CN103217129A - Wheel alignment system and wheel alignment method - Google Patents
Wheel alignment system and wheel alignment method Download PDFInfo
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- CN103217129A CN103217129A CN2013100758274A CN201310075827A CN103217129A CN 103217129 A CN103217129 A CN 103217129A CN 2013100758274 A CN2013100758274 A CN 2013100758274A CN 201310075827 A CN201310075827 A CN 201310075827A CN 103217129 A CN103217129 A CN 103217129A
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Abstract
Provided are a wheel alignment system and a wheel alignment method. The wheel alignment system comprises driven targets used for a first pair of wheels such as front wheels, and driving sensing measuring heads used for the other pair of wheels such as rear wheels. The driving sensing measuring heads are used for combining image sensors and at least one space relationship sensor, wherein the image sensors are used for collecting target images, and the space relationship sensor is used for sensing the relationship between the driving sensing measuring heads. One of the driving sensing measuring heads or both of the driving sensing measuring heads can comprise devices such as a gradiometer, wherein the gradiometer is used for sensing one or more dip angles of each driving sensing measuring head. Data from the driving sensing measuring heads can be sent to a host computer to be processed so as to obtain one or more vehicle measuring results, such as measuring results of parameters which need to be used in a wheel location application.
Description
Technical field
This theme relates to utilization realizes wheel alignment based on the combination of the location technology of Flame Image Process and or multinomial other location technology technology and equipment.
Background technology
The various different angles that the current wheel alignment system that generally uses uses the sensor that is attached on the wheel or measuring head to measure wheel and suspension.Send these angles to host computer system, in host computer system, in the calculating of vehicle location angle, use these angles.In the conventional aligner configuration of standard, on wheel, have four location survey heads.Each sensor head comprises two levels or bundle angular measurement sensor or camber angle/front and back pitch sensor vertical with two.Each sensor head also comprise support all sensing datas to obtain and with the electronic circuit of orientator console communication, local user's input end and be used for the local display that feedback of status, diagnosis and calibration are supported.Must prepare four sensors and electronic circuit and mechanical cover that quadruplet constitutes each measuring head, because each wheel will have a cover.
In recent years, in some shop, use computer assisted three-dimensional (3D) machine vision alignment system and located automotive wheel.In such system, one or more cameras view are attached to the target (target) on the wheel, and the computing machine in the positioning system analyzes the image of target, with the position of determining wheel and the location of determining wheel according to wheel-position data.The result of calculation guiding operation person that this computing machine typically obtains according to the processing by view data correctly adjusts wheel and realizes accurate location.The wheel alignment system or the orientator of this Flame Image Process type is sometimes referred to as " 3D orientator ".The example that uses the wheel alignment meter of such Flame Image Process is can be by commercial means from Kang Wei city, the John Bean Company(Arkansas State) the Visualiner3D(three-dimensional visible orientator that obtains) or " V3D ", John Bean Company is the branch office of Snap On Tools Corp. (Snap-on Incorporated).
Conventional non-vision positioning system with the sensor that is directly installed on the wheel is becoming fair average quality.Because dog-eat-dog and the positioning system Flame Image Process type, that be not installed in the sensor on the wheel have obtained extensive approval, the market price of conventional system continues to drop.The main flow conventional alignment systems still needs very high precision and set function collection, yet lower-cost technology and manufacturing process are more welcome.Unfortunately, these progress may still only realize relying on increases the improvement that cost reaches.Expectation obtains is to use and has not only reduced cost but also kept precision and new-type system of taking turns the dress sensor head that function is constant.
Summary of the invention
The instruction of this paper combines with the position/orientation sensor of other wheel heads and has improved conventional alignment systems by the one or more targets that have the measuring head of video camera imaging equipment that are used for Flame Image Process orientator type.
For example, wheel alignment system can comprise a pair of driven measuring head and a pair of active sensing measuring head.Driven measuring head is suitable for and will installs in combination by first pair of wheel that the operation of wheel alignment system is measured.The active sensing measuring head is suitable for installing in combination with second pair of wheel of vehicle.Each driven measuring head comprises target, for example the target that can be observed by imageing sensor.Each active sensing measuring head comprises the imageing sensor that is used to produce view data, all has been installed to when installing in combination on each wheel of vehicle or with each wheel of vehicle at each measuring head, and the view data that is produced should comprise the image of driven target.This system also comprises the spatial relationship sensors that is associated with at least one active sensing measuring head.Spatial relationship sensors can realize the measurement of the spatial relationship between the active sensing measuring head when being installed in these active sensing measuring heads on the wheel.This system also comprises computing machine.The view data that this Computer Processing is relevant with the observation of target and from the position data of at least one spatial relationship sensors.This data processing can realize the calculating of at least one measurement result of vehicle.
According to another aspect of the present invention, the active sensing measuring head that is used in wheel alignment system comprises the imageing sensor that is used for being installed in the shell on the wheel that will measure by the operation of wheel alignment system and is installed in this shell.This imageing sensor produces view data.In measuring operation, view data typically comprises the image of the target that combines with another wheel of vehicle.The sensing measurement head also comprises at least one tilt sensor that is installed in the shell, the inclination angle of sensing active sensing measuring head when being used on the wheel that the active sensing measuring head is installed in vehicle.Spatial relationship sensors is installed in the shell, the spatial relationship between another active sensing measuring head on the different wheel that is used to measure the active sensing measuring head and be installed in vehicle.Communication interface makes the inclination angle reflected view data, institute's sensing and the principal computer that can be sent to wheel alignment system by the data of the position relation that records across position transducer from the active sensing measuring head.
The method that a kind of vehicle of taking at least a principle of lecturing according to this paper is measured relate to utilize with first measuring head that second wheel of vehicle is installed in combination in imageing sensor gather the image of the target that combines with first wheel of vehicle, to produce first view data.The image of the target that combines with the 3rd wheel of vehicle is to utilize the imageing sensor in second measuring head of installing in combination with the 4th wheel of vehicle to gather, to produce second view data; This method needs to measure the spatial relationship between first measuring head and second measuring head in addition.First view data and second view data and spatial relationship measurement are handled, to calculate at least one measurement result of vehicle.
Will in ensuing explanation, provide extra advantage of part and novel feature, and a part of advantage and novel feature are conspicuous for the those skilled in the art that read over hereinafter with accompanying drawing, perhaps can be by producing or operating these examples and understand.The advantage of the instruction of this paper can realize by method, means and the combination of specifically noting in practice or the use claims and obtain.
