WO2003089876A1 - Alignement de roue de vehicule par capteur de vision rotatif - Google Patents

Alignement de roue de vehicule par capteur de vision rotatif Download PDF

Info

Publication number
WO2003089876A1
WO2003089876A1 PCT/US2003/012152 US0312152W WO03089876A1 WO 2003089876 A1 WO2003089876 A1 WO 2003089876A1 US 0312152 W US0312152 W US 0312152W WO 03089876 A1 WO03089876 A1 WO 03089876A1
Authority
WO
WIPO (PCT)
Prior art keywords
wheel
measurement cycle
spatial coordinates
vision sensor
during
Prior art date
Application number
PCT/US2003/012152
Other languages
English (en)
Inventor
M. Stanley Merrill
Ted Combs
Richard Sutton
Original Assignee
Merilab, Inc.
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 Merilab, Inc. filed Critical Merilab, Inc.
Priority to AU2003228595A priority Critical patent/AU2003228595A1/en
Priority to DE10392553T priority patent/DE10392553T5/de
Priority to GB0423118A priority patent/GB2403020B/en
Publication of WO2003089876A1 publication Critical patent/WO2003089876A1/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

Definitions

  • Technical Field Embodiments of the present invention generally relate to the field of computer vision and the field of measuring vehicle wheel alignment characteristics, such as camber and toe. More particularly, embodiments of the present invention relate to the use of a rotating vision sensor, such as a laser sensor, to map a portion of the vehicle tire and/or rim from which one or more alignment characteristics may be determined.
  • a rotating vision sensor such as a laser sensor
  • Correct vehicle suspension and geometry improves the directional stability, tracking, cornering, and overall driveability of a vehicle while also increasing tire tread life and wear.
  • Two primary vehicle wheel alignment characteristics are toe, which is generally defined as the slanting of the wheels toward the front or back of the vehicle, and camber, which is generally defined as the sloping of the wheels toward the top or bottom of the vehicle.
  • the accurate measurement of wheel alignment is a surprisingly difficult problem to solve in a cost and time efficient manner.
  • the wheel alignment is measured in all vehicles as a part of the manufacturing process, and the wheel alignment of a relatively small percentage of vehicles, such as 4%, is measured a second time as an audit for determining the accuracy of the aligner used in the manufacturing process.
  • Figure 1 is a perspective view of a measurement device according to an embodiment of the present invention along with a wheel.
  • Figure 2 is a front elevation view of the measurement device according to the embodiment of Figure 1.
  • Figure 3 is perspective schematic view of a vision sensor which may be used according to one embodiment of the present invention.
  • Figures 4A, 4B, and 4C are schematic representations of the swept volume of a camera vision sensor in relation to the position of a wheel to be characterized according to one embodiment of the present invention.
  • Figure 5A is a flow diagram illustrating a vehicle wheel alignment characteristic determination process according to one embodiment of the present invention.
  • Figure 5B is a flow diagram illustrating a measurement cycle process according to one embodiment of the present invention.
  • Figure 6 is a perspective view of a vehicle wheel alignment system according to one embodiment of the present invention.
  • Figure 7 is a top view of the vehicle wheel alignment system of Figure 6.
  • Figure 8 is a side view of the vehicle wheel alignment system of Figure 6.
  • Figure 9 is a bottom view of the vehicle wheel alignment system of Figure 6.
  • two measurement cycles are performed between which the wheel being characterized is rotated.
  • spatial coordinates of multiple points on the wheel are obtained by positioning a vision sensor at various angular offsets relative to the wheel, the multiple points representative of samples from each of the various angular offsets.
  • the wheel is rotated at least a partial revolution.
  • spatial coordinates of multiple points on the wheel are obtained by positioning the vision sensor at various angular offsets relative to the wheel, the multiple points representative of samples from each of the various angular offsets.
  • embodiments of the present invention employ a rotating vision sensor, such as a non-contact laser sensor, to map a portion of a vehicle's wheel, which allows for the determination of the plane of the wheel (and thereby various alignment characteristics, such as the "toe” and “camber” of the wheel).
