CA3125281A1 - Alignement de cible robotique permettant un etalonnage de capteur de vehicule - Google Patents

Alignement de cible robotique permettant un etalonnage de capteur de vehicule Download PDF

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Publication number
CA3125281A1
CA3125281A1 CA3125281A CA3125281A CA3125281A1 CA 3125281 A1 CA3125281 A1 CA 3125281A1 CA 3125281 A CA3125281 A CA 3125281A CA 3125281 A CA3125281 A CA 3125281A CA 3125281 A1 CA3125281 A1 CA 3125281A1
Authority
CA
Canada
Prior art keywords
vehicle
support stand
equipped vehicle
target
disposed
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.)
Pending
Application number
CA3125281A
Other languages
English (en)
Inventor
Jon D. Lawrence
Ryan M. Jefferies
Nicholas R. Nelson
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.)
BPG Sales and Technology Investments LLC
Original Assignee
BPG Sales and Technology Investments LLC
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
Priority claimed from US16/398,404 external-priority patent/US11624608B2/en
Application filed by BPG Sales and Technology Investments LLC filed Critical BPG Sales and Technology Investments LLC
Publication of CA3125281A1 publication Critical patent/CA3125281A1/fr
Pending legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M17/00—Testing of vehicles
    • G01M17/007—Wheeled or endless-tracked vehicles
    • G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls
    • G01M17/0074—Details, e.g. roller construction, vehicle restraining devices
    • 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
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • 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
    • 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
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/88—Sonar systems specially adapted for specific applications
    • G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
    • G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/4004—Means for monitoring or calibrating of parts of a radar system
    • G01S7/4026—Antenna boresight
    • 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
    • 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
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G01S7/4972—Alignment of sensor
    • 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
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/52004—Means for monitoring or calibrating
    • 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
    • G01S2013/9323—Alternative operation using light waves
    • 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
    • G01S2013/9324—Alternative operation using ultrasonic waves

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Acoustics & Sound (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Manipulator (AREA)
  • Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)

Abstract

L'invention concerne un système robotique et un procédé d'alignement d'une cible (36) sur un véhicule équipé (34) destiné à l'étalonnage d'un capteur (32) sur le véhicule équipé (34) comprenant un support de maintien de véhicule (42, 142, 242) sur le véhicule équipé (34) disposé dans une position connue établie pour l'étalonnage du capteur (32), et un manipulateur robotique (38) possédant un bras robotique multi-axe (38a) conçu pour maintenir mobile une cible (36). Le manipulateur robotique (38) est conçu pour positionner la cible (36) dans une position d'étalonnage par rapport au capteur (32) sur le véhicule (34) par le déplacement longitudinal du manipulateur robotique (38) par rapport au support de maintien (42, 142, 242) et par le déplacement du bras robotique (38a) sur la base de la position connue établie du véhicule (34) sur le support de maintien (42, 142, 242), le capteur pouvant être étalonné à l'aide de la cible (36).
CA3125281A 2018-12-31 2019-12-31 Alignement de cible robotique permettant un etalonnage de capteur de vehicule Pending CA3125281A1 (fr)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201862786896P 2018-12-31 2018-12-31
US62/786,896 2018-12-31
US16/398,404 2019-04-30
US16/398,404 US11624608B2 (en) 2018-04-30 2019-04-30 Vehicular alignment for sensor calibration
PCT/IB2019/061464 WO2020141455A1 (fr) 2018-12-31 2019-12-31 Alignement de cible robotique permettant un étalonnage de capteur de véhicule

Publications (1)

Publication Number Publication Date
CA3125281A1 true CA3125281A1 (fr) 2020-07-09

Family

ID=71407383

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3125281A Pending CA3125281A1 (fr) 2018-12-31 2019-12-31 Alignement de cible robotique permettant un etalonnage de capteur de vehicule

Country Status (7)

Country Link
EP (1) EP3906398A4 (fr)
JP (1) JP7566752B2 (fr)
KR (1) KR20210110858A (fr)
CN (1) CN113544485A (fr)
AU (1) AU2019419248A1 (fr)
CA (1) CA3125281A1 (fr)
WO (1) WO2020141455A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102020122563B4 (de) 2020-08-28 2023-05-25 Beissbarth Gmbh Messkopf sowie Befestigungseinrichtung dafür
CN114019465A (zh) * 2021-11-03 2022-02-08 蔚来汽车科技(安徽)有限公司 传感器联合标定系统和方法、车辆以及存储介质
DE102022118260B3 (de) * 2022-07-21 2023-10-05 Dürr Assembly Products GmbH Verfahren zur Kalibrierung und/oder Justierung des intrinsischen Koordinatensystems eines Fahrzeugaggregats relativ zu einem Koordinatensystem des Fahrzeugs und Fahrzeugprüfstand zur Durchführung des Verfahrens
CN118466265A (zh) * 2023-02-07 2024-08-09 安徽蔚来智驾科技有限公司 标定方法、系统、控制装置、可读存储介质及驾驶设备

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10022355C2 (de) * 2000-05-08 2003-03-13 Audi Ag Rollenprüfstand
JP2005055389A (ja) * 2003-08-07 2005-03-03 Banzai Ltd 車両試験機の車輪支持装置及びその車輪支持システム
WO2006124642A1 (fr) * 2005-05-13 2006-11-23 Snap-On Incorporated Systeme de fixation de module de mesure d’appareil d’alignement de roue
US7864309B2 (en) * 2007-05-04 2011-01-04 Burke E. Porter Machinery Company Non contact wheel alignment sensor and method
KR101510336B1 (ko) * 2013-11-14 2015-04-07 현대자동차 주식회사 차량용 운전자 지원 시스템의 검사 장치
US10521977B2 (en) * 2017-03-27 2019-12-31 GM Global Technology Operations LLC Methods and systems for integrated vehicle sensor calibration and maintenance

Also Published As

Publication number Publication date
WO2020141455A1 (fr) 2020-07-09
EP3906398A1 (fr) 2021-11-10
CN113544485A (zh) 2021-10-22
EP3906398A4 (fr) 2022-09-28
KR20210110858A (ko) 2021-09-09
JP2022515519A (ja) 2022-02-18
AU2019419248A1 (en) 2021-08-12
JP7566752B2 (ja) 2024-10-15

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Effective date: 20231201