺母配合；
其中，所述第二锁紧螺母旋紧时与所述滑块抵接。
在一些实施例中，所述弧形孔上设置有第二弧形刻度，所述第二锁紧螺栓上设置有第二参考指示线。
在一些实施例中，所述第一固定器包括第一安装座及两个第一卡爪组件，两个所述第一卡爪组件卡接于所述前轮的轮毂，所述第一安装座位于两个所述第一卡爪组件的中心位置，所述第一固定杆的第一端安装于所述第一安装座；
所述第二固定器包括第二安装座及两个第二卡爪组件，所述第二安装座位于两个所述第二卡爪组件的中心位置，两个所述第二卡爪组件卡接于所述后轮的轮毂，所述第一固定杆的第二端安装于所述第二安装座。
本发明实施例还提供一种辅助定位方法，包括上述的辅助定位装置，所述方法包括：
调整所述第一固定器和第二固定器，确保沿所述第一连接杆长度方向的居中线所在的竖直面平行于所述汽车的中轴面；
转动所述激光器，直至所述激光器发射的激光在所述水平参考杆上的激光 线方向与所述水平参考杆长度方向的居中线平行；
转动所述水平参考杆，直至所述激光器发射的激光在所述第一连接杆上的激光线方向与所述第一连接杆长度方向的居中线平行，并记该位置为零点位置；
获取所述待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装角度及安装方向；
根据所述安装方向和安装角度，调整所述水平参考杆，以使所述水平参考杆和第一连接杆之间的夹角与所述安装角度相同，以及，所述水平参考杆相对于所述第一连接杆的偏转方向与所述安装方向相同，其中，所述第一连接杆和调整后的所述水平参考杆用于辅助安装所述待安装雷达组件。
在一些实施例中，所述根据所述安装方向和安装角度，调整所述水平参考杆，以使所述水平参考杆和第一连接杆的夹角与所述安装角度相同的步骤，进一步包括：
将所述激光器朝与所述安装方向相反的方向水平转动所述安装角度；
转动所述水平参考杆，直至所述激光器发射的激光在所述第一连接杆上的激光线方向与所述第一连接杆长度方向的居中线平行。
本发明实施例的有益效果：
本发明实施例提供的一种辅助定位装置及定位方法通过调节激光器和水平参考杆即可确定待安装雷达组件安装于汽车一侧的侧面安装位置。
附图说明
一个或多个实施例通过与之对应的附图中的图片进行示例性说明，这些示例性说明并不构成对实施例的限定，附图中具有相同参考数字标号的元件表示为类似的元件，除非有特别申明，附图中的图不构成比例限制。
图1是本发明其中一实施例提供的一种辅助定位装置的平面示意图；
图2是图1所示的辅助定位装置中第一固定器的应用场景示意图；
图3是图1所示的辅助定位装置中第一固定器的结构示意图；
图4是图1所示的辅助定位装置中第二固定器的结构示意图；
图5是图3所示的第一固定器中第一驱动模块的结构示意图；
图6是图1所示的辅助定位装置中水平参考杆与第二连接杆的安装示意图；
图7是图1所示的辅助定位装置中水平参考杆与第二连接杆的又一安装示意图；
图8是图1所示的辅助定位装置中水平参考杆与激光器的安装示意图；
图9是图1所示的辅助定位装置中水平参考杆与激光器的又一安装示意图；
图10是本发明又一实施例提供的一种辅助定位方法的流程示意图；
图11是图10所示的辅助定位方法中步骤S50的子流程示意图。
具体实施方式
为了便于理解本发明，下面结合附图和具体实施例，对本发明进行更详细的说明。需要说明的是，当元件被表述“固定于”另一个元件，它可以直接在另一个元件上、或者其间可以存在一个或多个居中的元件。当一个元件被表述“连接”另一个元件，它可以是直接连接到另一个元件、或者其间可以存在一个或多个居中的元件。本说明书所使用的术语“上”、“下”、“内”、“外”、“垂直的”、“横向的”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性。