  • a rotating vision sensor such as a non-contact laser sensor
  • two measurement cycles are performed between which the vehicle's wheels are rotated at least a partial revolution.
  • the vehicle may be left in place and the "floor” may be moved under the wheels by a known amount.
  • the vehicle may be moved forward or backward to rotate the wheels.
  • the forces employed to push or pull the vehicle may introduce error.
  • Embodiments of the present invention include various steps, which will be described below.
  • the steps may be performed by hardware components or may be embodied in machine-executable instructions, which may be used to cause a general-purpose or special- purpose processor programmed with the instructions to perform the steps.
  • the steps may be performed by a combination of hardware and software.
  • Embodiments of the present invention may be provided as a computer program product which may include a machine-readable medium having stored thereon instructions which may be used to program a computer (or other electronic devices) to perform a process.
  • the machine-readable medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, magnetic or optical cards, flash memory, or other type of media / machine-readable medium suitable for storing electronic instructions.
  • embodiments of the present invention may also be downloaded as a computer program product, wherein the program may be transferred from a remote computer to a requesting computer by way of data signals embodied in a carrier wave or other propagation medium via a communication link (e.g., a modem or network connection).
  • a communication link e.g., a modem or network connection
  • non-contact sensor i.e., a Digital TriCam manufactured by Perceptron of Madison, MI
  • a particular mechanism for rotating the non-contact sensor i.e., a rotary blade
  • embodiments of the present invention are equally applicable to various other non-contact sensors and positioning mechanisms.
  • the Diffracto brand sensor manufactured by LMI Technologies Inc. may be employed to perform the distance measurement functions described herein.
  • robotic arms, circular tracks and the like may be employed to position the non-contact sensor relative to the target object.
  • wheel alignment, measurement and audit it is contemplated that embodiments of the present invention will be applicable to various other usage models.
  • camber generally refers to a wheel alignment characteristic representing the sloping of a wheel toward the top or bottom of the vehicle.
  • connected generally refers to a wheel alignment characteristic representing the sloping of a wheel toward the top or bottom of the vehicle.
  • coupled generally refers to a wheel alignment characteristic representing the sloping of a wheel toward the top or bottom of the vehicle.
  • joined generally refers to a direct connection or coupling.
  • rim generally refers to the circular outer part of a wheel typically furthest from the axle.
  • a rim is typically a metal or alloy structure around which a tire is fitted.
  • toe generally refers to a wheel alignment characteristic representing the slanting of a wheel toward the front or back of the vehicle.
  • wheel typically refers to a circular frame of hard material that may be solid, partly solid, or spoked and that is capable of turning on an axle.
  • the term “wheel” is used herein to refer broadly to a wheel, a tire, a rim or any combination of these.
  • the distance measurements to the plane yield a sinusoidal output. Further, if the plane itself is not perfectly flat but has an error in its plane - in the form of a wheel with "wobble,” then the distance output is the sum of two sinusoids - one for the plane itself and one for the wobble.
  • the assignee of the present invention developed algorithms to separate the two sinusoids (e.g., remove the error or wobble) by capturing a first sum of the two sinusoids while the wheel is in a first position, rotating the wheel at least a partial revolution to a second position, capturing a second sum of the two sinusoids, and then keeping the portion that remains the same between measurements (the basic plane of the wheel) and discarding the portion that changes in phase between measurements (the error or wobble).
  • a vision sensor such as a laser camera
  • the laser camera may be rotated along a circle that lies in a plane that is generally parallel to the plane of the wheel.
  • the field of vision of the rotated sensor scribes at least a portion of a torus in Euclidean space that is "seen" by the camera.
  • the wheel and sensor are positioned so that the rim of the vehicle wheel is within the torus so that the rim is seen by the camera.
  • the camera sees the rim (or other object within the torus) as a collection of pixels, defined by the camera resolution, that each have an x-y-z coordinate or other coordinate system position such as polar coordinates.
  • the non- contact sensor projects fanned or structured light onto the wheel to illuminate at a contour lines on the surface of the wheel. The contour line is then read by a light sensor, such as a video camera.
  • the sensor is positioned so as to be offset from the optical plane of the projected light thereby to allowing triangulation in determining the spatial position of pixels within the contour line.
