JPH11211625A - Apparatus for measuring basic characteristic of vehicle and control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To measure a basic characteristic of a vehicle from a static area to a dynamic area. SOLUTION: A platform PH holds a vehicle to be measured at a tire wheel part and loads thereon the vehicle 2 to be measured. A hydraulic up-down cylinder 56 drives the platform PH and an oscillator 57 corresponding to the platform PH together in an up-down direction of the vehicle, or fixes at a preliminarily set predetermined position after driving in the up-down direction. The oscillator 57 applies a preliminarily set dynamic vibration to the corresponding platform PH. Accordingly, a spectral oscillation from a static area to a dynamic area can be achieved, enabling measurement of a basic characteristic of the vehicle from the static area to the dynamic area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for measuring basic characteristics of a vehicle and a method of controlling the same, and more particularly to an apparatus for measuring basic characteristics of a vehicle capable of measuring the basic characteristics of a vehicle from a static range to a dynamic range, and its control. About the method.

[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 a vehicle basic characteristic measuring device, a test vehicle is fixed at a predetermined position, and is rotated on tire wheels, left and right,
It is possible to measure various vehicle basic characteristics by applying forces such as up and down, front and back, and processing measurement data obtained in consideration of the reaction force generated at that time.

[0004] For example, the measurement of the basic characteristics of the vehicle is based on the distance from the reference position to the side surface of the tire wheel.
There is a wheel alignment measurement for measuring a wheel alignment such as a spin angle, a camber angle, and a toe angle.

In the conventional wheel alignment measurement, a tire wheel of a vehicle to be measured is fixed on a platform that supports the tire wheel and is driven by an actuator, and drives the actuator to bring the vehicle to be measured into a predetermined state. While maintaining the state, the wheel alignment measurement was performed in a static area.

[0006]

Similarly, the measurement of the basic characteristics of a vehicle in the related art is often performed in a static region, and the measurement device in the static region is mainly used as a vehicle basic characteristic measuring device. However, there is a problem that there are few practical devices for measuring the vehicle basic characteristics that can measure up to the dynamic region due to restrictions on the mechanism.

Therefore, there is a problem that it is very difficult to measure the basic characteristics of the vehicle in accordance with the actual running state of the vehicle.

An object of the present invention is to provide a vehicle basic characteristic measuring device capable of measuring vehicle basic characteristics from a static region to a dynamic region.

[0009]

According to a first aspect of the present invention, there is provided a vehicle basic characteristic measuring apparatus for measuring a vehicle basic characteristic of a vehicle to be measured. A plurality of mounting means for holding and mounting the vehicle to be measured, a plurality of vibrating means for applying a preset dynamic vibration to a corresponding one of the mounting means, Drive fixing means for integrally driving the vibration means corresponding to the mounting means and the vibration means in the vertical direction of the vehicle to be measured, or fixed in a predetermined position after being driven in the vertical direction. It is characterized by having.

According to the first aspect of the present invention, the mounting means holds the vehicle to be measured at the tire wheel portion and mounts the vehicle to be measured, and the drive fixing means includes the mounting means and the mounting means. Is driven integrally in the vertical direction of the vehicle to be measured, or is driven in the vertical direction and then fixed at a predetermined position.

In this state, the vibrating means applies a preset dynamic vibration to the corresponding one mounting means.

According to a second aspect of the present invention, in the first aspect of the present invention, the mounting means rotates the mounting surface of the tire wheel about an axis parallel to the front-rear direction of the vehicle to be measured. And a rotation holding means for holding the state.

According to the second aspect of the invention, in addition to the operation of the first aspect, the rotation holding means of the mounting means is
The mounting surface of the tire wheel is rotated about an axis parallel to the front-rear direction of the vehicle to be measured, and the state is maintained.

According to a third aspect of the present invention, in the invention according to the second aspect, a pair of rotation holding means corresponding to the front wheel or the rear wheel of the vehicle to be measured has a tread of the vehicle to be measured as TR, The vertical drive amount ZL of the measured vehicle of the drive fixing means corresponding to the tire wheel
The left vertical drive index expressed as a linear function of
When the right vertical drive index expressed as a linear function of the vertical drive amount ZR of the measured vehicle of the measured vehicle of the drive fixing means corresponding to the right tire wheel is Zr, it corresponds to the rotation amount. The tread angle φ of the measured vehicle is calculated by the following equation. φ = tan ^-1 {(Zr-Zl) / TR}