除非另有定义，本说明书所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是用于限制本发明。本说明书所使用的术语“和/或”包括一个或多个相关的所列项目的任意的和所有的组合。
此外，下面所描述的本发明不同实施例中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
请参阅图1，为本发明实施例提供的一种辅助定位装置，包括第第一固定 器10、第二固定器20、第一连接杆30、第二连接杆40、水平参考杆50及激光器60，所述第一固定器10安装于汽车一侧的前轮(如图2所示)，所述第二固定器20安装于所述汽车一侧的后轮，且所述第一固定器10和所述第二固定器20位于所述汽车的同一侧，所述第一连接杆30连接于所述第一固定器10与所述第二固定器20之间，并且沿所述第一连接杆30长度方向的居中线O1所在的竖直面与所述汽车的中轴面平行。所述第二连接杆40垂直于所述第一连接杆30设置。所述水平参考杆50安装于所述第二连接杆40并可绕所述第二连接杆40转动，且沿所述水平参考杆50长度方向的居中线所在的水平面与所述汽车的中轴面垂直。所述激光器60活动安装于所述水平参考杆50上，所述激光器60用于向下发射激光以在位于所述激光器60下的物体上形成激光线，所述激光器60相对于所述水平参考杆50的水平角度可被调节为待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车的中轴面的角度，所述激光器60相对于所述第一连接杆30的水平角度为在沿所述第一连接杆30长度方向的居中线所在的水平面内所述激光器60发射的激光线方向与沿所述第一连接杆30长度方向的居中线的角度。
需要说明的是：所述汽车的中轴面是指：垂直于地面且经过汽车两前轮中点及两后轮中点的平面。
所述待安装雷达组件的能量收发面是指：雷达的天线面或者与雷达的天线面平行的平面。
可以理解，所述汽车一侧包括汽车后视镜下方，或者汽车侧护栏处。
请一并参阅图3和图4，在一些实施例中，所述第一固定器10和第二固定器20可为相同结构，均可以为轮毂夹持装置，例如，所述第一固定器10包括第一安装座110、两个第一卡爪组件120、第一驱动模块130及第一锁紧模块140，所述第一安装座110位于两个所述第一卡爪组件120的中心位置，所述第一连接杆30的第一端安装于所述第一安装座110，两个所述第一卡爪组件120卡接于所述前轮的轮毂，两个所述第一卡爪组件120安装于所述第一驱动模块130，所述第一驱动模块130用于同步驱动两个所述第一卡爪组件120移动，使得两个所述第一卡爪组件120可相对所述第一安装座110同步相向或相背运动，以适应不同大小的轮毂，所述第一锁紧模块140用于锁紧所述第一 驱动模块130，以确保两个所述第一卡爪组件120固定不动。
所述第二固定器20包括第二安装座210、两个第二卡爪组件220、第二驱动模块230及第二锁紧模块240，所述第二安装座210位于两个所述第二卡爪组件220的中心位置，所述第一连接杆30的第二端安装于所述第二安装座210，两个所述第二卡爪组件220卡接于所述后轮的轮毂，两个所述第二卡爪组件220安装于所述第二驱动模块230，所述第二驱动模块230用于同步驱动两个所述第二卡爪组件220移动，使得两个所述第二卡爪组件220可相对所述第二安装座210同步相向或相背运动，以适应不同大小的轮毂，所述第二锁紧模块240用于锁紧所述第二驱动模块230，以确保两个所述第二卡爪组件220固定不动。
所述第一驱动模块130和第二驱动模块230可为丝杆机构，本文以第一驱动模块130为例进行说明。