Description of drawings
Accompanying drawing has been described the one or more implementations according to this paper instruction, as just example, but not as restriction.In these accompanying drawings, identical Reference numeral refers to same or similar element.
Fig. 1 schematically graphic extension target and active sensing measuring head with respect to first kind of layout of wheel.
Figure 1A and Figure 1B illustrate the various dissimilar target that can be used on the driven measuring head.
Fig. 2 is the functional block diagram of hybrid wheel alignment system, and its element is installed in (but for the sake of simplicity, having omitted some other element of vehicle) on the wheel of being examined vehicle.
Fig. 3 is that some of this system is installed in the side view of the parts on the wheel, and wherein one of active sensor measuring head illustrates in the mode of partial cross-section detailed view.
Fig. 4 is the side view of one of active sensor measuring head of using when explaining camera axis and recording concerning between the pitching plane, front and back of gravity vector.
Fig. 5 is the rear view of one of active sensor measuring head of using when explaining video camera and recording concerning between the camber plane of gravity vector.
Fig. 6 is the functions of components block diagram of one of active sensor measuring head.
Fig. 7 illustrates target and the active sensing measuring head another kind of layout with respect to wheel schematically, in this case, uses extra target and image sensing to measure the initiatively spatial relationship between the measuring head.
Fig. 8 is that some of system of Fig. 7 are installed in the side view of the parts on the wheel, and wherein one of active sensor measuring head illustrates in the mode of partial cross-section detailed view, is similar to Fig. 3 generally; But wherein spatial relationship sensors adopts another video camera.
Fig. 9 is the functions of components block diagram of the active sensor measuring head shown in the detailed view among Fig. 7.
Figure 10 illustrates a series of optional layout schematically to Figure 18, and these optional layouts have the various heads/targets that is associated with the various combination of wheel and use various structure or equipment to carry out the spatial relationship sensing.
Embodiment
In the detailed introduction hereinafter, a large amount of details have been provided by way of example, in order that the thorough of relevant teachings is provided.But, to those skilled in the art, any is arranged be conspicuous, and the instruction of this paper need not these details and can put into practice.In other example, known method, process, parts and circuit are not relate to details ground to introduce with relative higher level, in order to avoid the main points of unnecessarily obscuring this paper instruction.
Example shown in each accompanying drawing has provided the relatively low positioning system of cost.These example system are " mixing " in essence, because they combine the measuring technique of the main points of Flame Image Process and or multinomial other type.Such commingled system is used visible target for two wheels of tested vehicle, target on for example driven measuring head, and use the combination of optical imaging sensor (for example video camera) and other alignment sensor in the active sensing measuring head of this system on being attached to two other wheel of vehicle.Driven measuring head manufactures obvious considerably cheaper than the measuring head that uses in the conventional alignment systems.The cost of active sensing measuring head in general can be similar with the cost of two measuring heads of conventional wheel positioning system.
Use the position and the orientation of two front-wheels of imaging technique measuring vehicle to contribute extra advantage, comprise the ability that draws under normal circumstances in low-cost system the measurement result that can not wheel alignment getable and be associated based on Flame Image Process.These extra measurement results can comprise scrub radius (US6,532,062), rolling radius (US6,237,234) and reverse caster (US6,661,751).
Now to shown in the accompanying drawing and the example of hereinafter discussing be elaborated.
Fig. 1 has drawn target and active sensing measuring head first kind of layout with respect to the wheel of tested vehicle 20, for example is used for measuring the positional parameter of one or more wheels.For the ease of diagram, omitted the part except wheel of vehicle.
This wheel alignment system comprises a pair of driven measuring head 21 and 23 on each wheel 22 and 24 that is installed in vehicle, and in this example, these two wheels are steering front wheels.Active sensing measuring head 25 and 27 is suitable for installing with other each wheel 26 and 28 of vehicle linked togetherly, and these two wheels are trailing wheels in this case.Each active sensing measuring head comprises the imageing sensor 29 or 31 that is used to produce view data, and when each measuring head all had been installed on each wheel of vehicle 20, the view data that is produced should comprise the image of driven target.In this first example, the imageing sensor 29 and 31 in the active sensing measuring head 25 and 27 is two dimension (2D) imaging device, for example video cameras.
Measuring head 21 and 23 is driven, because they comprise target, but does not comprise any sensing element.Each driven measuring head 21 and 23 comprises the target of the type that can be observed by one of the imageing sensor in active measuring head 25 and 27 29 or 31.The target that sensor on another measuring head of usefulness cause on the driven measuring head 21 or 23 carries out image sensing can be active or driven.Target initiatively such as light emitting diode (LED), is that emission can be by the source of the energy (for example IR or visible light) of sensor under power drives.Driven target is to can't help power drives and do not launch element with the energy of cause sensor.Supposing has imageing sensor in measuring head 25 or 27, and then driven target should be can be reflected the object of (or not reflecting) light or other energy by the mode that respective image sensor detects.In this embodiment, these targets are included in and can detect when being subjected to other light source irradiation and can be by the bright and dark area of the device imaging of video camera in active sensing measuring head 25 and 27 and so on, but these targets can comprise one or more light-emitting components.
First example that can be used in the target on any one driven wheel measuring head 21 has been shown among Figure 1A.In this first example, target is a rectangle.Second example of the target that can be used on any one driven wheel measuring head 21 has been shown among Figure 1B.In this second example, target is circular.Under each situation, target all is made of the flat board of the circular pattern that has different sizes, and these circles are to be marked at or to be installed on this flat board with predetermined form and pattern.Though shown in Figure 1A and Figure 1B is specific pattern, obviously, can use various pattern on each target.For example, can comprise quantity more or less point and can use other size and shape for these points.As another example, also can use multiaspect plate or object for these targets.A lot of examples adopt a plurality of reflecting elements to arrange and form each target.More detailed information can be paid close attention to the U.S. Pat 5724743 of authorizing Jackson.
This system also comprises the spatial relationship sensors that is associated with at least one active sensing measuring head 25 or 27.Spatial relationship sensors can realize the measurement of the spatial relationship between these active sensing measuring heads when being installed in active sensing measuring head 25 and 27 on the wheel.In general, depend on employed sensor type, spatial relationship sensors can be measured relative position and/or orientation.Position measurements refers to relative position angle or the coordinate system of measurement mechanism in of measured object from measurement mechanism.Conventional coordinates is used in the measurement of position usually, such as Cartesian coordinate or polar coordinates.Orientation can draw from three-dimensional position measurement, perhaps can measure orientation with location independent ground.Be orientated relevant with respect to the position of rotation of measurement mechanism with the tested device of representing with conventional coordinates.Orientation is generally represented with the rotation angle in three quadrature reference fields.
