WO2002031437A1 - Dispositif pour determiner la geometrie d'une roue et/ou d'un essieu - Google Patents

Dispositif pour determiner la geometrie d'une roue et/ou d'un essieu Download PDF

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Publication number
WO2002031437A1
WO2002031437A1 PCT/DE2001/003248 DE0103248W WO0231437A1 WO 2002031437 A1 WO2002031437 A1 WO 2002031437A1 DE 0103248 W DE0103248 W DE 0103248W WO 0231437 A1 WO0231437 A1 WO 0231437A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
features
determined
referencing
feature
Prior art date
Application number
PCT/DE2001/003248
Other languages
German (de)
English (en)
Inventor
Volker Uffenkamp
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2002031437A1 publication Critical patent/WO2002031437A1/fr

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/146—Two or more cameras imaging the same area
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/16—Active or passive device attached to the chassis of a vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/20—Vehicle in a state of translatory motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device

Definitions

  • the invention relates to a device for determining the wheel and / or axle geometry of motor vehicles in a measuring space by means of an optical measuring device with at least two image recording devices, which from at least two different perspectives include a marking device including at least one wheel feature present or arranged on a wheel and at least one a body feature and a reference feature arrangement with at least three reference features offset at least in one plane, and with an evaluation device, the detection of the marking device taking place while the motor vehicle drives past and the axis of rotation of a measured wheel by simultaneous detection of the at least one wheel feature and the at least one ICeasy feature is determined at several times in the measuring room.
  • an optical measuring device with at least two image recording devices, which from at least two different perspectives include a marking device including at least one wheel feature present or arranged on a wheel and at least one a body feature and a reference feature arrangement with at least three reference features offset at least in one plane, and with an evaluation device, the detection of the marking device taking place while the motor vehicle drives past and the axis of rotation of a measured
  • the marking device comprises, in addition to at least one defined wheel feature and at least one body feature, reference features in the IVless space that are known in an evaluation device of the measuring device. The detection of the marking device takes place while evaluating all these features while the motor vehicle drives past and is relatively simple in terms of operating effort compared to devices known up to then.
  • the positions of the image recording devices can be determined precisely and the wheel plane can be calculated relative to the vehicle movement coordinates, so that the wheel and axle geometries can be determined, the determination taking place under real driving conditions.
  • the vertical direction in the measuring area and the driving axis of the vehicle are determined to measure the wheel and axle geometry data, such as toe and camber.
  • the object of the present invention is to provide a device of the type specified at the outset, with which the measurement setup and the implementation of the measurement are further simplified.
  • the mutual relation of the at least two image recording devices with regard to their position and position is therefore either before the actual measurement of the wheel and axle geometry data based on a reference feature arrangement with features known or also unknown from the outset, or during the actual measurement based on a Reference feature arrangement with features unknown from the outset.
  • Orienting the image recording devices before the actual measurement facilitates the measures for the actual measurement, for example in a workshop.
  • Arbitrary features can be used as unknown referencing features in the measuring space, wherein at least five features should be present for the evaluation, as shown by photogrammetric methods. Such features are easy to specify in a measuring room or at a test station.
  • both alternatives advantageously ensure that there is no obscuring of the points on the vehicle by a reference feature arrangement while driving past, and optimal recording conditions are created (object detail, depth of field, image scale), with the second alternative, only rzeug the characteristics or measurement points Fah and optionally displayed on the roadway and the Messeinrichtu ng out ⁇ evaluates be.
  • the distance between at least two features is known.
  • Advantageous alternative possibilities in the case of numerical referencing are that the referencing is not carried out in a complex manner at the factory, but instead is carried out absolutely individually on site on the basis of previously known positions of several wheel features and / or body features or numerically on the basis of previously unknown positions of at least five wheel characteristics and / or body features are done relatively.
  • the vertical direction (and not necessarily the physical plumb direction) to be determined from at least three road features.