例如所述第一驱动模块130包括导向组件及驱动件131，所述导向组件用于引导两个所述第一卡爪组件120移动，所述驱动件131用于同步驱动两个所述第一卡爪组件120相互靠近或远离。
具体地，请参阅图5，所述驱动件131可为驱动杆，包括左旋螺纹部、右旋螺纹部以及连接部，所述连接部连接所述左旋螺纹部以及右旋螺纹部，所述左旋螺纹部以及右旋螺纹部相对设置。其中，所述左旋螺纹部设有左旋螺纹，所述右旋螺纹部设有右旋螺纹，一所述第一卡爪组件120螺接于所述左旋螺纹部，另一所述第一卡爪组件120螺接于所述右旋螺纹部，由此，当转动所述驱动件131时，两个所述第一卡爪组件120同步移动相同的距离，以确保所述第一安装座110始终处于两个所述第一卡爪组件120的正中间，确保所述第一安装座110的中心轴线与其安装轮毂的中心轴线重合。
所述导向组件包括第一导向柱132、第二导向柱133以及连接块134，所述第一导向柱132和第二导向柱133分别位于所述驱动件131的两侧，一所述第一卡爪组件120安装于所述第一导向柱132以及第二导向柱133的一端，另一所述第一卡爪组件120安装于所述第一导向柱132以及第二导向柱133的另一端。
所述驱动件131与所述连接块134连接。具体的来说，所述第一导向柱 132的一端依次穿过两个所述第一卡爪组件120后与所述连接块134连接，所述第一导向柱132的另一端与所述锁紧模块140连接，同样的，所述第二导向柱133的一端依次穿过两个所述第一卡爪组件120后与所述连接块134的另一端连接，并且，所述第一导向柱132与所述第二导向柱133相互平行。由此，两个所述第一卡爪组件120可沿着所述第一导向柱132以及所述第二导向柱133移动，以确保两个所述第一卡爪组件120沿着预设路径移动。
所述驱动件131的一端与所述连接块134连接，另一端与所述锁紧模块140连接。
可以理解，所述导向组件210除了上述的第一导向柱132、第二导向柱133以及连接块134的形式以外，还可以是至少两对滑块与两个导轨的方式，例如滑块固定第一卡爪组件上，滑块滑动连接于导轨。
对于所述第一锁紧模块140结构，本申请实施例不予任何限制，只要能限制所述驱动件131转动即可。
所述第一连接杆30的第一端安装于所述第一安装座110，所述第一连接杆30的第二端安装于所述第二安装座210，具体的，所述第一安装座110上设置有用于安装所述第一连接杆30的第一安装孔，所述第一安装孔与所述第一安装座110的中心轴同轴；所述第二安装座210上设置有用于安装所述第一连接杆30的第二安装孔，所述第二安装孔与所述第二安装座210的中心轴同轴，从而保证所述第一固定杆30长度方向的居中线所在的竖直面与所述汽车的中轴面平行。
所述第一安装孔和第二安装孔可均为螺纹孔，所述第一连接杆30的两端可分别设置有螺纹，通过第一连接杆30与第一安装孔及第二安装孔的配合以使所述第一连接杆30固定于所述第一安装座110与第二安装座120之间。
当然，所述第一固定器10和第二固定器20的结构也可不同，只要满足所述第一固定器10和第二固定器20能卡接于汽车的轮毂，且沿所述第一连接杆30长度方向的居中线所在的竖直面与所述汽车的中轴面平行即可。
在一些实施例中，所述第二连接杆40安装于所述第二安装座120且与所述第一连接杆30垂直。在其他一些实施例中，所述第二连接杆40可安装于地面或其他装置，只要保证所述第二连接杆40与所述第一连接杆30垂直即可， 对此本申请实施例不作任何限制。
在一些实施例中，所述水平参考杆50仅可绕所述第二连接杆40转动，或者，所述水平参考杆50既可绕所述第二连接杆40转动，又可沿所述第二连接杆40的长度方向相对于所述第二连接杆40滑动。
所述水平参考杆50可为L型、T型或直线型等结构。
本申请以所述水平参考杆50为T型为例进行说明。