Those skilled in the art are readily understood that the wheel alignment system of this paper discussion can utilize various dissimilar spatial relationship sensors to realize.In this first example, this system uses two traditional (1D) angular transducers 33 and 35 to measure the relative angle of active sensing measuring head 25 and 27 in the bundle angle plane.
Initiatively measuring head 25 and 27 also comprises gravity sensor or similar device, is used for measuring the gradient of measuring head, measures camber angle and front and back pitching typically.In this first example, measuring head 25 comprises one or more tilt sensor 37; Measuring head 27 comprises one or more tilt sensor 39.
The example of back will illustrate (referring to Fig. 2) in further detail, and this system also comprises computing machine.This Computer Processing come from the active sensing measuring head with relevant data and the gradient data of target observation.This computing machine is also handled the spatial relationship data that comes from least one spatial relationship sensors.This data processing can realize the calculating of at least one measurement result of vehicle.
In wheel alignment system, the measurement of using image processing techniques to carry out is different from traditional measurement of angle technology of using in essence.Though basic image processing techniques is well known to a person skilled in the art, for the sake of clarity, can provide concise and to the point introduction.The image of main body changes along with the perspective of watching this main body, and the variation of image is directly related with the perspective view of watching the path of watching main body institute edge and can determine from this perspective view.In addition, we only know by the fluoroscopy images of object and its real non-fluoroscopy images are just associated and can determine perspective view.Conversely speaking, can by the fluoroscopy images of object and its non-fluoroscopy images are compared to determine object with which kind of angle faces to watching path (or perpendicular plane).
In practice, with the mathematical expression of target or with the true picture of target (promptly, by vertically watching the image of obtaining with the principal plane of target) and the corresponding data in advance of size be programmed in the storer of computing machine, thereby during localization process, computing machine has and can see the reference picture that fluoroscopy images compares with looking of target.
The mode in COMPUTER CALCULATION target orientation is some geometric properties on the target of identification, obtain the perspective measurement result of these geometric properties and these measurement results and the true picture that is programmed in advance in the computer memory are before compared.
In addition, because the full-size(d) of target has been programmed in the storer of computing machine in advance, therefore can use method and apparatus of the present invention to determine the exact position of wheel in three dimensions.This can be by at first determining some element of pattern on the target fluoroscopy images (for example, the distance between the circle) and the full-size(d) of this size of images and these elements compared finish.The distance between this element and the imageing sensor will be drawn like this, correspondingly, the distance between target and the imageing sensor will be drawn.
To the wheel alignment system that this paper discusses, initiatively the imageing sensor in the measuring head is watched target that is attached on the wheel and the view data that produces the fluoroscopy images of describing target.Computing machine associates the perspective image data of target and the true shape of target.In the process of doing like this, computing machine connects the size of some known geometric element of target and the size of the respective element in the fluoroscopy images, and by carrying out some triangulation calculation (perhaps by any other suitable mathematics or numerical method), the location of calculating wheel.Computing machine can also calculate the three-dimensional position and the orientation of the turning axle (axletree) of the wheel that is associated with driven target.
For with based on the relevant extraneous information of the measurement of target Flame Image Process, can pay close attention to the U.S. Pat 5724743 that licenses to Jackson once more.
Fig. 2 described one of low-cost hybrid wheel alignment system 50 more general example and four wheels 41,43,45 of vehicle and 47(for brevity, other part is not shown).System 50 comprises and being used to install in the drawings with on the wheel 41,43,45 and 47 of textual representation or the four measuring head 51,53,55 and 57 that is associated with wheel 41,43,45 and 47.Can use various dissimilar erecting device.In this example, driven measuring head 51 and 53 is installed on front- wheel 41 and 43, and front heads 51 and 53 is used retro-reflective targets.When being installed on the wheel as shown in the figure like that, retro-reflective targets face rearward is so that can be observed by the imageing sensor in each active sensing measuring head.These retro-reflective targets can be similar with the target that uses in three-dimensional (3D) machine vision alignment system.The measuring head 55 and 57 that is installed on trailing wheel 45 and 47 is active sensing measuring heads, because they comprise image sensing element.In this example, as hereinafter discussing, measuring head 55 and 57 comprises gradient and spatial relationship sensing element in addition, is used to obtain the information of being handled by the host computer system 100 of wheel alignment system 50.
The imaging sensor that is similar to the V3D video camera is arranged in each back measuring head.The optical axis of each this video camera is along the track directed forward of vehicle, so that measure position and the orientation that is attached to the target on the front-wheel.These video cameras needn't directly be on the track of wheel, in other words, are on the rolling circuit of wheel.These video cameras only need from beside to wheel trajectories, just be enough to watch and driven measuring head 51,53 that collection and front-wheel are linked together on the image of target.In this embodiment, active sensing measuring head 55 comprises and comprises image sensing module or the similar device that has along the imageing sensor of the form of the track plane video camera 61 forward of left wheel.When installing like this, the visual field of video camera 61 comprises the target part that is installed in the driven measuring head 51 on the near front wheel 41.Similarly, active sensing measuring head 57 comprises and comprises image sensing module or the similar device that has along the imageing sensor of the form of the track plane video camera 63 forward of right wheel.When installing like this, the visual field of video camera 63 comprises the target part that is installed in the driven measuring head 53 on the off-front wheel 43.
Be attached to one or more sensors on the measuring head 55,57 of back and described one or more sensors are positioned to be used for measuring two spatial relationships between the active sensing measuring head.Can use various available detection technologies, and two examples will be discussed after a while.In the example shown in Fig. 2, active sensing measuring head 55 comprises sensor 65; Active sensing measuring head 57 comprises sensor 67.Sensor 65 and 67 is used for the relative angle relation between sensing active sensing measuring head 55 and 57 in this application, and is in order to calculate conventional Front wheel Alignment Parameters to handling from the picture signal of video camera 61 and 64, such as camber angle and bundle angle.
Each back measuring head 55 or 57 also is equipped with one or more inclinometers, and these inclinometers are used for measuring relative camber angle and the front and back angle of pitch of each back measuring head with respect to gravity as tilt sensor.These inclinometers for example, can comprise the MEMS type device on the printed circuit board (PCB) that is designed to be integrated in track camera.
Fig. 3 is the side view of some wheel installing components of native system.This left view shows the left front measuring head 51 that is attached on the near front wheel 41, and left front measuring head 51 has its driven target.This side view also shows the left back active sensing measuring head 55 that is attached on the left rear wheel 45.Fig. 3 has also partly provided the enlarged detail of the element of active sensing measuring head 55 in the sectional view mode.