According to the third aspect of the present invention, in addition to the operation of the second aspect, the pair of rotation holding means corresponding to the front wheels or the rear wheels of the vehicle to be measured is provided with a rotation amount corresponding to the amount of rotation. The tread angle φ of the measurement vehicle is calculated by the following equation. φ = tan ^-1 {(Zr-Zl) / TR}

According to a fourth aspect of the present invention, in the control method of the vehicle basic characteristic measuring device for controlling the vehicle basic characteristic measuring device according to the second aspect, the tread of the measured vehicle is set to T.
R, the left vertical drive index expressed as a linear function of the vertical drive amount ZL of the vehicle to be measured by the drive fixing means corresponding to the left tire wheel, and Zl corresponding to the right tire wheel. A tread angle φ of the measured vehicle corresponding to the amount of rotation, where Zr is a right vertical driving index expressed as a linear function of the vertical driving amount ZR of the measured vehicle by the drive fixing means.
Is calculated by the following equation, and a tread angle holding control step of controlling a pair of the rotation holding means corresponding to a front wheel or a rear wheel of the measured vehicle is provided to hold the calculated tread angle φ. And φ = tan ^-1 {(Zr-Zl) / TR}

According to the fourth aspect of the present invention, the tread angle holding control step calculates the tread angle φ of the vehicle to be measured corresponding to the amount of rotation by the following equation, and holds the calculated tread angle φ in order to hold the calculated tread angle φ. A pair of rotation holding means corresponding to a front wheel or a rear wheel of the measurement vehicle is controlled. φ = tan ^-1 {(Zr-Zl) / TR}

[0018]

Preferred embodiments of the present invention will now be described with reference to the drawings.

In the following description, as an example of a vehicle basic characteristic measuring device, an alignment measuring device for measuring wheel alignment of a vehicle will be described.

[0020] shows a schematic configuration block diagram of a wheel alignment measuring apparatus in schematic of a configuration 1 of the alignment measuring apparatus. The wheel alignment measuring device 1
If roughly classified, a platform vibration drive device 50 described later
And a measurement plate 4 attached to the tire wheel 3 of the vehicle 2 to be measured fixed to the platform PH, and an imaging unit 5 having two CCD cameras capable of color imaging to image the test surface 4S of the measurement plate 4. The measurement unit 7 measures the distance to the test surface 4S of the measurement plate by the two laser displacement gauges 6-1 to 6-2, and performs the alignment calculation based on the output signal of the measurement unit 7 to perform the measurement. And a data processing control unit 8 for controlling the unit 7.

Schematic Configuration of Platform Vibration Drive Device Here, a platform vibration drive device 50 that drives the platform PH and vibrates the platform PH.
The outline configuration of will be described.

FIG. 2 is a perspective view, partly in section, of the platform vibration drive device 50. As shown in FIG. For simplicity of illustration, FIG. 2 shows only a pair of platforms PH corresponding to the front wheels of the vehicle 2 to be measured.

The platform vibration driving device 50 includes an embedded setting plate 51 fixed to the ground, a tread moving platen 52 fixed to the embedded setting plate 51, and a guide rail 52A formed on the tread moving platen 52. Along with the tread of the vehicle under measurement 2, the platform PH is
Tread moving base 53 for moving in left and right directions
And a plurality of hydraulic lifting cylinders 56 fixed on the tread moving base 53 to drive the platform PH vertically in the vehicle 2 to be measured along the plurality of portal columns 55 to drive the crosshead 54 in the vertical direction. A vibrator 57 fixed to the crosshead 54 for vibrating the platform PH, and a platform PH fixed to the vibrator 57 and driven in the vertical direction by being guided by the linear motor guide 58 and the guide column 59. And a tire input device unit 60 integrated with the device.

In this case, the vibration exciter 57 plays a role of giving dynamic vibration by giving a high response characteristic with a small stroke.

The tire input device unit 60 includes a turntable 61 for adjusting the steer angle of the platform PH.
, A steer angle sensor 63 for detecting the steer angle, a roll angle for the platform PH, and a roll actuator 64 for adjusting the tread angle of the measured vehicle 2,
X-direction cylinder actuator 6 for driving platform PH in the front-rear direction (X direction) of measured vehicle 2
5 and a Y-direction cylinder actuator 66 for driving the platform PH in the left-right direction (Y-direction) of the vehicle 2 to be measured.

The platform vibration driving device 50 is provided with a lock cylinder 67 for fixing the tread moving base 53 and a lock cylinder 68 for fixing the crosshead 54 at the time of maintenance and inspection.