请参阅图6，所述水平参考杆50包括移动部510及沿所述移动部510垂直延伸的转动部520，所述移动部510套设于所述第二连接杆40且可绕所述第二连接杆40转动，所述激光器60活动安装于所述转动部520。
可以理解，在所述移动部510的一端为封闭端，另一端为开放端时，所述移动部510套设于所述第二连接杆40且所述移动部510的封闭端与所述第二连接杆40的顶部抵接，此时，所述水平参考杆50仅可绕所述第二连接杆40转动；在所述移动部510的两端均为开放端时，所述移动部510套设于所述第二连接杆40且可以沿所述第二连接杆40滑动，此时，所述水平参考杆50既可绕所述第二连接杆40转动，又可沿所述第二连接杆40的长度方向相对于所述第二连接杆40滑动。
本文以所述水平参考杆50既可绕所述第二连接杆40转动，又可沿所述第二连接杆40的长度方向相对于所述第二连接杆40滑动为例进行说明。
在一些实施例中，所述辅助定位装置包括第一锁紧机构70，所述第一锁紧机构70可将所述水平参考杆50相对所述第二连接杆40锁紧，以限制所述水平参考杆50相对于所述第二连接杆40移动，
需要说明的是：限制所述水平参考杆50相对于所述第二连接杆40移动是指：限制所述平参考杆50相对于所述第二连接杆40转动及滑动。
所述第一锁紧机构70包括锁紧环、第一锁紧螺栓及第一锁紧螺母，所述第一锁紧环套设于所述移动部510，所述锁紧环的两端设有供所述第一锁紧螺栓穿过的第一过孔及第一通孔，所述第一锁紧螺母用于在所述第一锁紧螺栓穿过所述第一过孔及第一通孔后与所述第一锁紧螺栓配合。
在所述第一锁紧螺母拧紧时，所述第一锁紧机构70实现对所述水平参考杆50的锁紧；在所述水平参考杆50需相对于所述第二连接杆40转动或滑动 时，旋松所述第一锁紧螺栓即可。
值得说明的是，在一些实施例中，所述第一锁紧环可省略，所述移动部设置成开环结构，所述开环结构构成上述的锁紧环，如图7所示。
可以理解，所述第一锁紧机构70也可为其他机构，例如所述第一锁紧机构包括两个锁紧螺母，所述连接杆40的外表面设置有螺纹，两个锁紧螺母分别螺接于所述连接杆的两端，所述移动部位于两个螺母之间，当两个螺母相对旋紧并与所述移动部抵接时，即可对所述水平参考杆50进行锁紧，当所述水平参考杆50需相对于所述第二连接杆40转动或滑动时，旋松两个锁紧螺母，此时，所述水平参考杆可绕所述第二连接杆40转动，且所述水平参考杆可沿所述第二连接杆40在两个锁紧螺母之间滑动。
可以理解，所述第一锁紧机构70的结构形式不限于本申请实施例，其他能限制所述水平参考杆50转动及滑动的方式均包含在本申请实施例中。
在一些实施例中，在所述水平参考杆50与所述第二连接杆40相连接处，所述水平参考杆50与所述第二连接杆二者之一设置有第一弧形刻度，另一者设置有第一参考指示线O2，例如，所述移动部510上设置有所述第一弧形刻度，所述第二连接杆40上设置有所述第一参考指示线O2(所述第一参考指示线O2可为位于所述第二连接杆40的外表面的直线，并从所述第二连接杆的顶部延伸至所述第二连接杆的底部，如图6所示)，从而在所述水平参考杆50相对所述第二连接杆40转动时，可根据所述第一参考指示线O2及所述移动部上的第一弧形刻度知道所述水平参考杆50转动的角度。
在一些实施例中，所述第一参考指示线O2上设置有距离刻度，从而在所述水平参考杆50相对所述第二连接杆40滑动时，可根据所述第一参考指示线O2上的距离刻度知道所述水平参考杆50滑动的距离。
可以理解，也可将所述第一参考指示线O2设置于所述移动部，所述第二连接杆40上设置弧形刻度，为方便观察，该弧形刻度从所述第二连接杆的顶部延伸至第二连接杆的底部。
通过所述水平参考杆50相对于所述第二连接杆40的移动，可以调节所述激光器60相对于所述第一连接杆30的水平角度。
