JPH1047940A - Measuring plate, and device and method for measuring wheel alignment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the measuring accuracy, reliability, and reproducibility of wheel alignment by attaching a measuring plate to the wheel of a vehicle to be inspected by aligning the origin of the plate with the center of rotation of the wheel and recognizing the relative positional relation between an arbitrary position in the photographed picture of the plate and the center of a rotating shaft. SOLUTION: A measuring plate 4 is attached to a wheel by aligning the origin (center) of a testing surface 4S on which a first reference mark MC1 which is formed with the origin at the center, many second reference marks MC2 which are formed with the intersections of a plurality of crossing first and second virtual lines as center coordinates, and a plurality of correction lines CL are formed with the center axis of the wheel. Then the relative position and spin angle of an arbitrary position (e.g. center) in a picture taken with a color CCD camera 5B to the center coordinates of the mark MC1 are calculated based on pictures taken with color CCD cameras 5A and 5B and the caster angle of the wheel is fund from the relative position and spin angle. In addition, the camber angle of the wheel is calculated from the difference between the geometrical distances to the surface 4S from laser displacement gauges 6-1 and 6-3 based on the detected signals of the gauges 6-1 and 6-3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a measuring plate, a wheel alignment measuring device and a wheel alignment measuring method, and more particularly to a vehicle basic characteristic measuring device for three-dimensionally measuring a displacement and an angle of a tire wheel when a vehicle is driven. The present invention relates to a measurement plate, a wheel alignment measurement device, and a wheel alignment measurement method used for wheel alignment measurement.

[0002]

2. Description of the Related Art A vehicle basic characteristic measuring device is known as a test device for measuring basic characteristics of a vehicle such as a suspension characteristic and a steering characteristic of a vehicle in a test room.
In the vehicle basic characteristic measuring device, the test vehicle was fixed at a predetermined position, and rotation, left, right, up, down, front and back, etc. were applied to the tire contact point, and the reaction force generated at that time was taken into account. Various basic vehicle characteristics can be measured by processing the measurement data at the wheel center point.

[0003] As a part of the vehicle basic characteristic measuring device, a wheel alignment measuring device for measuring wheel alignment such as a spin angle, a camber angle and a toe angle based on a distance from a reference position to a tire wheel center. There is. Conventional wheel alignment measuring devices generally support a tire wheel and are fixed on a platform driven by an actuator, and are connected to the tire wheel to mechanically detect the movement of the tire wheel. . This type of mechanical wheel alignment measurement device has a disadvantage that it is not possible to perform highly reliable measurement due to a reduction in measurement accuracy due to friction of a movable part and restrictions due to inertial mass of components and the like.

In order to solve this problem, a non-contact wheel alignment measuring apparatus using a non-contact distance sensor such as a laser beam sensor or an ultrasonic sensor has been proposed. More specifically, the conventional ultrasonic wheel alignment measuring device arranges a plurality of ultrasonic sensors at a predetermined position on the side of the tire wheel, and a measurement plate attached to a side surface of the tire wheel from a predetermined reference position. The distance to 4P (see FIG. 21) was measured by ultrasonic waves, and the camber angle and the toe angle were determined based on the obtained measurement data (for details, see Japanese Utility Model Application Laid-Open No. 63-44107). reference).

In the conventional optical wheel alignment measuring device, a measuring unit having a plurality of optical sensors (for example, a laser displacement meter) is installed on a platform on a side of a tire wheel, and the measuring unit is mounted on the front and rear of the vehicle. And optically measure the distance from a predetermined reference position to a measurement plate 4P (see FIG. 17) attached to the side surface of the tire wheel, and determine the camber angle and the toe angle based on the obtained measurement data. (See JP-A-63-94103 for details).

[0006]

The above-mentioned conventional ultrasonic wheel alignment measuring apparatus can measure a large displacement, but it does not allow the inclination of the sensor axis of the ultrasonic sensor with respect to the test surface of the measuring plate. The range is about ± 7 [゜] at maximum due to the limitation of the reflection angle, and the inclination of the sensor axis of the ultrasonic sensor with respect to the test surface of the measurement plate is ± 45.
There is a problem that it cannot be used for measurement with a wide inclination range, such as measurement of wheel alignment including the steering system, which is described as [゜].

Further, the optical wheel alignment measuring device using the above-mentioned conventional laser displacement meter has a measurable displacement range (measurable distance range) centered on a reference distance between the test surface of the measuring plate and the laser displacement meter. Up to ± 100
[Mm] or more is difficult from the viewpoint of accuracy and cost. For this reason, in an actual device, an optical wheel alignment measuring device is fixed on a platform so that measurement can be performed using a laser displacement meter having a small measurable displacement range.

In this case, what is actually to be measured is the alignment of the wheel with respect to the vehicle body. By the way, since the vehicle body is fixed at a predetermined reference position, the relative positional relationship between the platform and the wheel alignment measuring device changes even if the platform is displaced with respect to this reference position due to the driving of the actuator. Instead, the wheel alignment measurement data will include the amount of platform displacement.

However, the amount of displacement of the platform includes an error in the rigid deformation of the platform, and this error cannot be separated from the measurement data. Therefore, the measurement data includes a measurement error, and an accurate wheel alignment measurement cannot be performed. There was a problem.

Although it is conceivable to perform data correction to remove this measurement error, it cannot be reliably corrected due to various conditions of error mixing, and lacks measurement accuracy, reliability and reproducibility. There was a problem. Therefore, an object of the present invention is to grasp the relative positional relationship between the measurement plate and the wheel alignment measuring device continuously and at a high speed, and to improve the measurement accuracy, reliability and reproducibility of the wheel alignment. It is an object of the present invention to provide a measuring plate, a wheel alignment measuring device, and a wheel alignment measuring method.

[0011]

According to a first aspect of the present invention, there is provided an image forming apparatus, comprising: a first reference mark having a predetermined origin position as a center coordinate; a plurality of first virtual lines parallel to each other; Assuming a second virtual line that intersects the first virtual line and is parallel to each other, a plurality of second fiducial marks whose center coordinates are the intersection point of the first virtual line and the second virtual line; A plurality of correction lines parallel to one of the imaginary line and the second imaginary line, and having a constant separation distance, are drawn on the test surface, and the correction line is located at the center of the rotation axis of the wheel of the vehicle to be inspected. It is configured to be mounted so that the origin position matches.

According to the first aspect of the present invention, the first reference mark whose center coordinate is a predetermined origin position and the plurality of second reference marks whose center point is the intersection of the first virtual line and the second virtual line. Since the reference mark and the plurality of correction lines are drawn on the test surface and attached so that the origin position coincides with the center of the rotation axis of the wheel of the vehicle to be inspected, the first reference mark,
By imaging the second reference mark and the correction line, an arbitrary position on the imaging screen can be easily grasped as a relative positional relationship with the center of the rotation axis of the wheel of the inspected vehicle.

According to a second aspect of the present invention, in the first aspect, the first fiducial mark, the second fiducial mark, and the correction line are drawn in different colors. According to the invention described in claim 2, claim 1 is provided.
In addition to the effects of the described invention, the first fiducial mark, the second fiducial mark, and the correction line are drawn in different colors from each other, so that they can be easily distinguished from each other in image processing of the imaging screen.