In this case, as described above, the crosshead 54 is guided by the plurality of portal columns 55, so that the strength and rigidity of the crosshead 54 during operation can be kept high.

Further, since the crosshead 54 is driven by using a plurality of hydraulic lift cylinders 56, the crosshead 54 can be moved up and down stably.

The crosshead 54 also serves to receive static and dynamic reaction forces from the tire input device unit 60.

As described above, the tire input device unit 60 is provided with the actuators 65, 66, 56, and 62 capable of providing the X, Y, and Z directions (vertical direction of the vehicle to be measured) and the steering angle, respectively. Although it is incorporated, of the reaction forces generated by these actuators, other forces except Z (up and down) are received by the guide column 59, so that the guide column 59 has sufficient strength and rigidity to withstand. It has a structure with.

The tire input device unit 60 has a Z
The hydraulic lift cylinder 56 which is a static actuator in the direction and the vibrator 57 which is a dynamic actuator
By combining various kinds of actuators, it is possible to realize a wide spectrum excitation from a static region to a dynamic region.

[0032] shows the measurement plate 4 in diagram 3 of the measuring plate. FIG. 3A is a front view of the measurement plate 4, and FIG. 3B is a side view of the measurement plate 4.

The test surface 4S of the measurement plate 4 has a planar shape, and as shown in FIG. 3, a measurement mark area MRK on which various measurement marks are drawn and a measurement mark area M
An optical system extending in the front-rear direction of the measured vehicle 2 with respect to the origin position O of the RK and measuring the distance to the test surface 4S when the measurement light of the laser displacement gauges 6-1 to 6-2 is irradiated. And a distance measurement area MLA that is uniform (that is, the reflectance is also uniform).

The measurement mark area MRK includes a base portion BB colored black and a first circular mark MC as a reference mark centered on the origin O of the test surface 4S colored red.
1 and a plurality of first virtual lines parallel to each other (in FIG. 3A,
Only two first virtual lines VL11 and VL12 are shown. )
And a second virtual line that intersects and is parallel to the first virtual lines VL11 and VL12 (only two second virtual lines VL21 and V22 are shown in FIG. 3A). A plurality of blue-colored second circle marks MC2 centered at the intersections of the virtual lines VL11, VL12 and the second virtual lines VL21, V22, and the first virtual lines VL11, VL12 or the second virtual line VL21, V22 (in FIG. 3A, parallel to the second imaginary lines VL21 and V22) and a plurality of corrections drawn in white with a constant distance Δd. And a service line CL.

Since the above-described circle marks MC1, 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.

Configuration of the Measurement Unit FIG. 4 is a perspective view showing the external appearance of the measurement unit 7 partially, FIG. 5 is a side view of the measurement unit 7, and FIG. 6 is a front view of the measurement unit 7.

The measuring unit 7 includes two laser displacement meters 6
Substantially "U" -shaped holding plate 1 for holding -1 to 6-2
0 and the holding plate 10 through the opening 5A (see FIG. 6).
And an imaging unit 5 provided on the back side of the holding plate 10 to image the measurement plate 4 from behind.

In this case, the measurement plate position 4UP when the measurement plate 4 is located at the uppermost position of the measured vehicle 2 within the measurement allowable range,
Position 4DN of the measurement plate when it is located in the lower direction of
With respect to the measurement plate position 4FR and the origin O when located closest to the front side of the measured vehicle 2, the measurement plate position 4FR
The laser emission of the laser displacement gauges 6-1 to 6-2 by the holding plate 10 at any of the measurement plate positions (not shown) when the measurement plate position is the rearmost direction of the measured vehicle 2 which is the measurement plate position symmetric to FR. The plane LP is held at a position where measurement light can be applied to the distance measurement area MLA of the measurement plate 4.

[0039] 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 imaging data DGG output from a color CCD camera 5A to be described later.
1 or a display 25 for displaying an image based on the second imaging data DGG2 output from the color CCD camera 5B, and a first image output from the imaging unit 5
Color separation processing for performing color separation processing based on the imaging data DGG1 and the second imaging data DGG2 and outputting red imaging data DR corresponding to red, green imaging data DG corresponding to green, and blue imaging data DB corresponding to blue. Circuit 2
7 and output signals DLD of two laser displacement gauges 6-1 to 6-2
1 to DLD2, first inclination data DSL1 output from camber angle measuring inclinometer SCAM, caster angle measuring inclinometer SCA
Based on the second tilt data DSL2 output by S and the red imaging data DR, the green imaging data DG, and the blue imaging data DB, a predetermined position (for example, a high-resolution imaging screen) of the two imaging screens of the imaging unit 5 is selected. , X-coordinate data X of the measurement plate 4 on the test surface 4S, the Y-coordinate data Y of the test surface 4S, and the test surface 4S of the measurement plate 4 at a predetermined position in the high-resolution imaging screen.
The Z coordinate data Z 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 are
And an arithmetic processing unit 28 for outputting the spin angle data DSP).