  • the wheel axis can be precisely determined by the fact that the axis of rotation of the wheel takes place while driving past by detecting the individual trajectories of several wheel features, the translational movement of the motor vehicle, which is determined from the trajectory of the at least one body feature, being eliminated. In this way, rim runout compensation can be calculated or the influence of similar disturbance variables can be compensated.
  • the exact level of rotation of the wheel is also known. Changes in the position of the vehicle, which occur, for example, during steering locks to measure and adjust the axle geometry on the steered wheels or to determine the position of the handlebar axis, become uncritical in that the direction of the driving axis and / or the vertical direction is related to a body-typical coordinate system, whereby for Parameter transformation multiple body features can be used.
  • a further advantageous embodiment consists in the fact that a test station for measuring a steered wheel is provided, on which the measurement is carried out on the basis of the coordinate system typical of the body.
  • the measurements of the wheel and axle geometry data can already be carried out individually for each wheel by means of a measuring unit 1, the driving axis of the motor vehicle being determined in an evaluation device on the basis of the detection of the Marking device is determined from a movement path of the at least one body feature 6.
  • the camber of the wheel axles can be determined by determining the vertical direction, while the individual track of the wheels is determined on the basis of the determined driving axis.
  • the wheel features 3 and the body features 6 are recorded together with the at least two image recording devices 2 from at least two different perspectives and at several points in time while the motor vehicle drives past.
  • the lane features 7 are recorded simultaneously with the at least two image recording devices 2 from at least two different perspectives, once in advance or while the motor vehicle drives past.
  • the position of the axis of rotation of the wheel 5 can be exactly determined while driving past with the measuring device and evaluation device, the cycloids of each wheel feature 3 being evaluated and the orbit of the wheel feature 3 being freed from the linear movement known from the detection of the body features 6, so that only the orbital movement of the wheel features 3 remains.
  • the exact plane of rotation of the wheel 5 or the exact position of the axis of rotation of the wheel 5 is obtained.
  • steering turns are made on it.
  • Another procedure for referencing is that the optical measuring device is referenced before driving past, in that a relative orientation based on the reference feature arrangement with unknown reference features (anywhere). The actual measurement while driving past also takes place without the reference feature arrangement.
  • the driving axis derived from the measurement does not refer to an external reference coordinate system, but to an arbitrarily selected system resulting from any image of the object during the passage with reference to the road level (vertical) by taking into account the images before or during the passage Characteristics of the road level.
  • Yet another procedure consists in that the optical measuring device is referenced while driving past, by performing an absolute orientation on the basis of known wheel features 3 and / or body features 6.
  • the actual measurement and referencing also take place together while driving past.
  • the driving axis derived from the measurement also does not refer to an external reference coordinate system, but to an arbitrarily selected system resulting from an arbitrary recording of the object while driving past with reference to the road level (vertical) by taking into account before or during d characteristics of the road level shown as the vehicle drives past.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un dispositif permettant de déterminer la géométrie d'une roue et/ou d'un essieu d'automobiles dans un espace de mesure à l'aide d'un dispositif de mesure optique avec au moins deux dispositifs de prise de vues (2) qui détectent un dispositif de marquage depuis au moins deux différentes perspectives, ainsi qu'avec un dispositif d'évaluation. La détection du dispositif de marquage intervient pendant le passage de l'automobile. Une mesure simplifiée est obtenue par le fait que le sens des verticales dans l'espace de mesure est déterminé sur la base du référençage et que pour effectuer la mesure, la position opposée et la situation (référençage) des au moins deux dispositifs de prise de vues (2) sont déterminées avec le système de caractéristiques de référence. Le référençage est effectué avant le passage du véhicule et les caractéristiques de référence sont connues ou le référençage intervient avant le passage du véhicule et au moins cinq caractéristiques de référence inconnues sont utilisées ou le référençage intervient pendant le passage du véhicule et au moins cinq caractéristiques de référence inconnues sont utilisées.
PCT/DE2001/003248 2000-10-13 2001-08-24 Dispositif pour determiner la geometrie d'une roue et/ou d'un essieu WO2002031437A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE2000150653 DE10050653A1 (de) 2000-10-13 2000-10-13 Vorrichtung zum Bestimmen der Rad-und/oder Achsgeometrie
DE10050653.4 2000-10-13