According to a third aspect of the present invention, in the second aspect, the first reference mark and the second reference mark are each drawn in one of red, green and blue. I do. According to the invention of claim 3, in addition to the effect of the invention of claim 2, the first reference mark and the second reference mark are each drawn in one of red, green, and blue, By performing color separation processing in image processing, it is possible to easily identify each other and perform processing.

According to a fourth aspect of the present invention, in the second or third aspect, the base area is an area excluding the first fiducial mark, the second fiducial mark, and the correction line on the test surface. And the correction line are configured such that one is white and the other is black.

According to the fourth aspect of the present invention, in addition to the operation of the second or third aspect, the area other than the first fiducial mark, the second fiducial mark and the correction line on the test surface is provided. Since the base region and the correction line are configured such that one is white and the other is black, the correction line can be easily identified by the binarization process.

According to a fifth aspect of the present invention, in the first aspect of the present invention, the first reference mark is set to a color different from the paint color of the measurement vehicle. According to the fifth aspect of the invention, in addition to the function of the second aspect, the first reference mark is set to a color different from the paint color of the measurement vehicle. Therefore, in the image processing, the paint color is not erroneously recognized as the first reference mark.

According to a sixth aspect of the present invention, there is provided a wheel alignment measuring apparatus for measuring wheel alignment using the measuring plate according to any one of the first to fourth aspects, wherein the test surface of the measuring plate is Capturing an image of a first area including the first fiducial mark and the plurality of second fiducial marks, and outputting a first imaging signal;
An image pickup unit has an optical axis in which the positional relationship between the image pickup unit and the optical axis of the first image pickup unit is related in advance, and picks up an image of a second region included in the first region having an area smaller than the first region. A second imaging means for outputting a second imaging signal;
Selecting means for selecting any one of the second fiducial marks included in the second area as a selected second fiducial mark based on the image signal, and selecting the selected second fiducial mark based on the first image signal Relative reference position calculating means for specifying the position coordinates of the specified selected second reference mark as relative reference position coordinates in the first area;
Based on the imaging signal and the relative reference position coordinates, the second
And position calculating means for calculating origin position reference position coordinates, which are position coordinates based on the origin position of a predetermined position in the area.

According to the sixth aspect of the present invention, the first image pickup means picks up an image of the first area including the first reference mark and the plurality of second reference marks on the test surface of the measurement plate, and outputs the first image pickup signal. Is output to the relative reference position calculating means. The second imaging unit captures an image of the second region included in the first region having an area smaller than the first region, and outputs a second imaging signal to the selection unit and the position calculation unit.

[0020] The selecting means selects the second signal based on the second image signal.
One of the second fiducial marks included in the area is selected as a selected second fiducial mark. The relative reference position calculation means sets the selected second reference mark to the first based on the first image pickup signal.
The position coordinates of the specified second reference mark specified within the area are calculated as relative reference position coordinates.

The position calculating means calculates origin position reference position coordinates, which are position coordinates based on the origin position of a predetermined position in the second area, based on the second image pickup signal and the relative reference position coordinates. According to a seventh aspect of the present invention, in the invention according to the sixth aspect, the selection unit is configured to select the second reference mark closest to the predetermined position among the second reference marks included in the second area. Is selected as the selection second fiducial mark.

According to the seventh aspect of the invention, in addition to the operation of the sixth aspect, the selection means is located closest to the predetermined position among the second reference marks included in the second area. Since the second reference mark is selected as the second reference mark, it is possible to calculate the origin position reference position coordinates with less error.

According to an eighth aspect of the present invention, in accordance with the sixth or seventh aspect of the present invention, the first image signal and the second image signal are input and subjected to color separation to obtain a first red image signal.
A color separation for outputting a first color separation imaging signal including a first green imaging signal and a first blue imaging signal and a second color separation imaging signal including a second red imaging signal, a second green imaging signal, and a second blue imaging signal. Means, wherein the selecting means includes the second
The specified second reference mark is specified based on the color separation imaging signal, and the relative reference position calculation means is configured to calculate the relative reference position coordinates based on the first color separation imaging signal.

According to the eighth aspect of the present invention, in addition to the function of the sixth or seventh aspect, the color separation means further comprises:
The first imaging signal and the second imaging signal are input, color separation is performed, and the first color separation imaging signal including the first red imaging signal, the first green imaging signal, and the first blue imaging signal is sent to the relative reference position calculation means. And outputting a second color separation imaging signal including a second red imaging signal, a second green imaging signal, and a second blue imaging signal to the selection unit.

The selecting means specifies the specific second reference mark based on the second color separation imaging signal, and the relative reference position calculation means calculates relative reference position coordinates based on the first color separation imaging signal. According to a ninth aspect of the present invention, in the invention according to any one of the sixth to eighth aspects, the relative reference position calculation means calculates a center of the selected second fiducial mark based on the second color separation imaging signal. A center position calculating unit that calculates position coordinates as the relative reference position coordinates, wherein the position calculating unit calculates relative position coordinates of the predetermined position with respect to the relative reference position coordinates;
Origin reference position coordinate calculation means for calculating the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the selected second reference mark.

According to the ninth aspect of the present invention, in addition to the operation of the sixth aspect, the center position calculating means of the relative reference position calculating means may perform the second color separation imaging. The coordinates of the center position of the selected second reference mark are calculated as relative reference position coordinates based on the signal.

The relative position coordinate calculating means of the position calculating means includes:
The relative position coordinates of the predetermined position with respect to the relative reference position coordinates are calculated, and the origin reference position coordinate calculating means calculates the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the selected second reference mark.

According to a tenth aspect of the present invention, in the invention according to any one of the sixth to ninth aspects, a distance between different positions on the test surface of the measurement plate is measured to output a measurement signal. A plurality of distance sensors, and distance calculation means for calculating a distance to the test surface and a camber angle based on measurement signals from the plurality of distance sensors.

According to the tenth aspect, the sixth aspect is provided.
In addition to the effects of the invention described in any one of claims 9 to 9,
The distance calculating means measures a distance to a different position on the test surface of the measurement plate and outputs a measurement signal, and a distance to the test surface based on the measurement signals of the plurality of distance sensors. Calculate the camber angle.

An eleventh aspect of the present invention is a wheel alignment measuring method for measuring a wheel alignment using the measuring plate according to any one of the first to fourth aspects, wherein the method comprises the steps of: A first imaging step of imaging a first area including the first fiducial mark and the plurality of second fiducial marks, and a second imaging step included in the first area having an area smaller than the first area.
A second imaging step of imaging an area, a selection step of selecting any one of the second fiducial marks included in the second area as a selected second fiducial mark, and setting the selected second fiducial mark to the first A relative reference position calculating step of specifying the position coordinates of the specified selected second reference mark as a relative reference position coordinate within a region, and a position based on the origin position of a predetermined position in the second region And a position calculating step of calculating the origin position reference position coordinates, which are coordinates, based on the relative reference position coordinates.

According to the eleventh aspect of the present invention, in the first imaging step, the first area including the first reference mark and the plurality of second reference marks is imaged on the test surface of the measurement plate, and the second imaging step is performed. Images a second region included in the first region having an area smaller than the first region.

In the selecting step, any one of the second fiducial marks included in the second area is selected as a selected second fiducial mark. In the relative reference position calculation step, the selected second reference mark is specified in the first area, and the position coordinates of the specified selected second reference mark are calculated as relative reference position coordinates.