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 5.

The imaging unit 5 has an optical axis that forms a predetermined angle θCCD with an optical axis of a color CCD camera 5B, which will be described later, and has a visual field ARA (see FIG. 10) on the test surface 4S of the measurement plate 4. 1 has a low-resolution color CCD camera 5A for outputting the imaging data DGG1, and an optical axis perpendicular to the test surface 4S of the measurement plate 4 in an initial state;
A high-resolution color CCD camera 5B having a visual field ARB (see FIG. 9) on the test surface 4S of the measurement plate 4 and outputting the second image data DGG2 is provided.

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, the actual measurement plate 4
Since the distance to is different between the two color CCD cameras 5A and 5B, it is necessary to correct the distance when performing more precise measurement.

Arrangement of Laser Displacement Meter FIG. 10 shows an arrangement of the laser displacement meters 6-1 to 6-2. FIG.
0 (a) is a perspective view of the arrangement of the laser displacement gauges 6-1 to 6-2, FIG. 10 (b) is a side view of the arrangement of the laser displacement gauges 6-1 to 6-2 in an initial state, and FIG. Are the laser displacement meters 6-1 to 6
FIG. 4 is an arrangement side view in a measurement state of -2.

The laser displacement gauges 6-1 to 6-2 are shown in FIG.
10B, in the initial state, the measuring light irradiation point P1 of the laser displacement meter 6-1 and the laser displacement meter 6
The imaginary line connecting the measurement light irradiation point P2 of -2 is the first circle mark MC.
It is arranged so as to include the origin O, which is the center point of 1.

The measurement light emission point of the laser displacement meter 6-1 and the measurement light emission point of the laser displacement meter 6-2 are a distance LX ''.
Are only spaced apart.

Measuring Operation Next, the measuring 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 the measurement plate 4 is set so as to include the circle mark MC1, and the measurement plate 4 is previously set on the tire wheel 3 of the measured vehicle 2 such that the origin O of the test surface 4S coincides with the rotation center axis of the tire wheel 3. Assume that it is attached.

FIG. 11 shows a flowchart of the measuring operation process.

First, the operator drives the hydraulic lifting cylinder 56 upward or downward independently for each tire wheel 3 of the vehicle 2 to be measured while the vibration exciter 57 is stopped, and stops. . Further, the steering angle actuator 62 is driven, and the turntable 61 is driven and stopped to adjust the steering angle of each tire wheel 3. Furthermore, the roll actuator 64 is driven and stopped to adjust the tread angle φ of the measured vehicle 2. Then, the state at the time of stop is maintained (step S1).

In this case, in order to obtain a desired tread angle φ, a pair of roll actuators 64 corresponding to the front wheels or the rear wheels of the measured vehicle 2 are made to function as rotation holding means, as shown in FIG. From the reference plane expressed as a linear function of the vertical drive amount ZL of the measured vehicle 2 of the hydraulic lifting cylinder 56 corresponding to the left tire wheel 3 from the reference tread of the measured vehicle 2 to TR, to the upper surface of the crosshead 54 (= Corresponding to the left vertical drive index) is defined as Zl, and from the reference plane expressed as a linear function of the vertical drive amount ZR of the measured vehicle 2 of the hydraulic lifting cylinder 56 corresponding to the right tire wheel 3 Distance to the upper surface of the crosshead 54 (equivalent to the right vertical drive index)
Is Zr, the tread angle φ of the measured vehicle 2 is calculated by the following equation. φ = tan ^-1 {(Zr-Zl) / TR}

Next, the holding plate 10 and the imaging unit 5 are driven in the Z-axis direction by manual operation,
0 and the imaging unit 5 are opposed to the test surface 4S of the measurement plate 4, and the optical axes of the color CCD camera 5A and the color CCD camera 5B constituting the imaging unit 5 are aligned with the test surface 4S.
(Step S2).

As a result, a virtual line connecting the irradiation points P1 and P2 of the measurement laser light of the laser displacement meters 6-1 and 6-2 is set so as to include the origin O.