As shown in the figure, measuring head 55 comprises shell 71.For clear, omitted shell has been installed to hardware on the wheel.Shell 71 comprises forward direction track camera 61.In this example, spatial relationship sensors 65 use beam angle detection techniques are discussed to this with reference to Fig. 6 after a while, but also can use the sensor of other type.This shell also comprise be used for keyboard 74 that the user activates measuring head 55 with comprise be used for to the data that come from (a plurality of) video camera and other sensor handle and with the printed circuit board (PCB) 75 of the data processing electronic circuit of communicating by letter of principal computer.In order to form the sensing measurement head of commingled system, pitching tilt sensor 77 and camber angle tilt sensor 79 before and after plate 75 is also supporting.Though shown separating, these two tilt sensor 77,79 can be the elements of an independent inclinometer module.Sensor 77,79 sends the gradient reading on the plate 75 the processor that is used for camera data is sent to mainframe computer system 100.
Fig. 4 and Fig. 5 are the graphic extensions that more or less stylizes that provides with side view and rear view form of active sensing measuring head 55, the axle that these two accompanying drawing graphic extensions are measured by tilt sensor and the mutual relationship of other element.In order to discuss, suppose that here tilt sensor 77-79 is the element of an independent MEMS inclinometer.This inclinometer is determined with respect to the gravity vector (Fig. 4) on pitching plane, front and back (Fig. 4) with respect to the gravity vector (Fig. 5) of camber plane.Certainly, to another active sensing measuring head 57(Fig. 2) also to take similar measurement.Like this, can be handled with respect to the orientation of gravity, be associated (Fig. 4 and Fig. 5) with optical axis and gravity with the video camera of each oriented locus to each measuring head.Can also record the relation of each front target and gravity like this by image data processing and gravity vector data.
Fig. 6 is the functional block diagram of the element of one of active sensing measuring head, is the functional block diagram of measuring head 55 in this case, but the element of measuring head 57 is similar generally in this first example.
As previously discussed, active sensing measuring head 55 comprises image sensing module 81 or the similar device that comprises the imageing sensor with track camera 61 forms, track camera 61 in use can be along the track plane of revolver forwards, so that this video camera can obtain to comprise the image (also seeing Fig. 2) of the target of driven measuring head 51.The image sensor module 81 of the oriented locus shown in Fig. 6 comprises led array 83, and this led array uses as illuminator, is used for realizing the illumination of expectation for the target on the measuring head 51 on the wheel 41 that is installed in vehicle the same side and launches light.Video camera 61 is digital cameras of the sensing image for wheel alignment application.In operation, video camera 61 generates the value of each image pixel based on the analog intensity of the light that senses on the point corresponding with pixel in image.Read in the circuit on the main printed circuit board 75 with this value digitizing and with it.Can on the camera sensor chip or outside to this value digitizing.
In this implementation, spatial relationship sensor module 65 comprises that IR LED85, slit 86 and linear imaging sensor 87(are such as charge-coupled device (CCD) or cmos cell).IR LED85 similarly restraints the angle transducer projecting beam in the measuring head 57 of a relative side.In a comparable manner, the measuring head 57 of a relative side comprises the IR LED towards measuring head 55 projecting beams.
IR light/the radiation of sending from the IR LED of the measuring head 57 of a relative side by linear imaging sensor 87 via slit 86 sensings.The accurate point that detects the IR light that comes from another measuring head on the sensor 87 has shown the relative incident angle on the sensor 87 of light in measuring head 55 that comes from a relative side measuring head.In a similar fashion, the IR light/radiation of IR LED85 that comes from measuring head 55 by the linear imaging sensor in the measuring head 57 of a relative side via the slit sensing; The accurate point that detects the IR light place that comes from LED85 on the linear imaging sensor of a relative side has shown the relative incident angle on the linear transducer of light in measuring head 57 that comes from measuring head 55.The processing that comes from the angular detection data of two linear transducers can realize two video camera 61 and the determining of the angular relationship between 63 the camera optical axis in the active sensing measuring head.
The image processing operations of circuit 89 can relate to various data are formatd, so that communication.Alternatively, processor 89 can carry out pre-service to a certain degree before sending to mainframe computer system 100.With regard to view data, the image pre-service can comprise that gradient calculation, background are eliminated and/or run length encoding (run-length encoding) or other data compression (seeing the U.S. Pat 6,871,409 of for example being applied for by people such as Robb).Processor 89 can also be handled view data to a certain degree in response to gradient data that come from tilt sensor 77,79 and/or spatial relationship measurement data.Alternatively, can be transferred to mainframe computer system simply, in order in the further processing of view data, using with gradient with across position data.
Processor in one of active measuring head 89 can be constituted from another measuring head and receive data and carry out wheel alignment parameter in inside and calculate, and only the vehicle measurement result be sent to mainframe computer system 100 then.And, the processor in one of active measuring head 89 can be constituted and calculate all locator values and generate user interface.In this case, initiatively measuring head can be taken on the responsibility of the webserver, supply realizes the webpage of the user interface of wheel alignment system, and principal computer can be by having web browser and not having any multi-purpose computer of wheel alignment special software to constitute.But, minimum in order to make cost, can in main frame, carry out the major part of data processing, in this case, the processing that DSP/ treatment circuit 89 can the be carried out complexity of DSP/ treatment circuit 89 (and thereby) remains on the floor level.
The element of electronic circuit on the plate 75 and image sensing module 81 and spatial relationship sensor module 85 receives electric power from power supply 94.Can use the enough conventional power supplys of any voltage and current level.If system 50 uses cable, then power supply can come from conventional AC electrical network or receive electric power by USB or Ethernet wiring.If measuring head 55 and 57 is wireless, then power supply can use battery supply, perhaps receives electric power from chargeable or droppable battery.Alternatively, the energy-accumulating medium that is used for the wireless measurement head can be made of especially big electric capacity.
Get back to Fig. 2, mainframe computer system 100 is handled the data that come from active sensing measuring head 55,57 and is provided user interface for system 50.As noted earlier, data processing can be finished in DSP in active sensing measuring head 55,57 one or both of or similar device.But, for the cost that makes measuring head 55 and 57 is minimum, can provide main processing power by mainframe computer system 100 or similar data treatment facility.In this example, system 100 can be by desktop PC (PC) or such as notebook, the super mobile PC of UMPC() or similar device other computer installation realize.Can also use the client-server scheme, in such cases, server can be carried out main handle and responsibility that initiatively one of measuring head or another user's set can be born client computer provides user interface.Though know the personnel of advanced wheel location technology should be parts, program and the operation of being familiar with various suitable computer systems, and providing a concise and to the point example still may be helpful.