The position calculating step calculates, based on the relative reference position coordinates, origin position reference position coordinates, which are position coordinates based on the origin position of a predetermined position in the second area. Claim 1
In the invention described in Item 2, in the invention described in Item 11, in the selecting step, among the second reference marks included in the second region, the second reference mark closest to the predetermined position is set to the second reference mark. It is configured to be selected as the selected second reference mark.

According to the twelfth aspect of the present invention, the first aspect is provided.
In addition to the effect of the invention described in 1, the selecting step selects the second reference mark closest to the predetermined position among the second reference marks included in the second area as the selected second reference mark. Origin position reference position coordinates with less error can be calculated.

According to a thirteenth aspect of the present invention, in the eleventh or twelfth aspect of the present invention, the imaging screens in the first imaging step and the second imaging step are respectively color-separated to obtain a first color separation imaging screen and a second imaging screen. A color separation step of generating a two-color separation imaging screen, wherein the selection step specifies the specific second reference mark based on the second color separation imaging screen, and the relative reference position calculation step includes: The relative reference position coordinates are calculated based on the first color separation imaging screen.

According to the thirteenth aspect, the first aspect is provided.
In addition to the operation of the first or twelfth aspect of the invention, the color separation step performs color separation on the imaging screens in the first imaging step and the second imaging step, respectively, to obtain a first color separation imaging screen and a second color separation imaging screen. Generate Thus, the selection step specifies the specific second reference mark based on the second color separation imaging screen, and the relative reference position calculation step calculates relative reference position coordinates based on the first color separation imaging screen.

According to a fourteenth aspect of the present invention, in the invention according to any one of the eleventh to thirteenth aspects, the relative reference position calculating step includes the step of calculating the selected second reference based on the second color separation imaging screen. A center position calculating step of calculating a center position coordinate of the mark as the relative reference position coordinate, wherein the position calculating step calculates a relative position coordinate of the predetermined position with respect to the relative reference position coordinate; An origin reference position coordinate calculation step of adding the relative position coordinates to the center position coordinates of the selected second fiducial mark to calculate the origin position reference position coordinates.

According to the fourteenth aspect, the first aspect is provided.
In addition to the effect of the invention according to any one of claims 1 to 13, the center position calculating step of the relative reference position calculating step may include a second position calculating step.
The coordinates of the center position of the selected second reference mark are calculated as relative reference position coordinates based on the color separation imaging screen.

The relative position coordinate calculating step in the position calculating step is as follows.
The relative position coordinates of the predetermined position with respect to the relative reference position coordinates are calculated, and the origin reference position coordinate calculation step calculates the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the selected second reference mark.

According to a fifteenth aspect of the present invention, in the invention according to any one of the eleventh to fourteenth aspects, a distance measuring step of measuring distances to a plurality of different positions on the test surface of the measuring plate. And a distance calculation step of calculating a distance to the test surface and a camber angle based on the measured distance.

According to the fifteenth aspect, the first aspect is provided.
In addition to the effect of the invention according to any one of claims 1 to 14, the distance step measures distances to a plurality of different positions on the test surface of the measurement plate, and the distance calculation step includes calculating the distance to the measured distance. The distance to the test surface and the camber angle are calculated based on the distance.

[0042]

Preferred embodiments of the present invention will now be described with reference to the drawings. Schematic Configuration of Alignment Measuring Device FIG. 1 shows a schematic configuration block diagram of a wheel alignment measuring device.

The wheel alignment measuring device 1 is roughly classified into a measuring plate 4 attached to a tire wheel 3 of a measuring vehicle 2 and two CCs capable of color imaging.
Measurement plate 4 by imaging unit 5 having D camera
Of the test surface 4S, and a measurement unit 7 for measuring the distance of the measurement plate to the test surface 4S by the three laser displacement meters 6-1 to 6-3, based on the output signal of the measurement unit 7. Data processing control unit 8 that performs alignment calculation and controls measurement unit 7
And is provided. Configuration Figure 2 of the measuring plate shows a front view of the measuring plate. FIG. 2A is a front view of the measurement plate, and FIG. 2B is a side view of the measurement plate.

As shown in FIG. 2, the test surface 4S of the measurement plate 4 has a planar shape and is centered on the base portion BB colored black and the origin O of the test surface 4S colored red. A first circle mark MC1 as a first reference mark, a plurality of first virtual lines parallel to each other (only two first virtual lines VL11 and VL12 in FIG. 2A are shown) and a first virtual mark.
A second virtual line that intersects with and is parallel to the virtual lines VL11 and VL12 (two second virtual lines VL21, VL21,
Only V22 is shown. ), The first virtual line VL1
1, a plurality of second circle marks MC2 as a second reference mark colored in blue with the intersection point between VL12 and the second virtual lines VL21 and V22 as central coordinates, and a first virtual line VL11,
VL12 or one of the second imaginary lines VL21 and V22 (shown in parallel with the second imaginary lines VL21 and V22 in FIG. 2A), and the distance Δd is constant. A plurality of correction lines CL drawn in white and a distance measurement area ML to which measurement light from the laser displacement gauges 6-1 to 6-3 is irradiated.
A is provided.

Since the above-mentioned circle marks MC1 and MC2 and the correction line CL are used as a measurement scale, they need to be drawn with a predetermined accuracy so as to achieve a desired accuracy.
FIG. 3 shows a detailed explanatory view of the test surface 4S of the measurement plate 4. The distance between the center of the first circle mark MC1 and the center of the second circle mark MC2 closest to the first circle mark MC1 in the X direction, and the center of the second circle mark MC2 and the second circle mark MC2 closest to the two circle mark MC2 Are spaced apart from each other by the distance Lx.

The distance in the Z direction between the center of the first circle mark MC1 and the center of the second circle mark MC2 closest to the first circle mark MC1, the center of the second circle mark MC2 and the two circle mark M
The distance in the Z direction from the center of the second circle mark MC2 closest to C2 is spaced by the distance Lz.

In this case, the distance Lx and the distance Lz do not necessarily have to be equal, but it is preferable to set Lx = Lz in order to simplify the arithmetic processing.

A certain correction line CL and the correction line CL
Are arranged at a distance Δd from the correction CL which is closest to. In this case, in order to simplify the image processing, Δd = Lz is set so that the correction line CL does not overlap the first circle mark MC1 and the second circle mark MC2. It is preferable to set the distance from the center of the second circle mark MC2 to Δd / 2 = Lz / 2.

Further, the diameter RMC of the first circle mark MC1
1 and the diameter RMC2 of the second circle mark MC2, since the first circle mark MC1 is used for coarse (rough) measurement and the second circle mark MC2 is used for precise (fine) measurement, RMC1 ≒ 2 × RMC2 is preferred from the viewpoints of measurement accuracy, ease of image processing, etc., and the size of the second circle mark MC2 is 1
[Cm] is preferable.

The dimensional tolerance is preferably within ± several tens [μm] when the final target accuracy is about several hundreds [μm]. In the above description, the first circle mark MC1 is colored red and the second circle mark MC2 is colored blue, but any one of the three primary colors of light, red, green and blue, which are different from each other, is used. The processing described below is also possible.

In this case, it is preferable to set the color of the first circle mark MC1 to a color other than the color included in the imaging screen of the measurement vehicle 2 in order to prevent a data processing error from occurring. More specifically, for example, when the measurement vehicle 2 is painted red, the first circle mark is green.