Publications (1)

Publication Number Publication Date
WO2002031437A1 true WO2002031437A1 (fr) 2002-04-18

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Application Number Title Priority Date Filing Date
PCT/DE2001/003248 WO2002031437A1 (fr) 2000-10-13 2001-08-24 Dispositif pour determiner la geometrie d'une roue et/ou d'un essieu

Country Status (2)

Country Link
DE (1) DE10050653A1 (fr)
WO (1) WO2002031437A1 (fr)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008028826A1 (fr) 2006-09-06 2008-03-13 Robert Bosch Gmbh procÉdÉ pour la mesure du train de roulement d'un véhicule automobile, dispositif de mesure du train de roulement ainsi que voie de contrÔle de véhicules automobiles
WO2008028832A1 (fr) * 2006-09-08 2008-03-13 Robert Bosch Gmbh Procédé pour la détermination des distances en vue de la mesure du train de roulement d'un véhicule automobile, ainsi qu'instrument de mesure, dispositif de mesure du train de roulement et voie de contrôle
WO2009095140A1 (fr) * 2008-01-28 2009-08-06 Robert Bosch Gmbh Procédé et dispositif de contrôle du référencement de têtes de mesure d'un système de mesure pour l'alignement de châssis
US7774946B2 (en) 2006-08-04 2010-08-17 Fasep 2000 S.R.L. Method and device for non-contact measurement of the alignment of motor vehicle wheels
US9665793B2 (en) 2013-03-15 2017-05-30 Hunter Engineering Company Method for determining parameters of a rotating object within a projected pattern
US11243074B2 (en) 2018-04-30 2022-02-08 BPG Sales and Technology Investments, LLC Vehicle alignment and sensor calibration system
US11597091B2 (en) 2018-04-30 2023-03-07 BPG Sales and Technology Investments, LLC Robotic target alignment for vehicle sensor calibration
US11624608B2 (en) 2018-04-30 2023-04-11 BPG Sales and Technology Investments, LLC Vehicular alignment for sensor calibration
US11781860B2 (en) 2018-04-30 2023-10-10 BPG Sales and Technology Investments, LLC Mobile vehicular alignment for sensor calibration
US11835646B2 (en) 2018-04-30 2023-12-05 BPG Sales and Technology Investments, LLC Target alignment for vehicle sensor calibration

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004013441A1 (de) 2004-03-18 2005-10-13 Beissbarth Gmbh Meßverfahren und Meßgerät zur Bestimmung der räumlichen Lage einer Radfelge sowie Fahrwerkvermessungseinrichtung
DE102005017624A1 (de) 2005-04-15 2006-10-19 Robert Bosch Gmbh Verfahren zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen
ITRE20050043A1 (it) 2005-04-26 2006-10-27 Corghi Spa Metodo e dispositivo per determinare l'assetto delle ruote di un veicolo
DE102006035924A1 (de) 2006-07-31 2008-02-07 Robert Bosch Gmbh Verfahren zum Bestimmen der Drehachse und des Drehzentrums eines Fahrzeugrads
DE102013211207A1 (de) * 2013-06-14 2014-12-18 Robert Bosch Gmbh Vorrichtung und Verfahren zum Referenzieren von Messwertaufnehmern zur Fahrzeugvermessung
CN108917690B (zh) * 2018-05-29 2020-08-28 深圳先进技术研究院 一种汽车主销角的计算方法及测量装置
DE102019131863A1 (de) * 2019-11-25 2021-05-27 Dürr Assembly Products GmbH Verwendung einer Vorrichtung zur photogrammetrischen Vermessung von Objekten zur Bestimmung von Position und/oder Orientierung von Teilen eines Fahrzeugs