The embodiment of shown computer system 100 also provides for example local user interface, thereby makes this system show as personal computer or the workstation that may use in wheel alignment place or auto repair workshop.Computer system 100 can and be used for joining to the display 112 of computer user's display message via bus 102, such as cathode ray tube (CRT) or flat-panel monitor.Input media 114(comprises alphanumeric and other button) join with bus 102, be used for conveying a message and command selection to processor 104.The user input apparatus of another kind of type is a cursor control 116, such as mouse, trace ball or cursor direction key, cursor control 116 is used for directional information and command selection are communicated to processor 104, and service orientation information and command selection are controlled cursor moving on display 112 to CPU101 again then.Cursor input media 116 typically has two kinds of degree of freedom on first (for example, the x axle) and second (for example, the y axle) two axles, and this makes that this device can the interior position of given plane.Engaging between user interface element 112-116 and the CPU101 can be wired or can use optics or the wireless radiofrequency communication technology.
CPU101 also comprises one or more input/output interfaces that are used to communicate by letter, and shows such input/output interface as the interface 118 that is used for carrying out with active sensing measuring head 55 and 57 bidirectional data communication by way of example.For wheel alignment application, view data, spatial relationship measurement data and gradient data that interface 118 makes CPU to receive to come from active sensing measuring head 55 and 57.Typically, interface 118 makes that also mainframe computer system 100 can be to active sensing measuring head 55 and 57 transmit operation orders and possible software download.For example, communication interface 118 can be to have the communication interface 118 that is used for carrying out with the matched interfaces 93 of active sensing measuring head 55,57 the USB joint that cable is connected.It will be recognized by those skilled in the art, in wheel alignment system, can use other data communication interface, such as Ethernet, RS-232, RS-422, RS-485, WIFI or wireless ethernet, Zigbee, bluetooth, UWB, IrDA or any other suitable arrowband or broadband data communication technology.Though do not illustrate, if necessary, another communication interface can provide the communication via network.This extra interface can be modulator-demodular unit, Ethernet card or any data communication equipment (DCE) that other is fit to.Be connected to extra (a plurality of) communication interface and can be optics, wired or wireless from the physical link that wherein picks out.
Though computing machine 100 can be served other purposes in the shop, system 100 handles the data that come from measuring head 55,57 but positioning system 50 uses a computer, so that the positioning measurement result of expectation to be provided the data that provide from these measuring heads, and provide user interface for system 50.Computer system 100 typically moves various application programs and storage realizes the processing expected by the data that provide such as these elements of 112-116, can realize one or multinomial mutual via user interface.For wheel alignment application, program will comprise that suitable code to handle the data that receive from the specific implementation of measuring head 55,57, comprises the wheel alignment measurement CALCULATION OF PARAMETERS that draws expectation from the various data that come from measuring head 55 and 57.Principal computer 100 typically moves the general-purpose operating system with application program or be suitable for specially carrying out and the shell of locating relevant data processing (shell), and is provided for the user interface that input and output are used for the expectation information of location survey and related service.Owing to be general-purpose system, so system 100 can move a large amount of other and conforms with any or multiple in the application program of demand.
The parts that comprise in the computer system 100 are those parts of typically finding in the general-purpose computing system as server, workstation, personal computer, network terminal and so on.In fact, these parts originally just are intended to be used for representing the wide in range category of these machine elements as known in the art.
In different, the relevant procedures that are used for wheel alignment application can reside at the one or more of several different mediums.For example, can be on the memory storage 110 of hard disk or other type and be loaded in the primary memory 106 among the CPU101 cause processor 104 and carry out with some or all procedure stores.This program also can reside on other medium that is used in the system that is loaded into 100 or by described other medium transport, substantially to install and/or its program of upgrading.Thus, in different, be used for all or part executable code of any or all component software or data and can reside in physical medium or carry or transmit, come the program control specific system and/or the electronic circuit of active sensing measuring head 55,57 via various different media by the electromagnetism media.As used herein, therefore refer to any medium that has participated in providing the process that instruction carries out such as the such term of computing machine or machine " computer-readable recording medium " to processor.Such medium can be taked any form, including, but not limited to, non-volatile media, Volatile media and transmission medium (for example electric wire, optical fiber or the like) and can be at various types of signals of Data transmission between the system or between the system unit or instruction.
Resemble traditional first sample of conventional assignment test, can and use camber transducer to measure the beat vector by the lifting trailing wheel, lifting front-wheel and use video camera to the target imaging in the axle rotation of front-wheel at target comes measuring head is carried out the beat compensation then.A kind of alternative methods can be by with inclinometer measuring head being carried out the beat measurement along lifter rolling wheel and when track camera carries out imaging to set up fixed coordinate system to the fixedly target on front target and lifter, vehicle or other fixed object, avoiding the lifting wheel.
As previously mentioned, back measuring head 55,57 is equipped with the tilt sensor of inclinometer type, is used for measuring relative camber angle and the front and back angle of pitch of each back measuring head with respect to gravity.In case obtained the beat value and recorded the inclinometer angle value, just can handle with respect to the orientation of gravity each measuring head, associate with optical axis and gravity the video camera of each oriented locus.Use the relation of the video camera of the relation of the video camera of oriented locus and gravity and measured front target and oriented locus, can calculate the relation of front target and gravity.By sensor 65 and 67 measurement spaces relation, to determine the spatial relationship between the track camera 61 and 63.
Toe-in angle, back rake angle and SAI should be to use with imaging orientator such as the V3D orientator in those technology similar techniques of embedding measure.It can be to draw according to the measurement result that is obtained by the rear space relationship sensors that the back advances angle, each single bundle angle, back and track camera level angle relation each other.Inclinometer can be associated with each other by each track camera of common gravity vector basis brigadier.Utilization can be determined the position and the orientation of each front target along the effectively relevant each other track camera of the axis of the back axis of thrust in the coordinate system directly related with advancing angle and gravity.