Similarly, the base portion BB is black and the correction line C
Although L is white, image processing described later can be performed in the opposite case. In the present embodiment, the first virtual line VL1
1, VL12 and the second imaginary lines VL21, VL22 are orthogonal to each other. However, the present invention is not limited to this. The arithmetic processing becomes complicated, but at predetermined intervals so as to intersect at a predetermined angle. The same effect can be obtained if it is assumed that they are arranged.

Configuration of the Measurement Unit FIG. 4 is a perspective view showing the appearance of the measurement unit in a partially transparent manner, FIG. 5 is a front view of the measurement unit, and FIG. 6 is a side view of the measurement unit. The measurement unit 7 includes three laser displacement meters 6-1 to 6
And an imaging unit 5 provided on the back side of the holding plate 10 to image the measurement plate 4 from behind the holding plate 10.
And a Z-axis direction drive unit 12 for driving the holding plate 10 and the imaging unit 5 in the Z-axis direction by driving the Z-axis direction step motor 11, and a holding plate 10 for driving the X-axis direction step motor 13. An X-axis direction drive unit 14 for driving the image pickup unit 5 in the X-axis direction, a holding arm unit 15 for holding the holding plate 10, the image pickup unit 5, the Z-axis direction drive unit 12 and the X-axis direction drive unit 14 on the back side; , Holding arm 15
And a base unit 16 for holding the base unit in a fixed state on the ground.

The Z-axis direction drive unit 12 includes a screw shaft 17 having a feed groove formed therein, a slider portion 18 slidably engaged with the screw shaft 17 and holding the holding plate 10, and a manual And a Z-axis direction manual drive unit (not shown) having a Z-axis direction drive knob for performing the alignment with the above.

The X-axis direction drive unit 14 includes a screw shaft 19 having a feed groove, a slider portion 20 slidably engaged with the screw shaft 19 and holding the holding arm portion 15, It is provided with. Further, the measurement unit 7 includes a Y-axis direction manual unit (not shown) having a Y-axis direction drive knob for performing manual alignment in the Y-axis direction.

Further, the measuring unit 7 has a body sensor for detecting the position and inclination of the body of the measuring vehicle 2 (not shown), and the detecting point BP changes when the platform PH is driven by the force head 9 in the vertical direction. The position and inclination of the body of the measurement vehicle 2 are detected by mechanically detecting the position (see FIG. 4), and the data processing control unit 8 corrects the measurement data based on the detected data. Shows a schematic configuration block diagram of a data processing control unit 8 in block diagram 7 of the processor body.

The data processing control unit 8 is provided with a first image pickup data DGG output from a color CCD camera 5A described later.
1 or a display 25 for displaying an image based on the second image data DGG2 output from the color CCD camera 5B, and a Z-axis step motor 11 and an X-axis step motor 1 based on the position control data DPC.
X, Z pulse motor control unit 26 for performing drive control of No. 4,
First imaging data DGG1 output from the imaging unit 5
And a color separation processing circuit 27 that performs color separation processing based on the second image data DGG2 and outputs red image data DR corresponding to red, green image data DG corresponding to green, and blue image data DB corresponding to blue. Based on the output signals DLD1 to DLD3 of the three laser displacement meters 6-1 to 6-3 and the red imaging data DR, the green imaging data DG, and the blue imaging data DB, of the two imaging screens of the imaging unit 5, The test surface 4 of the measurement plate 4 at a predetermined position (for example, the center position of the imaging screen) in the high-resolution imaging screen
X coordinate data X on S, Y coordinate data Y on the test surface 4S, Z coordinate data Z on the test surface 4S of the measurement plate 4 at a predetermined position in the high-resolution imaging screen, and the inclination θx of the test surface 4S with respect to the X axis. , The inclination θy of the test surface 4S with respect to the Y-axis and the inclination θz of the test surface 4S with respect to the Z-axis (these inclinations serve as a basis for the calculation of the spin angle data DSP and the camber angle data DCB) and output the position control data. Operation processing unit 28 that outputs DPC
And is provided.

In this case, the red image data DR includes the first red image data DR1 corresponding to the first image data DGG1 and the second image data DGG2 corresponding to the second image data DGG2.
Red imaging data DR2 is included, and green imaging data DG includes first green imaging data DG1 corresponding to first imaging data DGG1 and second imaging data DGG2 corresponding to second imaging data DGG2.
The green image data DG2 is included, and the blue image data DB includes first blue image data DB1 corresponding to the first image data DGG1 and second image data DGG2 corresponding to the second image data DGG2.
It is assumed that blue image data DB2 is included. Configuration of Imaging Unit FIG. 8 shows a schematic configuration diagram of the imaging unit.

The imaging unit 5 has an optical axis that forms a predetermined angle θCCD with an optical axis of a color CCD camera 5B described later, and has a visual field ARA (see FIG. 9) on the test surface 4S of the measurement plate 4. 9 has a color CCD camera 5A on the low resolution side that outputs one imaging data DGG1 and an optical axis perpendicular to the test surface 4S of the measurement plate 4 in the initial state, and has a visual field ARB on the test surface 4S of the measurement plate 4 (FIG. reference)
And a high-resolution color CCD camera 5B for outputting the second image data DGG2.

In this case, the predetermined angle θCCD is between the maximum displacement position 4SFR in the positive Y-axis direction and the maximum displacement position 4SRR in the negative Y-axis direction of the test surface 4S corresponding to the initial reference position 4SREF in the Y-axis direction of the test surface 4S. , Optical axis position of color CCD camera 5A on test surface 4S and color CCD camera 5
The difference ΔE in the Z-axis direction from the optical axis position of B is set so as to fall within a preset maximum allowable error range.

The field of view AR of the color CCD camera 5B
B is included in the field of view ARA of the color CCD camera 5A as shown in the perspective view of FIG. 9A and the front view of FIG. Are set so as to cover almost the entire area of the test surface 4S.

Therefore, for example, the color CCD camera 5
When the same pixel number is used as A and 5B, the color CCD camera 5A captures a wide area, so that the resolution is substantially low, and the position can be detected only with low accuracy. Since the region is imaged, the resolution is substantially high, and the position can be detected with high accuracy.

In this case, since the actual distance to the measurement plate differs between the two color CCD cameras, it is necessary to correct the distance when performing more precise measurement.
In the present embodiment, the two color CCD cameras 5A and 5B have a multi-optical axis system in which the optical axes are not aligned. However, as shown in FIG.
It is also possible to use a single optical axis system in which the optical axes of A and 5B are matched. More specifically, a half mirror 5C is provided in the optical path of the color CCD camera 5A and the color CCD camera 5B so that the optical axes of the color CCD camera 5A and the color CCD camera 5B coincide with each other.

Also in this case, the field of view ARB of the color CCD camera 5B is shown in the perspective view of FIG.
As shown in the front view of (b), the color CCD camera 5A
Of the color CCD camera 5A
Is set so as to cover almost the entire area of the test surface 4S of the measurement plate 4.

As a result, even when precision measurement is performed,
There is no need to perform distance correction. Two color CCDs in either multi-optical axis system or single optical axis system
It suffices if the absolute positional relationship between the cameras 5A and 5B is known and the positional relationship is maintained without change during the measurement. Arrangement of Laser Displacement Meter FIG. 12 shows an arrangement of the laser displacement meter. FIG. 12 (a)
Is a perspective view of the arrangement of the laser displacement meter, FIG. 12B is a side view of the arrangement of the laser displacement meter in an initial state, and FIG.
FIG. 4 is an arrangement side view in a measurement state of the laser displacement meter.

