EP1969309A1 - Procédé de mesure optique de châssis - Google Patents

Procédé de mesure optique de châssis

Info

Publication number
EP1969309A1
EP1969309A1 EP06819529A EP06819529A EP1969309A1 EP 1969309 A1 EP1969309 A1 EP 1969309A1 EP 06819529 A EP06819529 A EP 06819529A EP 06819529 A EP06819529 A EP 06819529A EP 1969309 A1 EP1969309 A1 EP 1969309A1
Authority
EP
European Patent Office
Prior art keywords
wheel
determined
detected
radiation
points
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.)
Withdrawn
Application number
EP06819529A
Other languages
German (de)
English (en)
Inventor
Volker Uffenkamp
Guenter Nobis
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP1969309A1 publication Critical patent/EP1969309A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • 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
    • G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
    • G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
    • G01B11/2513—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object with several lines being projected in more than one direction, e.g. grids, patterns
    • 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
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/20—Vehicle in a state of translatory motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G01B2210/283—Beam projectors and related sensors
    • G01B2210/286—Projecting a light pattern on the wheel or vehicle body

Definitions

  • the invention relates to a method for the optical chassis measurement at a test station, in which detected by a plurality of optically distinguishable characteristic structures on a vehicle at least one wheel and a surrounding body panel reflected radiation from a measuring device by means of an image pickup device and by evaluation of the detected Radiation obtained position data at least the wheel plane and the wheel center are determined.
  • Such a method for optical chassis measurement is disclosed in DE 197 57 763 A1 and similarly also in EP 1 042 643 B1.
  • these known methods by means of cameras reference features at the test station and continue to record wheel characteristics and body features and on the basis of this information the driving axle and also determined wheel and Achsgeometriechal, according to DE 197 57 763 Al, the measurement in the state and in the process according to EP 1 042 643 Bl, the measurement takes place while driving past the measuring device.
  • the characteristics of room light is used in the test area, the characteristics of the wheel and the body in particular mounted marks or existing characteristic structures can be.
  • a special lighting for example by means of LEDs, with special retroreflective measuring marks on the wheel or the body can be mounted. Further details on the type and detection of the wheel and axle geometry data are made from the geometric information obtained by means of the marks and / or surface structures in these documents and other patent applications based thereon. In practice, it has become clear that obtaining accurate and reliable measurement The application of well-recognizable brands is favorable, but their adaptation to the wheel and body requires a considerable effort, although compared to other systems for chassis measurement with these known systems, the measurement could be greatly facilitated overall.
  • the object of the invention is to provide a method for the optical chassis measurement, with which the most accurate and reliable measurement results are obtained with the least possible effort.
  • an attachment and adaptation of measuring marks on the vehicle wheel or the body while using the measuring device with said measures from existing surface structures, the surface points used for the measurement reliably and clearly obtained and subjected to the evaluation, so that accurate measurement results are obtained, in particular
  • the accuracy can be increased by increasing the number of surface profiles, whereby an appropriate lower individual accuracy can be compensated by averaging using appropriate algorithms.
  • the omission of an adaptation of marks on the wheel and body considerably simplifies the operation of the wheel alignment system, inter alia because no restriction with regard to materials rial of the body, no removal of hubcaps and no additional labor for adaptation to the measurement are connected.
  • the evaluation is facilitated by selectively recording individual profiles or the entire surface structure of the object sections of interest of at least the wheel and the body section via the projection of the planes, and also by using a light-section method, a Gray code method with coded light projection or a phase shift method is used.
  • the measurement is advantageously carried out in such a way that for determining the wheel plane, the wheel center and possibly the body cutout around the wheel a plurality of surface points as SD point cloud, but at least three intersections between two surface profiles and rotationally symmetrical contours of the wheel, for example, the rim edge, be used.
  • An advantageous procedure in the measurement is that the measurement is carried out while driving past the vehicle and driving direction data is obtained on the basis of a detection of the direction of movement of body surface structures.