所述激光器60活动安装于所述水平参考杆50上，在本发明实施例中，所 述激光器60活动安装于所述水平参考杆50上，是指所述激光器60可相对所述水平参考杆50水平转动。
例如，所述激光器60可相对所述水平参考杆50水平转动，所述辅助定位装置还包括第二锁紧机构80，所述第二锁紧机构80用于将所述激光器60相对于所述水平参考杆50锁紧，以限制所述激光器60相对于所述水平参考杆50活动(如水平转动)。
所述激光器60相对于所述水平参考杆50水平转动及锁紧的机构可为同一机构，例如，所述第二锁紧机构80包括锁紧板81、第二锁紧螺栓82及第二锁紧螺母，所述锁紧板81连接于所述激光器60，所述锁紧板81与所述汽车的中轴面垂直，所述锁紧板81上设置有供所述第二锁紧螺栓82穿过的弧形孔811，所述水平参考杆50上设置有供所述第二锁紧螺栓82穿过的滑槽530，所述第二锁紧螺栓82可沿所述滑槽530滑动，所述滑槽530沿所述水平参考杆50的长度方向设置，所述第二锁紧螺母用于在所述第二锁紧螺栓82穿过所述弧形孔811及滑槽530后与所述第二锁紧螺栓82配合。其中，所述第二锁紧螺栓82可沿所述弧形孔811的弧度方向滑动，且所述弧形孔811的弧度之和大于或等于180度，通过所述第二锁紧螺栓82沿所述弧形孔811的弧度方向滑动，从而可以调节所述激光器60相对于所述水平参考杆50的水平角度。
在所述第二锁紧螺母旋紧时可实现所述激光器60相对于所述水平参考杆50的锁紧，在所述激光器60需相对所述水平参考杆50水平转动时，旋松所述第二锁紧螺母即可。
可以理解，所述激光器60与所述锁紧板81的连接可为固定连接或活动连接，例如所述激光器60固定连接于所述锁紧板81，或所述激光器60活动连接于所述锁紧板81，如铰接。当所述激光器活动连接(如铰接)于所述锁紧板81时，所述激光器在外力作用下才可相对所述锁紧板81活动。
在一些实施例中，所述弧形孔811上设置有第二弧形刻度，所述第二锁紧螺栓82上设置有第二参考指示线，通过所述弧形孔811上的第二弧形刻度及第二参考指示线，可知道所述激光器60相对所述水平参考杆50转动的水平角度。
在一些实施例中，所述激光器60还可沿所述水平参考杆50的长度方向滑 动，为限制所述激光器60沿其他方向滑动，所述水平参考杆50的转动部520为方形结构，所述锁紧板81平行于所述转动部520的顶面，所述转动部520上套设有滑块90，所述滑块90可沿所述水平参考杆50的长度方向滑动，所述滑块90上设置有供所述第二锁紧螺栓82穿过的第二过孔，所述第二锁紧螺栓穿过所述弧形孔、第二过孔及滑槽530后与所述第二锁紧螺母配合，在所述第二锁紧螺母旋紧时，所述锁紧板81与所述滑块90保持相对固定，所述滑块90可带动所述第二锁紧装置80及激光器60沿所述水平参考杆50的长度方向滑动。
值得说明的是，在所述第二锁紧螺母旋紧时，所述第二锁紧螺母与所述滑块抵接。
为确保所述滑块从所述水平参考杆的顶部取出，所述水平参考杆的侧面及与所述滑块与所示水平参考的侧面相对的一侧面的二者之一设置有凸筋，另一者设置有收容所述凸筋的凹槽，所述凸筋可沿所述凹槽滑动。
可以理解，所述滑块80在外力作用下才可以沿所述水平参考杆的长度方向滑动。
在其他一些实施例中，所述锁紧板81可以省略，如图9所示，所述第二锁紧机构80包括第二锁紧螺栓82及第二锁紧螺母，所述激光器60安装于所述第二锁紧螺栓82上，所述第二锁紧螺栓穿过所述第二过孔及滑槽530后与所述第二锁紧螺母配合，转动所述第二锁紧螺栓即可调节所述激光器60相对所述水平参考杆50的水平角度。此种方式下，在所述第二螺栓82和所述滑块90的连接处，所述第二锁紧螺栓82和所述滑块90二者之一设置有第二弧形刻度，另一者设置有第二参考指示线。同样，所述激光器60可活动安装于所述第二锁紧螺栓82也可固定安装于所述第二锁紧螺栓82。