The laser displacement gauges 6-1 to 6-3 are shown in FIG.
As shown in FIGS. 12A and 12B, in the initial state, the irradiation point P of the measuring laser beam is located in the distance measuring area MLA.
1 to P3 are located at positions shown in FIG.
In the measurement state in which the test surface 4S is inclined as shown in FIG. 7, regardless of the optical axis position of the color CCD camera 5B,
Servo control is performed based on the displacement position of the first circle mark MC1 so as to maintain this state.

The number of laser displacement meters is not limited to three, but may be three or more. Measurement Operation Next, the measurement operation will be described with reference to FIGS.

In this case, the first screen is always displayed on the imaging screen of the color CCD camera 5A constituting the imaging unit 5.
It is assumed that a circle mark MC1 is set to be included, and a test surface 4S
It is assumed that the measurement plate 4 is mounted so that the origin O of the tire wheel 3 coincides with the rotation center axis of the tire wheel 3.

FIG. 13 shows a flowchart of the measuring operation process. First, the operator drives the tire wheels 3 of the measurement vehicle 2 upward or downward independently for each tire wheel by an actuator (not shown). Then, the actuator is stopped at the empty vehicle load value, and the state at the time of stop is maintained (step S1).

Next, the holding plate 10 and the imaging unit 5 are driven in the Z-axis direction by driving the Z-axis step motor 11 by the Z-axis driving unit 12, or the holding plate 10 and the imaging unit are manually operated. 5 is opposed to the test surface 4S of the measurement plate 4, and a color CCD camera 5
The optical axes of A and the color CCD camera 5B are made to coincide with the origin O of the test surface 4S (step S2).

In this state, the relationship between the measurement plate 4, the field of view ARA of the color CCD camera 5A and the field of view ARB of the color CCD camera 5B is as shown in FIG. In this state, the imaging unit 5 images the test surface 4S of the measurement plate 4 (Step S).
3) the first image data DGG1 and the second image data DG
G2 is output to the color separation processing circuit 27 of the processor body 8A (step S4).

As a result, the color separation processing circuit 27 separately performs the color separation processing of the first image data DGG1 and the second image data DGG2 output from the image pickup unit 5 under the control of the controller 25, and corresponds to red. The red imaging data DR, the green imaging data DG corresponding to green, and the blue imaging data DB corresponding to blue are output to the arithmetic processing unit 28 (step S5).

Here, a specific calculation process will be described with reference to FIGS. As shown in FIG. 14, the focal length of the lens of the color CCD camera 5A is f = f5A [m
m], and the number of pixels of the color CCD camera 5A is, for example,
Nx × Nz [dots] (Nx and Nz are natural numbers; for example, Nx = 400, Nz = 400), and the focus is on the test surface 4S so that the field of view ARA can cover the area of L5A × L5A [mm]. If the color CCD camera 5A is arranged at a distance Lf5A corresponding to the distance f5A, and Nx = Nz = NN (NN: natural number), one pixel corresponds to the pitch of L5A / NN [mm]. .

Next, in order to obtain the center coordinate of the Z axis, FIG.
As shown in the figure, based on the first red imaging data DR1,
Color CCD camera 5A while scanning in the positive X-axis direction
In the first predetermined direction (for example, the positive direction of the Z-axis; upward in FIG. 15) from the center coordinates CCA of the image data, for example, at the DN dot interval (equivalent to DN · L5A / NN [mm] interval in the above example) A rough search is performed to detect the first circle mark MC1 (step S6). In this case, the setting of DN must satisfy the condition of DN · L5A / NN ≦ RMC1 in relation to the diameter RMC1 of the first circle mark MC1.

If the first circle mark MC1 is detected by the rough search in step S6, as shown in FIG. 16 (a), one dot interval (L5A / NN [m
m] interval, fine scanning is performed while scanning in the positive direction of the X-axis, and the detection is continued until the first circular mark MC1 cannot be detected. The pixel number in the Z-axis direction at the time of detecting the circle mark MC1 (N1th dot (N1 = 1 to NN) of NN dots) is stored.

Then, as shown in FIG.
The direction opposite to the predetermined direction (for example, the negative direction of the Z axis;
A fine search is performed (downward) (step S7). In the process of step S7, if the first circle mark MC1 cannot be detected again, the pixel number in the Z-axis direction when the first circle mark MC1 was finally detected (N2 of NN dots, N2
At the dot (N2 = 1 to NN), the Z-axis center coordinate Z0 is obtained by the following equation (step S8).

Z0 = (N1 + N2) / 2 Here, the Z-axis center coordinate Z0 is substantially equal to the Z-coordinate of the center coordinate of the first circle mark MC1, and the accuracy of the obtained Z-axis center position Z0 is ± L5A / NN [mm]. Subsequently, similarly, in order to obtain the center coordinate X0 of the X axis, while scanning in the positive direction of the Z axis based on the first red imaging data DR1,
From the center coordinate CCA of the color CCD camera 5A, a rough search is performed in a third predetermined direction (for example, the positive direction of the X-axis; rightward in FIG. 15) at, for example, a DN dot interval (equivalent to an interval of DN · L5A / NN [mm]). Then, the first circle mark MC1 is detected (step S9).

If the first circle mark MC1 is detected by the rough search in step S9, one dot interval (L5A / N
Fine search is performed in units of (N [mm] intervals), and the detection is continued until the first circle mark MC1 cannot be detected. When the first circle mark MC1 cannot be detected, the first circle mark MC1 is finally detected. The pixel number in the X-axis direction at the time (M1 dot (M1 = 1 to N
N)), and the direction opposite to the third predetermined direction (for example, X
Fine search is performed in the negative axis direction (left direction in FIG. 15) (step S10).

In the process of step S10, the first
If the circle mark MC1 can no longer be detected, the pixel number in the X-axis direction (N
Based on the M2 dot (M2 = 1 to NN) of the N dots, the X-axis center coordinate X0 is obtained by the following equation (step S11).

X0 = (M1 + M2) / 2 As a result, the accuracy of the X-axis center coordinate X0 obtained is ± L5A
/ NN [mm]. On the other hand, as shown in FIG. 17, the focal length of the lens of the color CCD camera 5B is set to f = f5B
[Mm], and the number of pixels of the color CCD camera 5B is set to the first
The color CCD camera is set to Nx × Nz [dots] similarly to the color CCD camera, and separated from the test surface 4S by the distance Lf5B corresponding to the focal length f5B so that the field of view ARB can cover the area of L5B × L5B [mm]. Assuming that 5B is arranged and Nx = Nz = NN (NN: natural number), one pixel corresponds to the pitch of L5B / NN [mm].

Next, as shown in FIG.
The second red imaging data DR2 output from the camera 5B,
The correction line CL is sampled based on a white image obtained by adding the green imaging data DG2 and the second blue imaging data DB2, and a least squares method (LSM: Least Squares Method) is obtained from a plurality of position data. Of the correction line CL is determined by the above (Step S12).

Subsequently, based on the image captured by the color CCD camera 5A, the center coordinates (X0, Z0) of the first circle mark MC1 obtained in the processing of steps S8 and S11 and the color CC
The distance LL between the D camera 5B and the center coordinate CCB of the visual field ARB is obtained (step S13).