As a result, based on the output signals DLD1 to DLD2 of the laser displacement meters 6-1 to 6-2, the arithmetic processing circuit 28 calculates the first circle mark MC on the test surface 4S of the measurement plate 4.
The distance to 1 can be calculated.

More specifically, the distance measuring area M of the measuring plate 4 corresponding to the output signal DLD1 of the laser displacement meter 6-1.
The distance to LA is LY1, and the distance measurement area M of the measurement plate 4 corresponding to the output signal DLD2 of the laser displacement meter 6-1.
Assuming that the distance to LA is LY2, the first EN mark MC1
The distance LMC1 to LMC1 is as follows: LMC1 = (LY1 + LY2) / 2.

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. Test surface 4S
(Step S3), and the first image data DGG
The first and second imaging data DGG2 are output to the color separation processing circuit 27 of the processor 8A (step S4).

Under the control of the controller 25, 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 to correspond to red. Processing unit 28 converts red imaging data DR, green imaging data DG corresponding to green, and blue imaging data DB corresponding to blue.
(Step S5).

Here, a specific calculation process will be described with reference to FIGS. As shown in FIG. 13, 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 direction in FIG. 14) from the center coordinate CCA, for example, at DN dot intervals (corresponding to DN · L5A / NN [mm] intervals 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 has been detected by the rough search in step S6, as shown in FIG. 15A, 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 step S7, if the first circle mark MC1 cannot be detected again, the pixel number (NN) in the Z-axis direction at the time when the first circle mark MC1 is finally detected.
Based on the N2 dot (N2 = 1 to NN) of the dots, the Z-axis center coordinate Z0 is obtained by the following equation (step S).
8). 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, the scan is performed in the positive direction of the Z-axis based on the first red image data DR1 while the center coordinate CCA of the color CCD camera 5A is shifted in the third predetermined direction. (For example, the X axis positive direction; right direction in FIG. 15), for example, the DN dot interval (DN ·
A rough search is performed at L5A / NN [mm] interval) to detect the first circle mark MC1 (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. 16) (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 obtained X-axis center coordinate X0 is ± L5A / NN [mm].

On the other hand, as shown in FIG.
The focal length of the lens of the camera 5B is f = f5B [mm], and the number of pixels of the color CCD camera 5B is the first color CC.
Nx × Nz [dots] as in the case of the D camera.
The distance L corresponding to the focal length f5B with respect to the test surface 4S so that RB can cover the area of L5B × L5B [mm].
Assuming that the color CCD camera 5B is arranged at a distance of f5B 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 and the color C obtained in the processing of steps S8 and S11.
The distance LL between the CD camera 5B and the center coordinate CCB of the visual field ARB is obtained (step S13).

As a result, 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.

Further, in parallel with the calculation of the center coordinates (X0, Z0) and the distance LL of the first circle mark MC1, the arithmetic processing circuit 28 outputs the output signals DL of the laser displacement meters 6-1 to 6-2.
Test surface 4 of measuring plate 4 based on D1 to DLD2
The distance between the irradiation point P1 and the irradiation point P2 on S, that is, the distance to the optical axis position of the camera 5B is calculated (step S1).
4).

Here, the calculation of the distance to the optical axis position will be specifically described. In this case, as shown in FIG. 18, the laser emitting section P6-1 of the laser displacement gauges 6-1 to 6-2.
To P6-2 (the symbols P6-1 to P6-2 are also used to indicate the position of the emission unit) are on a virtual plane VPL including a straight line VL parallel to the vertical direction of the measurement vehicle. The emission unit P6 is disposed at a position equidistant from the straight line VL on the straight line VL and on a straight line orthogonal to the straight line VL.
-1 and P6-2 are respectively arranged.

As shown in FIG. 18, the distance to the irradiation point P1 on the distance measuring area MLA of the measuring plate 4 corresponding to the output signal DLD1 of the laser displacement meter 6-1 is LP1, and the laser displacement meter 6-2 The distance to the irradiation point P2 on the distance measuring area MLA of the measuring plate 4 corresponding to the output signal DLD2 of
Assuming that P2, the distance between the irradiation point P1 and the midpoint PP of the line connecting the irradiation point P2, that is, the distance LPP to the optical axis position of the camera 5B is LPP = (LP1 + LP2) / 2.

As a result, the magnification of the imaging screen according to the distance between the camera 5B and the test surface 4S of the measurement plate 4 can be grasped, and the actual dimensions can be easily obtained and corrected in the image processing. Becomes

Measurement of Toe Angle In parallel with the calculation of the distance to the optical axis position, the arithmetic processing circuit 28 measures the toe angle θTOE (step S1).
5).