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DE4212426C1 (en) * 1992-04-14 1993-07-01 Wolfgang 3407 Gleichen De Brunk Measurement of tracking and camber of vehicle wheel axles - recording markers on rotating wheels using synchronised video cameras, image evaluation of marker positions
JPH09133510A (ja) * 1995-11-07 1997-05-20 Sanyo Mach Works Ltd ホイールアライメント測定方法
DE19757760A1 (de) * 1997-12-23 1999-07-01 Bosch Gmbh Robert Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen
US5943783A (en) * 1992-09-04 1999-08-31 Balco, Incorporated Method and apparatus for determining the alignment of motor vehicle wheels
DE19934864A1 (de) * 1999-07-24 2001-02-08 Bosch Gmbh Robert Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen

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US4639878A (en) * 1985-06-04 1987-01-27 Gmf Robotics Corporation Method and system for automatically determining the position and attitude of an object
FI98958C (fi) * 1995-04-13 1997-09-10 Spectra Physics Visiontech Oy Menetelmä säiliön paikantamiseksi säiliön vuorauksen kulumismittauksessa
DE19528798C2 (de) * 1995-08-04 2000-04-20 Schenck Pegasus Gmbh Vorrichtung zum berührungslosen Bestimmen des Höhenstandes an einem Kraftfahrzeug
DE69622530T2 (de) * 1996-04-23 2003-03-06 G.S. S.R.L., Correggio Verfahren zur Bestimmung der Fahrzeugradausrichtung

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4212426C1 (en) * 1992-04-14 1993-07-01 Wolfgang 3407 Gleichen De Brunk Measurement of tracking and camber of vehicle wheel axles - recording markers on rotating wheels using synchronised video cameras, image evaluation of marker positions
US5943783A (en) * 1992-09-04 1999-08-31 Balco, Incorporated Method and apparatus for determining the alignment of motor vehicle wheels
JPH09133510A (ja) * 1995-11-07 1997-05-20 Sanyo Mach Works Ltd ホイールアライメント測定方法
DE19757760A1 (de) * 1997-12-23 1999-07-01 Bosch Gmbh Robert Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen
DE19934864A1 (de) * 1999-07-24 2001-02-08 Bosch Gmbh Robert Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7774946B2 (en) 2006-08-04 2010-08-17 Fasep 2000 S.R.L. Method and device for non-contact measurement of the alignment of motor vehicle wheels
WO2008028826A1 (fr) 2006-09-06 2008-03-13 Robert Bosch Gmbh procÉdÉ pour la mesure du train de roulement d'un véhicule automobile, dispositif de mesure du train de roulement ainsi que voie de contrÔle de véhicules automobiles
US8127599B2 (en) 2006-09-06 2012-03-06 Robert Bosch Gmbh Method for measuring the chassis of a motor vehicle, device for measuring a chassis and motor vehicle test line
WO2008028832A1 (fr) * 2006-09-08 2008-03-13 Robert Bosch Gmbh Procédé pour la détermination des distances en vue de la mesure du train de roulement d'un véhicule automobile, ainsi qu'instrument de mesure, dispositif de mesure du train de roulement et voie de contrôle
WO2009095140A1 (fr) * 2008-01-28 2009-08-06 Robert Bosch Gmbh Procédé et dispositif de contrôle du référencement de têtes de mesure d'un système de mesure pour l'alignement de châssis
US8196461B2 (en) 2008-01-28 2012-06-12 Robert Bosch Gmbh Method and device for checking the referencing of measuring heads in a chassis measuring system
US9665793B2 (en) 2013-03-15 2017-05-30 Hunter Engineering Company Method for determining parameters of a rotating object within a projected pattern
US11243074B2 (en) 2018-04-30 2022-02-08 BPG Sales and Technology Investments, LLC Vehicle alignment and sensor calibration system
US11597091B2 (en) 2018-04-30 2023-03-07 BPG Sales and Technology Investments, LLC Robotic target alignment for vehicle sensor calibration
US11624608B2 (en) 2018-04-30 2023-04-11 BPG Sales and Technology Investments, LLC Vehicular alignment for sensor calibration
US11781860B2 (en) 2018-04-30 2023-10-10 BPG Sales and Technology Investments, LLC Mobile vehicular alignment for sensor calibration
US11835646B2 (en) 2018-04-30 2023-12-05 BPG Sales and Technology Investments, LLC Target alignment for vehicle sensor calibration

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Publication number Publication date
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