Thus, the correction line CL surrounding the center coordinates of the visual field ARB can be specified, and the approximate position of the visual field ARB can be grasped. Next, the calculation of the center coordinates of the visual field ARB will be described with reference to FIGS.

First, the center coordinates CCA of the field of view ARA and the first circle mark MC1 are displayed on the imaging screen of the color CCD camera 5A.
Then, the distance da from the center coordinates (X0, Z0) is calculated (step S14). da = √ (xa ² + ya ² ) Next, a line parallel to the correction line CL passing through the center coordinates of the field of view ARA is assumed, and this line is connected to the center coordinates of the field of view ARA and the center coordinates of the first circle mark MC1. The angle θa formed by the line is calculated (step S15).

Θa = tan ⁻¹ (ya / xa) −θ0 From these, the distance da obtained in steps S14 and S15 is obtained.
Then, the distance Xa and the distance Ya are calculated based on the angle θa (step S16). Xa = da × cos (θa) Ya = da × sin (θa) Next, based on the distance Xa and the distance Ya, the second circle mark MC2n located closest to the center coordinates of the visual field ARA is determined by the first circle mark.
It is determined whether the mark is the nx-th (nx is a natural number) second circle mark in the X direction and the ny-th (ny is a natural number) second circle mark in the Z direction when viewed from the circle mark MC1 (step S).
17). In FIG. 17, nx = 4 and ny = 3 for the second circle mark MC2n.

Nx = int (Xa / Lx) ny = int (Ya / Lz) where int (R) represents the largest integer not exceeding R, and Lx is the second circle in the X-axis direction. The distance between the marks MC2 (see FIG. 3) and Lz is the distance between the second circular marks MC2 in the Z-axis direction (see FIG. 3).

As a result, the center coordinates (X0, Z) of the second circle mark MC2n located closest to the center coordinates of the field of view ARA.
0) from the center coordinate of the first circle mark MC1 to Xb,
Yb is calculated (step S18). This distance Xb, Yb
Has a high precision value corresponding to the drawing precision of the first circle mark MC1 and the second circle mark MC2.

Xb = nx × Lx Yb = ny × Lz Subsequently, the distance dd (low precision) from the center coordinate of the second circle mark MC2n closest to the center coordinate of the visual field ARA to the center coordinate of the visual field ARA, and The angle θi (low accuracy) formed between the visual field ARA and the X axis is calculated (step S19). Here, the low accuracy means the measurable accuracy based on the image data of the color CCD camera 5A (± 1 [mm] in the above example).
Precision).

Dd = {(Xa−Xb) ² + (Ya−Yb) ² } θi = tan ⁻¹ {(Ya−Yb) / (Xa−Xb)} + θ0 Next, the distance dd and the angle θi Based on the field of view ARA
And the low-precision distances Xi and Yi between the center coordinates of the second circle mark MC2n located closest to the center coordinates of the visual field ARA are calculated (step S20).

Xi = dd × cos (θi) Yi = dd × sin (θi) Further, based on the low-precision distances Xi and Yi, the color CC
The center coordinates of the second circle mark MC2n with respect to the center coordinates of the visual field ARb of the D camera 5B are converted into dot addresses IX and IY (address display based on the number of dots) (step S2).
1).

In this case, since the visual field ARB is composed of NN × NN (dots) as described above, the dot address of the center coordinate of the visual field ARB in the X direction = NN / 2,
The dot address of the center coordinate in the Y direction = NN / 2. IX = NN / 2 + Xi × Sn / Lx IY = NN / 2−Yi × Sn / Lz Here, Sn is the number of dots per 1 [mm].

Next, based on the distances Xb and Yb, the color CC
On the visual field ARB of the D camera 5B, the distance Db (high precision) between the central coordinates of the visual field ARB and the central coordinates of the second circle mark MC2n.
And the angle θb (high accuracy) between the visual field ARA and the X axis is calculated (step S22). Here, the high precision means a measurable precision based on the image data of the color CCD camera 5B (± L5B / NN [mm] precision in the above example).

Db = √ (Xb ² + Yb ² ) θb = tan ⁻¹ (nYb / Xb) + θ0 Based on the calculated distance Db and angle θb, the visual field AR
The high-precision distances Xc and Yc between the center coordinates of B and the center coordinates of the second circle mark MC2n closest to the center coordinates of the visual field ARB are calculated (step S23).

Xc = Db × cos (θb) Yc = Db × sin (θb) Subsequently, the high-precision distances Xc and Yc and the dot address IX,
Field of view ARb of color CCD camera 5B based on IY
The center coordinates of the second circle mark MC2n with respect to the center coordinates are converted into dot addresses X and Y (address display based on the number of dots) (step S24).

In this case, since the visual field ARB is composed of NN × NN (dots) as described above, the dot address of the center coordinate of the visual field ARB in the X direction = NN / 2,
The dot address of the center coordinate in the Y direction = NN / 2. X = Xc + (NN / 2 + IX) × Lx / Sn Y = Yc + (NN / 2−IY) × Lz / Sn Further, the obtained dot addresses X and Y are based on the X axis and Z axis of the test surface 4S of the measurement plate 4. Is converted to a coordinate system of the following formula, and dot addresses x and y in the coordinate system based on the X axis and the Z axis of the test surface 4S are calculated (step S2).
5). In this case, the following equation is established: X = x / cos (θx) Y = y / cos (θy) From these equations, the dot addresses x and y are obtained as follows: x = X × cos (θx) y = Y × cos (θy).

Next, the arithmetic processing section 28 obtains the caster angle by calculating the inclination between the horizontal direction (or the vertical direction) of the imaging screen and the scale line (step S26), and obtains the laser displacement meters 6-1 to 6-. Based on the output signals DLD1 to DLD3, the camber angle is calculated based on the difference in the geometric distance to the test surface 4S of the measurement plate 4 (step S27).

As a result, the arithmetic processing section 28 outputs the obtained dot address x as X coordinate data DX, outputs the obtained dot address y as Z coordinate data DZ, and uses the obtained spin angle as the inclination data DSP. The camber angle is output as the camber angle data DCB.

According to the present embodiment as described above,
On the basis of the imaging screens of the two color CCD cameras 5A and 5B, the first circle mark MC1 on the test surface 4S of the measurement plate 4 at a predetermined position (the center position in the above description) in the imaging screen of the color CCD camera 5B. The position and the spin angle corresponding to the center coordinates of the above can be calculated quickly and accurately, and the reproducibility of the measurement is improved.

Further, the camber angle can be quickly and accurately calculated based on the output signals DLD1 to DLD3 of the laser displacement meters 6-1 to 6-3. Therefore, the wheel alignment measurement can be performed quickly and accurately, and the reproducibility and reliability thereof can be improved.

[0100]

According to the first aspect of the present invention, the first fiducial mark whose center coordinate is a predetermined origin position and a plurality of points whose central coordinates are the intersection point between the first virtual line and the second virtual line. Second
Since the fiducial mark and the plurality of correction lines are drawn on the test surface and attached so that the origin positions coincide with the center of the rotation axis of the wheel of the vehicle to be inspected, the first fiducial mark and the second fiducial mark And imaging the correction line, an arbitrary position on the imaging screen can be easily grasped as a relative positional relationship with the center of the rotation axis of the wheel of the vehicle to be inspected. The displacement (suspension characteristics or wheel alignment characteristics) of a large area can be continuously measured in a non-contact manner at high speed in a three-dimensional space. Further, the position coordinates can be calculated at any position on the measurement plate with accuracy based on the second imaging signal.