More specifically, the toe angle θTOE is calculated as shown in FIG.
Has the following relationship: tan (θTOE) = LPY / LX ″ Here, the distance LX ″ is the separation distance between the measurement light emission point of the laser displacement meter 6-1 and the measurement light emission point of the laser displacement meter 6-2 (FIG. 13). reference)

Therefore, the toe angle θTOE to be obtained is θcam = tan ⁻¹ (LPY / LX ″). Since LPY = | LP1−LP2 |, θTOE = tan− ¹ (| LP1−LP2 | / LX ").

At this time, according to the measuring plate of the present embodiment, the distance X ″ between the irradiation point P1 and the irradiation point P2 can be increased, so that the measurement accuracy of the toe angle θTOE can be improved. It is.

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 S16). 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 the angle θa formed by a line connecting this line, the center coordinates of the field of view ARA, and the center coordinates of the first circle mark MC1 is defined. It is calculated (step S17). θa = tan ⁻¹ (ya / xa) −θ0

Thus, the distance Xa and the distance Ya are calculated based on the distance da and the angle θa obtained in steps S14 and S15 (step S18). 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 coordinate of the visual field ARA becomes the nxth in the X direction viewed from the first circle mark MC1.
It is determined whether the mark is the second (nx is a natural number) second circle mark and the ny-th (ny is a natural number) second circle mark in the Z direction (step S19). In FIG. 21, nx = 4 and ny = 3 for the second circle mark MC2n. nx = int (Xa / Lx) ny = int (Ya / Lz)

Here, int (R) represents the largest integer not exceeding R, Lx is the separation distance of the second circle mark MC2 in the X-axis direction (see FIG. 3), and Lz is the Z-axis direction. Is the separation distance of the second circle mark MC2 (see FIG. 3).

Thus, the center coordinates (X0, Z) of the second circle mark MC2n located closest to the center coordinates of the visual field ARA.
0) to the center coordinate of the first circle mark MC1
, Yb (step S20). This distance Xb
, Yb are the first circle mark MC1 and the second circle mark MC2.
Has a high-precision value corresponding to the drawing accuracy of. Xb = nx × Lx Yb = ny × Lz

Subsequently, the visual field AR is calculated from the central coordinates of the second circle mark MC2n closest to the central coordinates of the visual field ARA.
Distance dd (low accuracy) to the center coordinates of A and field of view ARA
Is calculated (step S21). Here, the low accuracy means a measurable accuracy (± 1 [mm] accuracy in the above example) based on image data of the color CCD camera 5A. dd = √ {(Xa -Xb) 2 + (Ya -Yb) 2} θi = tan -1 {(Ya -Yb) / (Xa -Xb)} +
θ0

Next, based on the obtained distance dd and angle θi, the low-precision distances Xi and Yi between the center coordinates of the visual field ARA and the center coordinates of the second circle mark MC2n closest to the central coordinates of the visual field ARA are calculated. It is calculated (step S22). Xi = dd × cos (θi) Yi = dd × sin (θi)

Further, based on the low-precision distances Xi and Yi, the center coordinates of the second circle mark MC2n with respect to the center coordinates of the visual field ARb of the color CCD camera 5B are converted into dot addresses IX and IY (address display by the number of dots). (Step S23).

In this case, since the field of view ARB is composed of NN × NN (dots) as described above, the dot address of the center coordinate of the field of view 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 where Sn is the number of dots per 1 [mm].

Next, based on the distances Xb and Yb, the color C
On the visual field ARB of the CD camera 5B, the distance Db (high precision) between the center coordinates of the visual field ARB and the center coordinates of the second circle mark MC2n, and the angle θb (high precision) formed between the visual field ARA and the X axis.
Is calculated (step S24). Here, high precision means
This means that the measurement accuracy is based on the imaging data of the color CCD camera 5B (in the above example, the accuracy is ± L5B / NN [mm]). ^{Db = √ (Xb 2 + Yb} 2) θb = tan -1 (nYb / Xb) + θ0

Next, based on the calculated distance Db and angle θb, the high-precision distances Xc and Yc between the central coordinates of the visual field ARB and the central coordinates of the second circle mark MC2n closest to the central coordinates of the visual field ARB are calculated. Calculate (Step S2
5). Xc = Db × cos (θb) Yc = Db × sin (θb)

Subsequently, based on the high-precision distances Xc and Yc and the dot addresses IX and IY, the color CCD camera 5
The second circle mark MC2n with respect to the center coordinate of the field of view ARb of B
Are converted into dot addresses X and Y (address display based on the number of dots) (step S26).