所述激光器60可沿所述水平参考杆50滑动是为了使所述激光器60发射的激光能在所述第一连接杆30上形成激光线，避免所述激光器60向下发射激光时，因所述水平参考杆50的遮挡无法在所述第一连接杆30上形成激光线。
当然，为保证所述激光器60发射的激光能在所述第一连接杆30上形成激光线，所述第一连接杆的长度要大于所述水平参考杆50转动部520的长度。
应当理解，所述激光器60相对于所述水平参考杆50活动及锁紧的机构不 限于本申请实施例，其他能使激光器相对所述水平参考杆活动及锁紧的机构均包含在本申请实施例中。
具体实施时，旋松所述第二锁紧螺母，转动所述激光器60，直至所述激光器60在所述水平参考杆50上的激光线方向与所述水平参考杆50长度方向的居中线平行，旋紧所述第二锁紧螺母，记录此时所述第二参考指示线相对于所述第二弧形刻度的角度，记为A1；旋松所述第一锁紧螺母，转动所述水平参考杆50，直至所述激光器60发射的激光在所述第一连接杆30上的激光线方向与所述第一连接杆30长度方向的居中线O1平行，旋紧所述第二锁紧螺母，记录此时所述第一参考指示线O2相对于所述第一弧形刻度的角度为B1，并指定该位置为零点位置；获取所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装角度及安装方向，旋松所述第二锁紧螺母，将所述激光器60朝与所述安装方向相反的方向水平转动所述安装角度，旋紧所述第二锁紧螺母，记录此时第二参考指示线相对于所述第二弧形刻度的角度，记为A2；旋松所述第一锁紧螺母，再转动所述水平参考杆50，直至所述激光器60发射的激光在所述第一连接杆30上的激光线方向与所述第一连接杆30的长度方向的居中线平行，旋紧所述第二锁紧螺母，记录此时第一参考指示线O2相对于所述第一弧形刻度的角度为B2。
此时，根据所述水平参考杆50相对于所述第一连接杆30的位置即可确定所述待安装雷达组件安装于所述汽车一侧的侧面位置，即雷达组件的能量收发面相对于汽车一侧的角度被确定。
可以理解，A1与A2之差及B1与B2之差均为所述安装角度。
在上述实施方式中，可以根据需求滑动所述滑块90。
请一并参阅图10和图11本申请实施例提供的一种辅助定位方法，包括上述的辅助定位装置，用于辅助安装上述的待安装雷达组件。
步骤S10、调整所述第一固定器10和第二固定器20，确保沿所述第一连接杆30长度方向的居中线所在的竖直面平行于所述汽车的中轴面；
步骤S20、转动所述激光器60，直至所述激光器发射的激光在所述水平参考杆50上的激光线方向与所述水平参考杆长度方向的居中线平行；
步骤S30、转动所述水平参考杆50，直至所述激光器60发射的激光在所 述第一连接杆30上的激光线方向与所述第一连接杆30长度方向的居中线平行，并记该位置为零点位置；
步骤S40、获取所述待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装角度及安装方向；
需要说明的是，所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装角度是指：所述激光器60相对于所述第一连接杆30的水平角度。所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装方向是指：所述激光器相对于所述第一连接杆的偏转方向。其中，所述激光器60相对于所述第一连接杆30的水平角度为在沿所述第一连接杆30长度方向的居中线所在的水平面内所述激光器发射的激光线方向与沿所述第一连接杆长度方向的居中线O1的角度。