Can be according to calibrating by each back measuring head is installed on the straight corrector strip (calibration bar) with a current calibration routine measurement roughly the same mode.At first corrector strip is rotated and compensates beat.The zero offset of rear space relationship sensors can be set then and, the zero offset of each camber transducer can be set by the leveling corrector strip.The zero offset of front and back pitching is to be provided with by the value with pitch tilt meter before and after precision level leveling measuring head and the record.By increasing the corrector strip that another is suitable for installing from the angle of track camera front target, can realize the camera calibration degree (seeing for example James Dale, No. the 2004/0244463rd, the U.S. Patent Application Publication that Jr submits to) that strengthens.After having carried out above-mentioned initial calibration, track camera is measured the orientation of front target in the axis rotation of preceding corrector strip at front target and corrector strip.The relation of a video camera and another video camera be can calculate and each video camera and the relation that concerns through the rear space of checking or calibrating calculated like this.By leveling front target corrector strip, can also check the fixed relationship of each track camera and local inclinometer.This redundancy check might comprise that the ISO at the client who requires the measuring accuracy tracking power checks.
In addition, little target can be fixed on each preceding rotating disk of the cross-check that to realize extra measurement or corner.
Can also use V3D bodywork height indicator to measure the front of the car point for the purposes of bodywork height or other car body index.
Those skilled in the art are readily understood that the wheel alignment system of this paper discussion can utilize various dissimilar spatial relationship sensors to realize.Imageing sensor is a type of spatial relationship sensors.Imageing sensor can be made of the video camera of the two-dimensional array with sensing element, and the two-dimensional array of sensing element produces the data that the representative expectation comprises the image of the target within the visual field that is in this sensor.Can handle the data that come from imageing sensor, determining position and the orientation information relevant with the target of being watched, thus definite and measuring head, wheel or relevant position and the orientation information of other object that be associated with target.The example of imageing sensor is can be by commercial means from Kang Wei city, the John Bean Company(Arkansas State in the prior art) video camera that uses the Visualiner 3D that obtains, John Bean Company is the branch office of Snap On Tools Corp. (Snap-on Incorporated).Angular transducer is the spatial relationship sensors that is suitable for of another kind of type.Angular transducer produces the data of expression sensor with respect to the angle of a bit.In general various dissimilar angular transducers all are known.An example of angular transducer is the sort of linear CCD sensor that can use from the Visualiner that John Bean Company has bought.
Thus, consider that now such example may be helpful: replace the front at Fig. 3 and the slit of Fig. 6 introduction and the spatial relationship sensing layout of linear imaging sensor style with the imaging-type video camera that is similar to track camera.Fig. 7 is the view/synoptic diagram that is similar to Fig. 1, Fig. 3 and Fig. 6 to Fig. 9, and what just the graphic extension of this second implementation was represented is that such use target and imageing sensor comes the implementation space to concern the replacement technology of sensing function.With the wheel and the similar wheel of element of the implementation of Fig. 1, Fig. 3 and Fig. 6 with element adopts similar Reference numeral and be to construct and operate in the mode identical in essence with the mode of introducing previously.This example uses driven two-dimentional target 51 and 53 on front-wheel 41 and 43; And it uses initiatively measuring head 55' and 57' on trailing wheel, be used for measuring at the side of track of vehicle, with similar in the example of Fig. 1.Back active sensing measuring head uses video camera 61,63 or similar 2D imageing sensor to obtain the image of the target on the front heads 51,53, and definite target is with respect to the relative position and the orientation of active measuring head, with the front at Fig. 2 go through the same.But, the spatial relationship of two active measuring head 55', 57' determines that by at least one 2D imageing sensor 97 this imageing sensor 97 obtains to be installed in the image of the 2D target 67' on the relative side active measuring head.In this example, initiatively measuring head 57' has the relevant target 67' of one of target of being similar on the measuring head 51 and 53, but measuring head 57' does not comprise the sensor that is used for the implementation space relationship measurement function.Active sensing measuring head 55' uses the way of Flame Image Process type, based on target 67' being carried out the spatial relationship measurement that imaging realizes crossing over vehicle rear.Imageing sensor 97 typically can be similar to video camera or the similar device that is used as the 2D imageing sensor in the example of Fig. 2.
As illustrating in further detail among Fig. 8 and Fig. 9, spatial relationship sensors 95 is used the image sensor module 81 similar image sensing modules with oriented locus.Spatial relationship image sensing module 95 comprises Digital Video 97 and led array 99.Led array 99 plays the effect of illuminator.At the application of spatial relationship sensing, led array 99 produces infrared ray (IR) illumination.Another back measuring head 57' comprises retro-reflective targets 67'(Fig. 7 of IR sensitivity), this retro-reflective targets 67' will be by led array 99 irradiations, then by the reflected light of video camera 97 sensing retro-reflective targets 97'.
Spatial relationship video camera 97 replaces another spatial relationship sensors that the target 67' that is positioned on another paired measuring head (across the rear portion of vehicle) is carried out imaging. Video camera 61 and 97 the two can share a common process plate in the measuring head, and another measuring head can use an independent video camera (being used for track) and target (be used for across) simply.The target treatment of picture that is obtained by video camera 97 can be calculated the angular region relation between the measuring head of back, its mode roughly with the example of Fig. 1 and Fig. 2 in identical to the mode of handling the relative angle of determining to be installed in the target on the wheel and/or position from the image of active measuring head video camera.Be not resemble in the example of front the measurement space relationship angle, but image sensing module and relevant Flame Image Process are measured the 3d space relation of the target on the active measuring head of a relative side.For with based on the relevant extraneous information of the measurement of target Flame Image Process, can pay close attention to the U.S. Pat 5724743 that licenses to Jackson once more.
In the system of Fig. 9, at least one active measuring head comprises gravity sensor, is used for measuring the camber angle and the front and back pitching degree of measuring head at Fig. 7.Make this system can obtain two initiatively three-dimensional (3D) spatial relationship measurement between the measuring head owing to be installed in the imaging of the target on the relative side active measuring head, therefore only need an active measuring head to have gravity sensor.In addition, the example with the front is identical on structure, operation and the calculated population.
In the example of Tao Luning, all be that active measuring head and trailing wheel is linked together in front, and target and vehicle front-wheel is linked together.But, person of skill in the art will appreciate that essential structure previously discussed has a lot of modification.And, there are the various various combinations of imaging sensor and other sensor to determine operable spatial relationship.To introduce and illustrate several combinations below.
Figure 10 for example shows the layout of a kind of Fig. 1 of being similar to, wherein active measuring head and target measuring head position opposite.The wheel alignment system of Figure 10 comprises a pair of driven measuring head 221 and 223 on each wheel 222 and 224 that is installed in vehicle, and in this example, these two wheels are trailing wheels.Active sensing measuring head 225 and 227 is suitable for installing in combination with each front- wheel 226 and 228 of vehicle 220.Equally, each active sensing measuring head comprises the imageing sensor 229 or 231 that is used to produce view data, and when each measuring head all had been installed on each wheel of vehicle, the view data that is produced should comprise the image of driven target.In this example, the imageing sensor 229 and 231 in the active sensing measuring head 225 and 227 be the two dimension (2D) imaging device, for example with previous examples in the similar video camera of track camera.