  • the camera captures "slices," each slice including the coordinates in space of a number of points both radially and in the approximate plane of the wheel are sampled along the contour line.
  • the angular position of the sensor is measured and recorded along with the x-y-z coordinate data.
  • the sensor is engaged with a computer that stores the position and coordinate data associated with the first measurement cycle.
  • the senor before initiating a second measurement cycle, the sensor returns to its original angular position relative to the wheel and the wheel is rotated at least a partial revolution.
  • the second measurement cycle is similar to the first, in that the laser camera is again rotated and captures coordinates associated with a number of pixels in the contour line for each of multiple angular positions during the rotation.
  • the computer calculates the plane of the wheel (or other desired wheel alignment characteristic or wheel feature) based upon the two different sets of observed data.
  • the attitude of the plane of the wheel corresponds to an identifiable toe and camber.
  • very accurate measurement of toe and camber may be accomplished using two measurement cycles of a single vision sensor with a partial revolution of the wheel between measurement cycles.
  • Exemplary Measurement Device Figures 1 and 2 depict a perspective view and a front view, respectively, of a measurement device 10 according to an embodiment of the present invention along with a wheel (W) and tire (T) mounted on the wheel.
  • the measurement device 10 includes a base 12 and a vertical support 14 extending upward from the base 12.
  • a rotating blade 16 is pivotally connected to an upper section of the support 14 at a spindle 18.
  • the spindle 18 is rotatable to a predefined speed by a motor 20, such as an alternating current (AC) motor.
  • the motor 20 includes (or is engaged with) suitable equipment 22, such as a rotary encoder, a rotary potentiometer, a stepping motor, or the like, for monitoring and recording positional data of the blade 16.
  • a vision sensor 30 is positioned toward one end of the blade 16.
  • a counterweight 24 is positioned toward the other end of the blade 16 so that the blade 16 is balanced during rotation.
  • various other mechanisms may be employed to rotate or otherwise position the vision sensor 30 relative to the wheel.
  • the vision sensor 30 may be mounted on a circular track, and slid around the track; or the vision sensor may be positioned on the end of a rod that is rotated in a circle.
  • FIG 3 is perspective schematic view of a vision sensor 30 which may be used according to one embodiment of the present invention.
  • t he vision sensor 30 incorporates a digital camera capable of measuring by triangulation into a housing 32.
  • Such vision sensors are manufactured for commercial use by at least Perceptron, Inc. and LMI Technologies, Inc.
  • the vision sensor 30 has a laser window 34 through which a beam of coherent light is emitted to intersect a target, and a camera window 36 engaged with a camera (not shown) offset from the laser window 34.
  • the laser window 34 and camera window 36 each have a field of vision, which intersect with one another to form a resulting field of view (F) for the vision sensor 30.
  • various other devices capable of measuring distance such as radar, acoustic, ultrasonic range sensing devices or other machine vision devices capable of imaging a volume of space and determining coordinates of a set of pixels within the space may be employed.
  • Figures 4A, 4B, and 4C are schematic representations of the swept volume of a camera vision sensor in relation to the position of a wheel to be characterized according to one embodiment of the present invention. Importantly, it is not necessary for the center of the wheel (W) to be exactly aligned with the center of rotation of the vision sensor 30 (i.e., the spindle 18). In this examples illustrated by Figures 4A-4C, the motion of the vision sensor
  • FIG. 30 is shown as it is revolved as well as the resulting field of vision (F).
  • Figure 4B shows the outlines of three rims Rl, R2, R3 having differing diameters that are centered in relation to the measurement device 10. Since each of the rims are within the field of vision (F), they can be characterized.
  • Figure 4C shows the outlines of three rims R4, R5, and R6, having differing diameters that are not centered in relation to the measurement device 10.
  • enough of each rim maybe within the field of vision (F) to characterize the rim. It is not necessary for the entirety of the rim to be within the field of vision (F), as the rim may be characterized if only a portion of the rim is seen by the vision sensor 30.
  • FIG. 5A is a flow diagram illustrating a vehicle wheel alignment characteristic determination process according to one embodiment of the present invention.
  • the process begins at block 505.