According to the second aspect, in addition to the effect of the first aspect, the first fiducial mark, the second fiducial mark, and the correction line are drawn in different colors from each other. It is possible to easily identify each other in the image processing of the imaging screen, and it is possible to measure reliably and quickly using the image processing.

According to the third aspect of the invention, in addition to the effect of the second aspect, the first reference mark and the second reference mark are each drawn in any one of red, green and blue. Therefore, by performing the color separation processing in the image processing, it is possible to easily identify each other and perform high-speed processing using the image processing technique without complicating the data processing.

According to the fourth aspect of the present invention, in addition to the effects of the second or third aspect of the present invention, the area other than the first fiducial mark, the second fiducial mark and the correction line on the test surface is provided. Since the base region and the correction line are configured such that one is white and the other is black, the correction line can be easily identified by the binarization process, and the image processing is performed at high speed. Thus, the wheel alignment measurement can be accurately performed.

According to the fifth aspect of the invention, in addition to the effect of the second aspect, the first reference mark is set to a color different from the paint color of the measurement vehicle. Therefore, in the image processing, the paint color is not erroneously recognized as the first reference mark, and accurate measurement can be performed.

According to the invention of claim 6, according to claim 7,
According to the invention described in claim 6, in addition to the effect of the invention described in claim 6, the selection means selects the second reference mark closest to the predetermined position from the second reference marks included in the second area. Since the reference position is selected as the second reference mark, the origin position reference position coordinates with less error can be calculated, and accurate wheel alignment measurement can be performed.

According to the eighth aspect of the present invention, in addition to the effects of the sixth or seventh aspect, the color separation means further comprises:
The first imaging signal and the second imaging signal are input, color separation is performed, and the first color separation imaging signal including the first red imaging signal, the first green imaging signal, and the first blue imaging signal is sent to the relative reference position calculation means. And outputting a second color separation image signal including a second red image signal, a second green image signal, and a second blue image signal to the selection unit, and the selection unit specifies the second color separation image signal based on the second color separation image signal. Since the second reference mark is specified, and the relative reference position calculation means calculates the relative reference position coordinates based on the first color separation imaging signal, the image processing can be simplified and the wheel alignment measurement can be performed at high speed. .

According to the ninth aspect of the present invention, in addition to the effect of the sixth aspect, the center position calculating means of the relative reference position calculating means may perform the second color separation imaging. The center position coordinates of the selected second fiducial mark are calculated as relative reference position coordinates based on the signal, and the relative position coordinate calculation means of the position calculation means calculates the relative position coordinates of the predetermined position with respect to the relative reference position coordinates, Since the position coordinate calculating means calculates the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the selected second reference mark, the position coordinate calculation means selects the second reference mark with high accuracy based on the second image pickup signal. , And thus the wheel alignment of the vehicle to be measured can be measured with high accuracy and speed.

According to the tenth aspect, the sixth aspect is provided.
In addition to the effects of the invention according to any one of claims 9 to 9,
The distance calculating means measures a distance to a different position on the test surface of the measurement plate and outputs a measurement signal, and a distance to the test surface based on the measurement signals of the plurality of distance sensors. Because the camber angle is calculated,
In addition, the distance to the test surface and the camber angle can be accurately calculated.

According to the eleventh aspect, in the first imaging step, the first area including the first reference mark and the plurality of second reference marks is imaged on the test surface of the measurement plate, and the second imaging step is performed. Captures an image of a second region included in the first region having an area smaller than the first region, and in the selecting step, selects any one of the second fiducial marks included in the second region as a selected second fiducial mark I do. Thereby, the relative reference position calculating step specifies the selected second reference mark in the first area, calculates the position coordinates of the specified selected second reference mark as relative reference position coordinates, and the position calculating step includes: Since the origin position reference position coordinates, which are the position coordinates based on the origin positions of the predetermined positions in the two regions, are calculated based on the relative reference position coordinates, any position on the imaging screen can be set as the rotation axis of the wheel of the inspection target vehicle. Can be easily grasped as the relative positional relationship with the center of the wheel, and thus the displacement of the rotation axis of the wheel (suspension characteristics or wheel alignment characteristics) can be measured continuously in a large area without contact in a three-dimensional space. can do. Further, it is possible to calculate the position coordinates at any position on the measurement plate with accuracy based on the second imaging signal.

According to the twelfth aspect, according to the first aspect,
In addition to the effect of the invention described in 1, the selecting step selects the second reference mark closest to the predetermined position among the second reference marks included in the second area as the selected second reference mark. Origin position reference position coordinates with less error can be calculated.

According to the thirteenth aspect, according to the first aspect,
In addition to the effects of the first or twelfth aspect, in the color separation step, the imaging screens in the first imaging step and the second imaging step are respectively color-separated to obtain a first color separation imaging screen and a second color separation imaging screen. Generate Accordingly, the selection step specifies the specific second reference mark based on the second color separation imaging screen, and the relative reference position calculation step calculates relative reference position coordinates based on the first color separation imaging screen. Image processing can be simplified, and wheel alignment measurement can be performed easily and quickly.

According to the fourteenth aspect of the present invention, the first aspect is provided.
In addition to the effects of the invention described in any one of the first to thirteenth aspects, the center position calculating step of the relative reference position calculating step may include the second position calculating step.
The center position coordinates of the selected second fiducial mark are calculated as relative reference position coordinates based on the color separation imaging screen, and the relative position coordinate calculation step of the position calculation step calculates relative position coordinates of a predetermined position with respect to the relative reference position coordinates. The origin reference position coordinate calculating step calculates the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the selected second reference mark, so that the selection based on the second imaging signal can be performed with high accuracy. The center position of the two fiducial marks, and thus the wheel alignment of the vehicle to be measured, can be measured accurately and quickly.

According to the fifteenth aspect, according to the first aspect,
In addition to the effects of the invention according to any one of claims 1 to 14, the distance step measures distances to a plurality of different positions on the test surface of the measurement plate, and the distance calculation step includes calculating the distance to the measured distance. Since the distance to the test surface and the camber angle are calculated based on this, the distance to the test surface and the camber angle can be calculated quickly and accurately.

[Brief description of the drawings]

FIG. 1 is a schematic configuration block diagram of a wheel alignment measurement device.

FIG. 2 is a front view of a measurement plate.

FIG. 3 is a diagram illustrating a detailed configuration of a measurement plate.

FIG. 4 is an external perspective view of a measurement unit.

FIG. 5 is a side view of the measurement unit.

FIG. 6 is a front view of the measurement unit.

FIG. 7 is a schematic configuration block diagram of a data processing control unit.

FIG. 8 is a schematic block diagram of an imaging unit.

9 is an explanatory diagram of a field of view of a color CCD camera in the imaging unit in FIG. 8;

FIG. 10 is a schematic configuration block diagram of another imaging unit.

FIG. 11 is a color CCD in the imaging unit of FIG. 10;
It is explanatory drawing of the visual field of a camera.

FIG. 12 is an explanatory diagram of an arrangement of a laser displacement meter.

FIG. 13 is a flowchart of a measurement operation process.

FIG. 14 is an explanatory diagram of an imaging area of a color CCD camera 5A.

FIG. 15 is an explanatory view (1) of scanning a first circle mark.

