Camera assembly, wheel positioning system and method for positioning wheels
A camera assembly for a wheel positioning system includes a base body and a camera main body. The base body is provided with target surfaces which are not in the same plane and are not in the same plane as that of a lens in the camera main body. The target surfaces are respectively provided with target elements, the spatial positional relationship between the target element and the camera main body is known, and the geometric characteristics of the target element are known. Therefore, the position of the camera main body can be determined by acquiring the positions of the target surfaces, and the positions of cameras on two sides of a vehicle can be indirectly determined without using a sensor or a preset camera fixing structure, thereby improving the measurement accuracy of calibration calculation.
1 . A method for vehicle wheel positioning, applied to a vehicle positioning system, wherein the vehicle positioning system comprises calibration apparatuses, a camera apparatus, and a camera assembly, the calibration apparatuses being attached to wheels of the vehicle respectively, the camera assembly being provided on one side of the vehicle, and the camera apparatus being provided on the other side of the vehicle, and wherein the method comprises:
acquiring a first calibration image, acquired by the camera assembly, of the calibration apparatus on one side of the vehicle;
determining a first position of the wheels on one side of the vehicle relative to the camera assembly according to the first calibration image;
acquiring a second calibration image, acquired by the camera apparatus, of the calibration apparatus on the other side of the vehicle, and a camera image of the camera assembly;
determining a second position of the wheels on the other side of the vehicle relative to the camera apparatus according to the second calibration image;
determining a relative position of the camera assembly with respect to the camera apparatus according to the camera image;
and determining positions of the wheels of the vehicle according to the first position, the second position, and the relative position;
wherein the camera assembly comprises at least one camera main body and a base body, the base body is provided with at least two target surfaces, the at least two target surfaces are not in a same plane, and the at least two target surfaces are not in the same plane as a face where a lens in the camera main body is located;
the at least two target surfaces each is provided with a target element, a spatial positional relationship between the target element and the camera main body is known, and geometric characteristics of the target element are known; and
the target element of each of the at least two target surfaces is used for a camera apparatus to determine a position of the camera assembly.