Measuring head 221 and 223 is driven because they comprise can be by the target of the sort of type of one of imageing sensor in active measuring head 225 and 227 observation, but they do not comprise any sensing element.Typically, these targets are included in and can detect when being subjected to other light source irradiation and can be by the bright and dark area of the device imaging of video camera in active sensing measuring head 225 and 227 and so on.
With the same in the example of front, this system also comprises the spatial relationship sensors that is associated with at least one active sensing measuring head 225 or 227.Spatial relationship sensors can realize the measurement of the spatial relationship between the active sensing measuring head 225 and 227 when being installed in these active sensing measuring heads on the wheel.In this example, this system uses two traditional (1D) angular transducers 333 and 335 to measure the relative angle of active sensing measuring head 225 and 227 in the bundle angle plane. Initiatively measuring head 225 and 227 also comprises the gradient that gravity sensor or similar device are measured measuring head, measures camber angle and front and back pitching typically.Thus, measuring head 225 comprises one or more tilt sensor 337; And measuring head 227 comprises one or more tilt sensor 339.
With the same (for example Fig. 2) shown in the example of front, this system also comprises computing machine.This Computer Processing come from the active sensing measuring head with relevant data and the gradient data of target observation.This computing machine is also handled the spatial relationship data that comes from least one spatial relationship sensors.This data processing can realize the calculating of at least one measurement result of vehicle.
As noted, this example comes down to the target/preposterous form in active sensing measuring head position with the example of Fig. 1.Though do not provide all modification, it will be understood to those of skill in the art that discuss for this paper every kind other optional layout, also can realize the put the cart before the horse modification and/or the modification reversed left to right of similar type.
The another kind of optional layout of Figure 11 graphic extension.In this example, two active sensing measuring heads are installed on vehicle one side, and two slave sensors are installed on the opposite side of vehicle.As shown in the figure, the installation of target on driven measuring head provides the extension away from wheel to a certain degree, thereby makes imageing sensor in the measuring head initiatively can see and to the target imaging.Each initiatively measuring head comprise the imageing sensor that the image to the target on the corresponding wheel that is attached to the relative side of vehicle obtains.With the same in the example of front, each initiatively measuring head comprise gravity sensor to measure the camber angle and the front and back pitching of measuring head.Wherein, the spatial relationship of two active measuring heads is to determine by the bundle angle plane angle between two measuring heads of two traditional angle sensor measurements.Owing to be similar to example in the early time on structure, operation and the calculated population, therefore here do not provide under the situation of more detailed discussion, those skilled in the art also are to be understood that the example of Figure 11.
The another kind of optional layout of Figure 12 graphic extension.In this example, two active sensors are installed on vehicle one side, and two slave sensors are installed on the opposite side of vehicle.Each initiatively measuring head comprise the imageing sensor that the image to the target on the corresponding wheel that is attached to the relative side of vehicle obtains.Wherein, the spatial relationship of two active measuring heads is determined by one or more imageing sensors that the image that is installed in the target on the relative side active measuring head is obtained.In this embodiment, preceding active measuring head comprises target, and the back initiatively measuring head comprise and being used for to be similar to the 2D imaging sensor that mode that Fig. 7 measures to the 3d space of the example of Fig. 9 obtains the image of this target.At least one active measuring head comprises gravity sensor, is used for measuring the camber angle and the front and back pitching of measuring head.Because this system obtains two initiatively 3D position and orientation measurement between the measuring head, therefore only need an active measuring head to have gravity sensor.Equally, therefore the example owing to being similar on structure, operation and the calculated population does not in the early time here provide under the situation of more detailed discussion, and those skilled in the art also are to be understood that the example of Figure 12.
Figure 13 is again another kind of optional layout.This example uses the first active sensing measuring head, and this first active sensing measuring head comprises an independent 2D imageing sensor, is used for obtaining being installed in the image of the driven target on the first driven measuring head on another wheel of the same side of vehicle.The first driven measuring head is installed in the first active measuring head and is on the wheel of vehicle the same side.In the instantiation in the figure, the first active measuring head is installed on the left rear wheel, and the first driven measuring head is installed on the near front wheel.A target on the first driven measuring head can carry out imaging with the combined 2D imageing sensor of cause and left rear wheel, in other words, and along the track of vehicle imaging of this side of vehicle.
But, the first driven measuring head also comprises the second known driven target of relative position with respect to its first driven target.The second driven target reaches the place ahead of wheel, thereby can be watched by the corresponding 2D imageing sensor of the relative side of vehicle, so that carry out imaging in spatial relationship is measured.Thus, the second active measuring head is installed to the first driven measuring head opposite, in other words, is installed on the off-front wheel in illustrated layout.The second active measuring head comprises two 2D imageing sensors.One of these two sensors obtain to be installed in the image of the target on the first driven measuring head that invests on a relative side (left front) wheel, measure so that carry out spatial relationship.Another 2D imageing sensor in the second active measuring head obtains to be installed in the image of the target on the second driven measuring head, and the second driven measuring head is installed in the same side of vehicle, in other words, and in this example on off hind wheel.The second driven measuring head comprises an independent target, and this measuring head is installed in the opposite of the first active measuring head.
In the layout of Figure 13, at least one active measuring head comprises gravity sensor, is used for measuring the camber angle and the front and back pitching of measuring head.Because this system obtains two initiatively 3D position and orientation measurement between the measuring head, therefore only need an active measuring head to have gravity sensor.Generally speaking, the details of the implementation of the system of Figure 13 and operation should be concise and to the point discuss and obviously find out example open in detail of Fig. 1-Fig. 9 in the early time from this.
Example shown in Figure 14 is similar to the example of Figure 13 generally, and just in the system of Figure 14, the first active measuring head also comprises second imageing sensor.Second imageing sensor in this measuring head obtains to be attached to the image of second target on the second driven measuring head.The advantage that this structure is better than the layout of Figure 13 is, it only needs two kinds of unique head hardware configurations, rather than four kinds.Two active measuring heads are identical, and two driven measuring heads are identical.Each active measuring head can be to be similar to the measuring head 55' shown in Fig. 8 and Fig. 9.An active measuring head should be regarded as front heads, and another is regarded as the back measuring head.This generally can realize with the firmware in the flush bonding processor.