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 coordinate-converted into a coordinate system based on the X axis and the Z axis of the test surface 4S of the measurement plate 4, and the coordinates based on the X axis and the Z axis of the test surface 4S are used. The dot addresses x and y in the system are calculated (step S27). 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 calculates the caster angle θcas based on the second tilt data DSL2 output from the caster angle measuring inclinometer SCAS (step S28), and outputs the camber angle measuring inclinometer SCAM. First tilt data D
The camber angle θcam is calculated based on SL1 (step S29).

Next, the hydraulic lift cylinder 56 and the vibrator 57
Is driven, the position of the measuring plate 4, the toe angle θTOE, the camber angle θcam, the caster angle θca
Calculate s to measure wheel alignment in the dynamic region.

In this case, in order to perform a test close to actual vehicle running with a fixed tread angle φ, the tread of the vehicle 2 to be measured is driven while the hydraulic lift cylinder 56 is driven and vibrated by the vibrator 57. Is the distance from the reference plane expressed as a linear function of the vertical drive amount ZL of the measured vehicle 2 of the hydraulic lift cylinder 56 corresponding to the left tire wheel 3 to the upper surface of the crosshead 54 (= left vertical direction) Drive index) and Zl, the right tire wheel 3
The distance from the reference plane, expressed as a linear function of the vertical drive amount ZR of the measured vehicle 2 of the hydraulic lift cylinder 56 corresponding to the vertical axis to the upper surface of the crosshead 54 (= corresponding to the right vertical drive index) is Zr. In this case, the roll actuator 64 may be driven while calculating the tread angle φ of the measured vehicle 2 by the following equation. φ = tan ^-1 {(Zr-Zl) / TR}

According to the present embodiment as described above,
The tire input device unit 60 can measure a basic characteristic of a vehicle by realizing a wide range of spectrum excitation from static to dynamic by combining static actuator motion and dynamic actuator motion. it can.

Further, since the basic characteristics of the vehicle can be measured while keeping the tread angle φ constant, the basic characteristics of the vehicle can be measured in a state closer to the actual running of the vehicle.

[0105]

According to the first aspect of the present invention, the mounting means holds the vehicle to be measured at the tire wheel portion and mounts the vehicle to be measured, and the drive fixing means includes the mounting means and the mounting means. The vibration means corresponding to the mounting means is integrally driven in the vertical direction of the vehicle to be measured, or is driven in the vertical direction and then fixed at a predetermined position set in advance, and the vibration means is a corresponding mounting means. On the other hand, since a preset dynamic vibration is applied, spectrum excitation can be performed from a static region to a dynamic region.

According to the second aspect of the present invention, in addition to the operation of the first aspect, the rotation holding means of the mounting means is
Since the mounting surface of the tire wheel is rotated around an axis parallel to the front-rear direction of the measured vehicle, and the state is maintained,
The motion of the shaker can be excluded from the roll surface control, and vehicle characteristics measurement closer to actual vehicle running can be performed.

According to the third aspect of the present invention, in addition to the operation of the second aspect, the pair of rotation holding means corresponding to the front wheel or the rear wheel of the vehicle to be measured is provided with a rotation amount corresponding to the amount of rotation. Since the tread angle φ of the measurement vehicle is calculated by the following equation,
It is possible to calculate the tread angle φ by a simple calculation and perform high-speed control. φ = tan ^-1 {(Zr-Zl) / TR}

According to the fourth aspect of the present invention, the tread angle holding control step calculates the tread angle φ of the measured vehicle corresponding to the amount of rotation by the following equation, and holds the calculated tread angle φ in order to hold the calculated tread angle φ. Since a pair of rotation holding means corresponding to the front wheel or the rear wheel of the measurement vehicle is controlled, it is possible to calculate the tread angle φ by a simple calculation and perform the control at a high speed. φ = tan ^-1 {(Zr-Zl) / TR}

[Brief description of the drawings]

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

FIG. 2 is a partial sectional perspective view of a platform vibration drive device.

FIG. 3 is an explanatory diagram of a measurement plate.

FIG. 4 is a perspective view showing the external appearance of a part of the 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 an explanatory view of an arrangement of a laser displacement meter.

FIG. 11 is a flowchart of a measurement operation process.

FIG. 12 is an explanatory diagram of setting a tread angle.