步骤S50、根据所述安装方向和安装角度，调整所述水平参考杆50，以使所述水平参考杆50和第一连接杆30之间的夹角与所述安装角度相同，以及，所述水平参考杆50相对于所述第一连接杆30的偏转方向与所述安装方向相同。
需要说明的是，所述第一连接杆30和调整后的所述水平参考杆50用于辅助安装所述待安装雷达组件。
需要说明的是，所述根据所述安装方向和安装角度，调整所述水平参考杆50，以使所述水平参考杆50和第一连接杆之间的夹角与所述安装角度相同的步骤，进一步包括：
步骤S510、将所述激光器60朝与所述安装方向相反的方向水平转动所述安装角度；
步骤S520、转动所述水平参考杆50，直至所述激光器60发射的激光在所述第一连接杆上的激光线方向与所述第一连接杆长度方向的居中线平行。
本发明实施例提供的一种辅助定位装置及方法，通过调整激光器和水平参考杆即可确定待安装雷达组件安装于所述汽车一侧的侧面的安装位置。操作简单，方便快捷，且安装精度高。
最后应说明的是：以上实施例仅用以说明本发明的技术方案，而非对其限制；在本发明的思路下，以上实施例或者不同实施例中的技术特征之间也可以进行组合，步骤可以以任意顺序实现，并存在如上所述的本发明的不同方面的许多其它变化，为了简明，它们没有在细节中提供；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (15)

  1. 一种辅助定位装置，其特征在于，包括：
    第一固定器，安装于汽车一侧的前轮；
    第二固定器，安装于所述汽车一侧的后轮，且所述第一固定器和所述第二固定器位于所述汽车的同一侧；
    第一连接杆，连接于所述第一固定器与所述第二固定器之间，并且沿所述第一连接杆长度方向的居中线所在的竖直面与所述汽车的中轴面平行；
    第二连接杆，垂直于所述第一连接杆设置；
    水平参考杆，安装于所述第二连接杆并可绕所述第二连接杆转动，且沿所述水平参考杆长度方向的居中线所在的水平面垂直于沿所述第一连接杆的长度方向的居中线所在的水平面；
    激光器，活动安装于所述水平参考杆上，所述激光器用于向下发射激光以在位于所述激光器下的物体上形成激光线，所述激光器相对于所述第一连接杆的水平角度可被调节为待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车的中轴面的角度，所述激光器相对于所述第一连接杆的水平角度为在沿所述第一连接杆长度方向的居中线所在的水平面内所述激光器发射的激光线方向与沿所述第一连接杆长度方向的居中线的角度。
  2. 根据权利要求1所述的辅助定位装置，其特征在于，
    所述激光器可相对所述水平参考杆水平转动。
  3. 根据权利要求2所述的辅助定位装置，其特征在于，
    所述激光器可沿所述水平参考杆长度方向的居中线滑动。
  4. 根据权利要求1所述的辅助定位装置，其特征在于，
    所述水平参考杆可沿所述第二连接杆的长度方向相对所述第二连接杆滑动。
  5. 根据权利要求4所述的辅助定位装置，其特征在于，
    所述水平参考杆包括移动部和自所述移动部垂直延伸的转动部，所述移动部套设于所述第二连接杆，所述移动部可沿所述第二连接杆的长度方向相对所述第二连接杆滑动，所述转动部可相对所述第二连接杆转动，所述激光器活动安装于所述转动部。
  6. 根据权利要求5所述的辅助定位装置，其特征在于，
    所述辅助定位装置包括第一锁紧机构，所述第一锁紧机构可将所述水平参考杆相对所述第二连接杆锁紧，以限制所述水平参考杆相对于所述第二连接杆移动。
  7. 根据权利要求6所述的辅助定位装置，其特征在于，
    所述第一锁紧机构包括锁紧环、第一锁紧螺栓及第一锁紧螺母；
    所述锁紧环的两端设有供所述第一锁紧螺栓穿过的第一过孔及第一通孔，所述第一锁紧环套设于所述移动部，所述第一锁紧螺母用于在所述第一锁紧螺栓穿过所述第一过孔及第一通孔后与所述第一锁紧螺栓配合。