  • FIG. 1 is a schematic fragmentary view of a test station in the direction of travel with a measuring device and a part of a vehicle to be measured and - A -
  • Fig. 2 shows a detail of the test station of FIG. 1 in a side view.
  • the measuring instrument comprises an image recording device 11 equipped with image sensor 11.1 and imaging optics 11.2, in particular a camera arrangement with at least one camera in which processors for the image processing is integrated, and at least one measurement plane 12, which is generated by a projector 13. Furthermore, powerful computers are connected to the measuring instrument in accordance with the measuring effort. By means of the measuring device 10, various data, in particular a wheel suspension 9 can be determined.
  • one or more planes 12, 12 ' are projected by a radiation source 13. 1, in particular a laser, into the measurement space by means of a slit diaphragm in front of or in a projection optical unit 13. 2, which intersect the object surface and the profile lines 14, 14 'on the measurement object, ie the wheel and possibly the surrounding body generate.
  • the projected planes 12, 12 ' may also be generated by another type of projection device (e.g., beamer). Due to the geometrical arrangement of projection device 13 and camera 11, the camera records the intersection of plane 12, 12 'with the object as a profile line 14, 14', which is more or less curved as a function of the surface topography.
  • the principle of triangulation technique is applied.
  • Each profile point has a two-dimensional image coordinate. If the association between camera and projection device is known, the spatial position of the surface point is determined by the intersection of the image beam with the plane.
  • the spatial position of the surface point is determined by the intersection of the image beam with the plane.
  • Various methods are known, namely in particular light-section method, gray-code method (coded light approach) and phase shift method.
  • the acquisition of the profile lines can advantageously be done by obtaining a 3D point cloud.
  • Each vehicle wheel has on the basis of its components such as tires, rim, hubcap, valve or the like.
  • On a 3D surface structure that can be used to measure the wheel and axle geometry and each wheel house contour has, in particular in the area of the Radausschnitts characteristic features of which Loading state for each wheel can be derived.
  • the determination of at least two surface profiles from the surface structure allows the determination of the wheel geometry, if the two profiles cut, for example, the wheel rim, at least three times. With a small number of surface profiles, it is advantageous if the cuts are as perpendicular as possible to the edge of the rim. From the at least three rim edge points, the wheel plane and the wheel center can be calculated out. With this information track and camber and, if desired, further wheel and axle geometry data of interest can be obtained.
  • the determination of the movement of the body relative to the measuring device is required.
  • the direction of travel or the driving axis of the moving vehicle is determined from the path of movement of distinctive body structures.
  • the size of the object section can be adapted to different vehicle types and rim sizes according to the localization of the object structures of interest.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé pour mesurer optiquement un châssis de véhicule à un poste de vérification. Selon ce procédé, un rayonnement réfléchi par plusieurs structures caractéristiques optiquement différenciables d'un véhicule comportant au moins une roue et une section de carrosserie située autour est détecté par un dispositif de mesure au moyen d'un système d'acquisition d'image, et au moins le niveau de la roue et le centre de la roue sont déterminés par évaluation des données de position acquises à l'aide du rayonnement détecté. L'objectif de cette invention est d'obtenir des résultats de mesure fiables d'une manière relativement simple. A cet effet, plusieurs niveaux sont projetés au moins sur la roue (5) et la carrosserie située autour, au moyen d'une lumière structurée émise par au moins une source de rayonnement du dispositif de mesure, et l'intersection des niveaux et de la roue (5) ainsi que de la carrosserie située autour ou d'une zone partielle est enregistrée en tant que lignes de profil (nuage de points 3D) à l'aide d'au moins un dispositif d'acquisition d'image, en fonction de la correspondance géométriquement connue entre la/les source(s) de rayonnement et la/les dispositifs d'acquisition d'image. En outre, la position spatiale de points de surface caractéristiques servant à déterminer directement les données intéressantes du châssis est éventuellement déterminée à partir des points d'intersection des lignes de profil et par exemple du bord des jantes ou d'autres contours de la roue à symétrie de rotation ainsi que du secteur de la roue.
EP06819529A 2005-12-29 2006-11-16 Procédé de mesure optique de châssis Withdrawn EP1969309A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102005063083A DE102005063083A1 (de) 2005-12-29 2005-12-29 Verfahren zur optischen Fahrwerksvermessung
PCT/EP2006/068545 WO2007080014A1 (fr) 2005-12-29 2006-11-16 Procédé de mesure optique de châssis