FIG. 16 is an explanatory view (2) of scanning a first circle mark.

FIG. 17 is an explanatory diagram of an imaging area of the color CCD camera 5B.

FIG. 18 is an explanatory diagram (part 1) of the wheel alignment measurement.

FIG. 19 is an explanatory diagram (part 2) of the wheel alignment measurement.

FIG. 20 is an explanatory view (part 3) of the wheel alignment measurement.

FIG. 21 is a schematic explanatory diagram of a wheel alignment measurement.

[Explanation of symbols]

 Reference Signs List 1 wheel alignment measuring device 2 measuring vehicle 3 tire wheel 4 measuring plate 4S test surface 5 imaging unit 5A, 5B color CCD camera 5C half mirror 6, 6-1 to 6-3 laser displacement meter 7 measuring unit 8 data processing control unit 9 Force head 10 Holding plate 11 Z-axis direction step motor 12 Z-axis direction drive unit 13 X-axis direction step motor 14 X-axis direction drive unit 15 Holding arm unit 16 Base unit 17 Screw shaft 18 Slider unit 19 Screw shaft 20 Slider unit 25 Display 26 X, Z pulse motor control unit 27 Color separation processing circuit 28 Arithmetic processing unit ARA, ARB Field of view BB Base unit CL Correction line DR Red imaging data DR1 First red imaging data DR2 Second red imaging data DG Green Imaging data DG1 First green imaging data DG2 Second green imaging data DGG1 First imaging data DGG2 Second imaging data DB Blue imaging data DB1 First blue imaging data DB2 Second blue imaging data DLD1 to DLD4 Output signal MC1 First circle mark MC2 Second circle mark O Origin VL11, VL12 First virtual line VL21, VL22 Second virtual line

Claims (15)

[Claims] 1. A first reference mark having a predetermined origin position as a center coordinate, a plurality of first virtual lines parallel to each other, and a second virtual line intersecting with the first virtual line and parallel to each other, A plurality of second fiducial marks whose center coordinates are an intersection point between the first virtual line and the second virtual line; parallel to any one of the first virtual line and the second virtual line; A measurement plate, wherein a plurality of correction lines having a fixed distance are drawn on a test surface, and the correction plate is attached so that the origin position coincides with the center of the rotation axis of the wheel of the vehicle to be inspected. 2. The measurement plate according to claim 1, wherein the first reference mark, the second reference mark, and the correction line are drawn in different colors. 3. The measuring plate according to claim 2, wherein the first fiducial mark and the second fiducial mark are drawn in any one of red, green, and blue, respectively. 4. The measuring plate according to claim 2, wherein a base area of the test surface excluding the first fiducial mark, the second fiducial mark, and the correction line; A line is a measurement plate characterized in that one is white and the other is black. 5. The measuring plate according to claim 2, wherein the first fiducial mark is set to a color different from a paint color of the measuring vehicle. . 6. A wheel alignment measuring device for measuring wheel alignment using the measuring plate according to claim 1, wherein the first reference mark is provided on the test surface of the measuring plate. And a first imaging unit that images a first area including a plurality of the second reference marks and outputs a first imaging signal; and an optical axis in which a positional relationship between the optical axis of the first imaging unit and the first imaging unit is related in advance. A second imaging unit configured to image a second region included in the first region having an area smaller than the first region and output a second imaging signal; and the second imaging unit based on the second imaging signal. Selecting means for selecting any one of the second fiducial marks included in two areas as a selected second fiducial mark; and specifying the selected second fiducial mark in the first area based on the first imaging signal. Relative reference position calculating means for calculating the position coordinates of the specified selected second reference mark as relative reference position coordinates; and a predetermined position in the second area based on the second imaging signal and the relative reference position coordinates. And a position calculating means for calculating an origin position reference position coordinate which is a position coordinate based on the origin position of the wheel alignment measuring device. 7. The wheel alignment measuring device according to claim 6, wherein the selection unit is the second reference mark closest to the predetermined position among the second reference marks included in the second area. Is selected as the selection second fiducial mark. 8. The wheel alignment measuring device according to claim 6, wherein the first image signal and the second image signal are input, and are subjected to color separation to obtain a first red image signal and a first green image signal. And the first
A color separation unit configured to output a first color separation imaging signal including a blue imaging signal and a second color separation imaging signal including a second red imaging signal, a second green imaging signal, and a second blue imaging signal; Is based on the second color separation imaging signal,
The wheel alignment measuring device, wherein the specific second reference mark is specified, and the relative reference position calculating means calculates the relative reference position coordinates based on the first color separation imaging signal. 9. The wheel alignment measuring device according to claim 6, wherein the relative reference position calculating unit calculates a center of the selected second reference mark based on the second color separation imaging signal. A center position calculating unit that calculates a position coordinate as the relative reference position coordinate, wherein the position calculating unit calculates a relative position coordinate of the predetermined position with respect to the relative reference position coordinate; An origin reference position coordinate calculating means for calculating the origin position reference position coordinates by adding the relative position coordinates to the center position coordinates of the second reference mark. 10. The wheel alignment measurement device according to claim 6, wherein a plurality of distances are measured to different positions on the test surface of the measurement plate to output measurement signals. A wheel alignment measuring device, comprising: a distance sensor; and distance calculating means for calculating a distance to the test surface and a camber angle based on measurement signals of the plurality of distance sensors. 11. A wheel alignment measuring method for measuring wheel alignment using the measuring plate according to claim 1, wherein the first reference mark is provided on the test surface of the measuring plate. A first imaging step of imaging a first area including a plurality of the second reference marks; and a second imaging step of imaging a second area included in the first area having an area smaller than the first area. A selecting step of selecting any one of the second fiducial marks included in the second area as a selected second fiducial mark; specifying the selected second fiducial mark in the first area; A relative reference position calculating step of calculating the position coordinates of the selected second reference mark as relative reference position coordinates, and a position reference based on the origin position of a predetermined position in the second area. Wheel alignment measuring method the origin position reference position coordinates, characterized in that and a position calculating step of calculating, based on the relative location coordinates are. 12. The wheel alignment measuring method according to claim 11, wherein, in the selecting step, the second fiducial mark closest to the predetermined position among the second fiducial marks included in the second area. Is selected as the selection second reference mark. 13. The wheel alignment measuring method according to claim 11, wherein the image screens in the first image capturing step and the second image capturing step are color-separated, respectively. A color separation step of generating an imaging screen, wherein the selecting step is based on the second color separation imaging screen,
A wheel alignment measurement method, comprising: identifying the specific second reference mark; and calculating the relative reference position coordinates in the relative reference position calculation step based on the first color separation imaging screen. 14. The wheel alignment measuring method according to claim 11, wherein said relative reference position calculating step includes the step of calculating a center of said selected second reference mark based on said second color separation imaging screen. A center position calculating step of calculating position coordinates as the relative reference position coordinates, wherein the position calculating step calculates relative position coordinates of the predetermined position with respect to the relative reference position coordinates; Calculating a reference position coordinate of the origin by adding the relative position coordinate to the coordinate of the center position of the second reference mark to calculate the reference position coordinate of the origin. 15. The wheel alignment measuring method according to claim 11, wherein: a distance measuring step of measuring distances to a plurality of different positions on the test surface of the measuring plate; A distance calculating step of calculating a distance to the test surface and a camber angle based on the measured distance.