Second advantage of this structure (Figure 14) is that second spatial relationship measurement is to calculate the unwanted redundant information of wheel alignment.This redundant information can be used the calibration check of doing system.If two initiatively measuring heads all comprise gravity sensor, then can verify camber angle and bundle angle the two.If have only an active measuring head to comprise gravity sensor, then can verify the calibration of bundle angle.
In example shown in Figure 15, this system uses the driven measuring head that has target that is installed on each front-wheel, in essence with the example of Fig. 1-Fig. 9 in the same.The active measuring head that illustrates on the trailing wheel comprises the 2D imageing sensor.Placed the reference bar that has target on the two ends, make each initiatively measuring head can watch target on the front-wheel of one of target on the reference bar and vehicle the same side.The relative position of two targets on the reference bar and orientation are known.This system can find out two initiatively spatial relationships of measuring head according to the 3D position of two reference target that recorded by the active measuring head and the known relation of orientation and two reference target.The spatial relationship sensors to the example of Fig. 9---the spatial relationship information that target obtained by Fig. 7 is provided like this.Because the position of reference target is fixed, so they can also be as the reference of measuring during the rolling beat.Those skilled in the art will and understand the detailed structure and the operation of this example the discussion of other similar example in the early time from accompanying drawing, this explanation.
Example shown in Figure 16 operates with the example of Figure 15 generally about the samely, just has only an independent reference target.Initiatively the viewing angle of the imageing sensor in the measuring head must be wide be enough to watch the driven measuring head target and a described independent reference target of vehicle the same side.
Another example again of Figure 17 graphic extension hybrid wheel alignment system.Here, this system uses the driven measuring head that has additional target that is installed on each front-wheel.Initiatively measuring head is installed on the trailing wheel, and is the same with several situations in the early time the example.Each initiatively measuring head comprise the 2D imageing sensor that the image to the driven measuring head target on each side of vehicle obtains.
Imageing sensor stretches out forward from the trailing wheel center, thereby makes sensor be positioned at rim the place ahead, back, so that be provided at the sight line that under-vehicle is crossed over vehicle.One of imageing sensor, be mounted in the sensor on the active measuring head on the left rear wheel in this example, comprise partially reflecting mirror, this partially reflecting mirror make the image that comes from driven target by or the image that comes from the target on the corresponding active measuring head that is installed in the vehicle opposite side reflected.Show the operation of catoptron among Figure 18 in further detail.
Come from the light that is installed in the driven target on the driven measuring head that (in other words, is installed on the near front wheel in the diagram layout) on vehicle the same side and directly pass half-silvered mirror, arrive the 2D imageing sensor on the active sensing measuring head that is installed on the left rear wheel.The light that comes from the driven target that a relative side initiatively on the measuring head (is installed on the active measuring head on the off hind wheel in the diagram layout) in other words, arrives the partial reflection side of catoptron at a certain angle and is reflected and enters 2D imageing sensor on the active sensing measuring head that is installed on the left rear wheel.The advantage of this system is that it is by making one of sensor can watch two different targets to save an imageing sensor.
Though the front by the agency of regarded as embodiment and/or other example of optimal mode, but be to be understood that, can carry out various changes therein, and theme disclosed herein can be realized with various form and example, and the instruction of this paper can be applied to multiple application, and this paper has only introduced a wherein part.The purpose of claims is any and all application, transformation and the changes within the true scope of the claimed this paper of falling into instruction.
Claims (1)
1. wheel alignment system comprises:
A pair of driven measuring head, each driven measuring head comprises target, this is used for driven measuring head and will comes first pair of wheel of measured vehicle to install in combination by the operation of wheel alignment system;
A pair of active sensing measuring head is used for installing in combination with second pair of wheel of vehicle, and each single active sensing measuring head comprises imageing sensor, and described imageing sensor is used to produce the view data of the expression of the image that comprises one of target;
Spatial relationship sensors, this spatial relationship sensors combines with at least one active sensing measuring head, measures the relation between the active sensing measuring head when being used on the wheel that the active sensing measuring head is installed in vehicle; With
Computing machine, the relation data that is used to handle the view data relevant with the observation of target He comes from spatial relationship sensors is to calculate at least one measurement result of vehicle.
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| CN2013100758274A CN103217129A (en) | 2007-08-31 | 2007-08-31 | Wheel alignment system and wheel alignment method |
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| CN2013100758274A CN103217129A (en) | 2007-08-31 | 2007-08-31 | Wheel alignment system and wheel alignment method |
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| CN2007800273416A Division CN101512289B (en) | 2006-07-18 | 2007-08-31 | Wheel alignment system and method |
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| CN103499311A (en) * | 2013-09-23 | 2014-01-08 | 安徽农业大学 | Real-time measuring method for camber angle of tire of automobile in running process |
| CN106813599A (en) * | 2017-03-23 | 2017-06-09 | 深圳市鹰眼在线电子科技有限公司 | Automobile camera shooting measurement assembly and automobile three-dimensional four-wheel aligner method and system |
| CN108917690A (en) * | 2018-05-29 | 2018-11-30 | 深圳先进技术研究院 | A kind of calculation method and measuring device at main pin of automobile angle |
| CN109923371A (en) * | 2016-08-16 | 2019-06-21 | 实耐宝公司 | Wheel alignment method and system |
| CN110509043A (en) * | 2019-09-03 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of robot is servo-actuated the installation tightening system and method for automobile main tire |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103499311A (en) * | 2013-09-23 | 2014-01-08 | 安徽农业大学 | Real-time measuring method for camber angle of tire of automobile in running process |
| CN103499311B (en) * | 2013-09-23 | 2016-03-02 | 安徽农业大学 | A kind of automobile camber angle method for real-time measurement in the process of moving |
| CN109923371A (en) * | 2016-08-16 | 2019-06-21 | 实耐宝公司 | Wheel alignment method and system |
| CN106813599A (en) * | 2017-03-23 | 2017-06-09 | 深圳市鹰眼在线电子科技有限公司 | Automobile camera shooting measurement assembly and automobile three-dimensional four-wheel aligner method and system |
| CN108917690A (en) * | 2018-05-29 | 2018-11-30 | 深圳先进技术研究院 | A kind of calculation method and measuring device at main pin of automobile angle |
| CN108917690B (en) * | 2018-05-29 | 2020-08-28 | 深圳先进技术研究院 | Calculation method and measurement device for automobile king pin angle |
| CN110509043A (en) * | 2019-09-03 | 2019-11-29 | 上海发那科机器人有限公司 | A kind of robot is servo-actuated the installation tightening system and method for automobile main tire |
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