  8. 根据权利要求1所述的辅助定位装置，其特征在于，
    在所述水平参考杆与所述第二连接杆的连接处，所述水平参考杆与所述第二连接杆二者之一设置有第一弧形刻度，另一者设置有第一参考指示线。
  9. 根据权利要求3所述的辅助定位装置，其特征在于，
    所述辅助定位装置还包括第二锁紧机构，所述第二锁紧机构用于将所述激光器相对于所述水平参考杆锁紧，以限制所述激光器相对于所述水平参考杆活动。
  10. 根据权利要求9所述的辅助定位装置，其特征在于，
    所述第二锁紧机构包括锁紧板、第二锁紧螺栓及第二锁紧螺母，所述锁紧板固定于所述激光器，所述锁紧板上设置有供所述第二锁紧螺栓穿过的弧形孔，所述水平参考杆上设置有供所述第二锁紧螺栓穿过的滑槽，所述第二锁紧 螺母用于在所述第二锁紧螺栓穿过所述弧形孔及滑槽后与所述第二锁紧螺栓配合；
    其中，所述第二螺栓可沿所述弧形孔的弧度方向滑动，且所述弧形孔的弧度之和大于或等于180度。
  11. 根据权利要求10所述的辅助定位装置，其特征在于，
    所述水平参考杆上套设有滑块，所述滑块可沿所述水平参考杆长度方向滑动，所述滑块上设置有供所述第二锁紧螺栓穿过的第二过孔，所述第二锁紧螺栓穿过所述弧形孔、第二过孔及滑槽后与所述第二锁紧螺母配合；
    其中，所述第二锁紧螺母旋紧时与所述滑块抵接。
  12. 根据权利要求10所述的辅助定位装置，其特征在于，
    所述弧形孔上设置有第二弧形刻度，所述第二锁紧螺栓上设置有第二参考指示线。
  13. 根据权利要求1所述的辅助定位装置，其特征在于，
    所述第一固定器包括第一安装座及两个第一卡爪组件，两个所述第一卡爪组件卡接于所述前轮的轮毂，所述第一安装座位于两个所述第一卡爪组件的中心位置，所述第一固定杆的第一端安装于所述第一安装座；
    所述第二固定器包括第二安装座及两个第二卡爪组件，所述第二安装座位于两个所述第二卡爪组件的中心位置，两个所述第二卡爪组件卡接于所述后轮的轮毂，所述第一固定杆的第二端安装于所述第二安装座。
  14. 一种辅助定位方法，包括如权利要求1至13任一项所述的辅助定位装置，其特征在于，所述方法包括：
    调整所述第一固定器和第二固定器，确保沿所述第一连接杆长度方向的居中线所在的竖直面平行于所述汽车的中轴面；
    转动所述激光器，直至所述激光器发射的激光在所述水平参考杆上的激光线方向与所述水平参考杆长度方向的居中线平行；
    转动所述水平参考杆，直至所述激光器发射的激光在所述第一连接杆上的 激光线方向与所述第一连接杆长度方向的居中线平行，并记该位置为零点位置；
    获取所述待安装雷达组件安装于所述汽车一侧时，所述待安装雷达组件的能量收发面相对于所述汽车中轴面的安装角度及安装方向；
    根据所述安装方向和安装角度，调整所述水平参考杆，以使所述水平参考杆和第一连接杆之间的夹角与所述安装角度相同，以及，所述水平参考杆相对于所述第一连接杆的偏转方向与所述安装方向相同，其中，所述第一连接杆和调整后的所述水平参考杆用于辅助安装所述待安装雷达组件。
  15. 根据权利要求14所述的方法，其特征在于，还包括：
    所述根据所述安装方向和安装角度，调整所述水平参考杆，以使所述水平参考杆和第一连接杆的夹角与所述安装角度相同的步骤，进一步包括：
    将所述激光器朝与所述安装方向相反的方向水平转动所述安装角度；
    转动所述水平参考杆，直至所述激光器发射的激光在所述第一连接杆上的激光线方向与所述第一连接杆长度方向的居中线平行。
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