FIG. 13 is an explanatory diagram of an imaging area of the color CCD camera 5A.

FIG. 14 is an explanatory view (1) of scanning a first circle mark.

FIG. 15 is an explanatory view (2) of scanning a first circle mark.

FIG. 16 is an explanatory diagram of an imaging area of a color CCD camera 5B.

FIG. 17 is an explanatory diagram (part 1) of the wheel alignment measurement.

FIG. 18 is an explanatory diagram of distance measurement.

FIG. 19 is an explanatory diagram of toe angle θTOE measurement.

FIG. 20 is an explanatory diagram (part 2) of the wheel alignment measurement.

FIG. 21 is an explanatory diagram (part 3) of the wheel alignment measurement.

[Explanation of symbols]

 Reference Signs List 1 wheel alignment measuring device 2 vehicle to be measured 3 tire wheel 4 measuring plate 4S test surface 5 imaging unit 5A opening 5A, 5B color CCD camera 6-1 to 6-2 laser displacement meter 7 measuring unit 8 data processing control unit 9 force Head 10 Holding plate 25 Display 27 Color separation processing circuit 28 Arithmetic processing unit 50 Platform excitation drive device 51 Embedded setting plate 52 Tread moving surface plate 52A Guide rail 53 Tread moving base 54 Crosshead 55 Gate column 56 Hydraulic lifting cylinder 57 Shaking machine 58 Linear motor guide 59 Guide post 60 Tire input device unit 61 Turntable 62 Steer angle actuator 63 Steer angle sensor 64 Roll actuator 65 X direction cylinder actuator 66 Y direction cylinder Actuator 67 Lock cylinder 68 Lock cylinder ARA, ARB Field of view BB Base part 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 DLD2 Output signal DSL1 First inclination data DSL2 Second inclination data MC1 First circle mark MC2 Second circle Mark O Origin P1 to P2 Irradiation point SCAM Inclinometer for camber angle measurement SCAS Inclinometer for caster angle measurement VL11, VL12 First virtual line VL21, VL22 Second virtual line

Claims (4)

[Claims] 1. A vehicle basic characteristic measuring device for measuring a vehicle basic characteristic of a vehicle to be measured, comprising: a plurality of mounting means for holding the vehicle to be measured at a tire wheel portion and mounting the vehicle to be measured; A plurality of vibrating means for applying a preset dynamic vibration to a corresponding one of the placing means, and the measuring means integrally comprising the placing means and the vibrating means corresponding to the placing means. And a drive fixing means for driving the vehicle in the vertical direction, or for driving the vehicle in the vertical direction and then fixing the vehicle at a predetermined position. 2. The device for measuring basic characteristics of a vehicle according to claim 1, wherein the mounting means rotates the mounting surface of the tire wheel about an axis parallel to the front-rear direction of the vehicle to be measured.
A device for measuring basic characteristics of a vehicle, comprising a rotation holding means for holding the state. 3. The device for measuring basic characteristics of a vehicle according to claim 2, wherein the pair of rotation holding means corresponding to a front wheel or a rear wheel of the measured vehicle has a tread of the measured vehicle as TR.
A left vertical drive index expressed as a linear function of the vertical drive amount ZL of the measured vehicle of the drive fixing means corresponding to the left tire wheel is Zl, and the drive fixing corresponding to the right tire wheel. When the right vertical drive index expressed as a linear function of the vertical drive amount ZR of the vehicle to be measured is Zr, the tread angle φ of the vehicle to be measured corresponding to the amount of rotation is given by the following equation. An apparatus for measuring basic characteristics of a vehicle, wherein the measurement is performed. φ = tan ^-1 {(Zr-Zl) / TR} 4. The control method for a vehicle basic characteristic measuring device for controlling the vehicle basic characteristic measuring device according to claim 2, wherein the tread of the vehicle to be measured is TR, and the driving fixation corresponding to the left tire wheel is performed. The left vertical drive index expressed as a linear function of the vertical drive amount ZL of the vehicle under test is defined as Zl, and the drive fixing means corresponding to the right tire wheel in the vertical direction of the vehicle under test. When the right vertical drive index expressed as a linear function of the drive amount ZR is Zr, the tread angle φ of the measured vehicle corresponding to the turning amount is calculated by the following equation, and the calculated tread angle φ is held. A tread angle holding control step of controlling a pair of the rotation holding means corresponding to a front wheel or a rear wheel of the vehicle to be measured. How to control the device. φ = tan ^-1 {(Zr-Zl) / TR}