Publications (1)

Publication Number Publication Date
EP1969309A1 true EP1969309A1 (fr) 2008-09-17

Family

ID=37691731

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06819529A Withdrawn EP1969309A1 (fr) 2005-12-29 2006-11-16 Procédé de mesure optique de châssis

Country Status (4)

Country Link
US (1) US20080186514A1 (fr)
EP (1) EP1969309A1 (fr)
DE (1) DE102005063083A1 (fr)
WO (1) WO2007080014A1 (fr)

Cited By (1)

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CN102901457A (zh) * 2012-10-18 2013-01-30 北京航空航天大学 一种列车车轮直径动态测量方法及系统

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DE102005063051A1 (de) * 2005-12-29 2007-07-05 Robert Bosch Gmbh Verfahren zur optischen Fahrwerksvermessung
DE102006048725A1 (de) 2006-10-16 2008-04-17 Robert Bosch Gmbh Verfahren zum Ermitteln der Drehachse eines Fahrzeugrades
DE102007021328A1 (de) 2007-05-07 2008-11-13 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrwerksvermessung
WO2010028965A1 (fr) * 2008-09-12 2010-03-18 Robert Bosch Gmbh Système cible, ensemble de systèmes cibles et dispositif de réglage optique de la géométrie
WO2014151666A1 (fr) 2013-03-15 2014-09-25 Hunter Engineering Company Procédé de détermination de paramètres d'un objet en rotation dans un motif projeté
AT512762B1 (de) * 2013-08-01 2015-01-15 Avl List Gmbh Verfahren und Anordnung zur Fahrdynamikbewertung
MX350450B (es) * 2014-03-10 2017-09-07 Nissan Motor Dispositivo de deteccion de semaforo y metodo de deteccion de semaforo.
CN105181358A (zh) * 2015-08-28 2015-12-23 石家庄华燕交通科技有限公司 一种车辆四轮定位检测装置
DE102017206625A1 (de) 2017-04-20 2018-10-25 Robert Bosch Gmbh Verfahren und Vorrichtung zur Fahrwerksvermessung
US11781860B2 (en) 2018-04-30 2023-10-10 BPG Sales and Technology Investments, LLC Mobile vehicular alignment for sensor calibration
CN112352146B (zh) 2018-04-30 2023-12-01 Bpg销售和技术投资有限责任公司 用于传感器校准的车辆对准
US11835646B2 (en) 2018-04-30 2023-12-05 BPG Sales and Technology Investments, LLC Target alignment for vehicle sensor calibration
US11597091B2 (en) 2018-04-30 2023-03-07 BPG Sales and Technology Investments, LLC Robotic target alignment for vehicle sensor calibration
US11243074B2 (en) 2018-04-30 2022-02-08 BPG Sales and Technology Investments, LLC Vehicle alignment and sensor calibration system
DE102019131863A1 (de) * 2019-11-25 2021-05-27 Dürr Assembly Products GmbH Verwendung einer Vorrichtung zur photogrammetrischen Vermessung von Objekten zur Bestimmung von Position und/oder Orientierung von Teilen eines Fahrzeugs
CN114604175B (zh) * 2021-11-26 2023-10-13 中科云谷科技有限公司 用于确定工程车辆的方法、处理器、装置及系统

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102901457A (zh) * 2012-10-18 2013-01-30 北京航空航天大学 一种列车车轮直径动态测量方法及系统
CN102901457B (zh) * 2012-10-18 2015-04-15 北京航空航天大学 一种列车车轮直径动态测量方法及系统

Also Published As

Publication number Publication date
US20080186514A1 (en) 2008-08-07
DE102005063083A1 (de) 2007-07-05
WO2007080014A1 (fr) 2007-07-19

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