  • the vehicle wheel and the sensor are positioned relative to each other. This typically includes rolling the vehicle onto a ramp system, such as that depicted in Figures 6-9, and adjusting the vision sensors to accommodate the vehicle's wheel base.
  • a wheel (W) (having a rim (R)) on which tire (T) is mounted is positioned in front of the measurement device 10.
  • the wheel (W) is positioned so that the rim (R) and/or tire (T) are within the field of view of vision sensor 30.
  • a preferred distance for the exemplary vision sensor 30 described with reference to Figure 3 is about 436.5 mm, although the position is not critical so long as a sufficient portion of the wheel (W) is within the field of view (F).
  • the measurement device 10 can perform satisfactorily even if the wheel (W) is oriented at an angle to the plane of rotation of the vision sensor 30, provided that the angle is known and is within the operating specifications of the vision sensor 30.
  • a first measurement cycle is commenced during which information is captured regarding the coordinates of points on the wheel at various angular positions of the vision sensor.
  • Such a measurement cycle provides information regarding the distance of the surface of the wheel from the sensor which can be represented as a sum of sines and cosines.
  • angle a the distance, Z, from the sensor to the wheel may be represented in the form:
  • the first sine and cosine sum represents the pure toe and camber plane and the second sine and cosine sum represents the wobble or error (e.g., due to runout). Further description of measurement cycle processing is provided below with reference to Figure 5B.
  • decision block 515 a test is made to determine whether a sufficient number of measurement cycles have been performed. Empirical analysis performed by the assignee of the present invention indicates two measurement cycles are sufficient to produce toe and camber error in the estimated plane on the order of thousandths of a degree, which is well within the range of acceptable alignment setting capability. However, more than two measurement cycles may be performed if desired. At any rate, once the desired number of measurement cycles have been performed, processing continues with block 520. However, until the desired number of measurement cycles have been performed, processing branches to block 512.
  • the wheel is rotated by ⁇ degrees.
  • ⁇ is between 90 and 30 degrees.
  • ⁇ is selected based on the sweep of the vision sensor 30 to create an overlap between the first and second measurement cycles. For example, assuming the sweep of the vision sensor 30 were 315 degrees, it might be desirable to rotate the wheel at least 45 degrees between measurement cycles.
  • the wheel may be rotated by keeping the vehicle stationary and sliding the plate upon which the wheel rests as discussed further below.
  • the vehicle may be rolled forward or backward and the measuring devices moved to follow the vehicle movement.
  • a second measurement cycle is commenced at block 510 during which information is again captured regarding the coordinates of points on the wheel at various angular positions of the vision sensor.
  • the distance of the surface of the wheel from the sensor can be represented as:
  • the first sine and cosine sum remains unchanged as the pure toe and camber plane is dependent upon the vehicle's attitude and geometry and is therefore a constant for purposes of this example; and where the second sine and cosine sum again represents the wobble or error, but shifted in phase by ⁇ degrees.
  • the error in the wheel plane representation is identified based on the two sets of measurement data gathered during the separate measurement cycles. For example, the difference between the two sweeps can be determined to distinguish the wobble or error from the true toe and camber. According to one embodiment a Fourier decomposition method is employed.
  • the wobble or error identified in block 520 may be eliminated to arrive at an estimated wheel plane. Additionally, other perturbations on the wheel, such as "bumps,” may be eliminated by filtering out higher Fourier Series components.
  • the estimated wheel plane may be used to determine one or more alignment characteristics of the wheel, such as toe and camber. For example, the computer 40 may calculate the plane of the wheel (W) from data stored during the measurement cycles which has been error corrected and filtered in accordance with the method described above.
  • Figure 5B is a flow diagram illustrating the measurement cycle process of block 510 according to one embodiment of the present invention.
  • the process begins at block 535.
  • rotation of the vision sensor 30 relative to the wheel (W) is commenced, via the motor 20.
  • the position of the vision sensor 30 is determined. Such determination may be performed via the equipment 22 at periodic or predetermined time intervals, for example.
  • coordinates of multiple points on the surface of the wheel (W) corresponding to the current position of the vision sensor 30 are determined. According to one embodiment, this involves the vision sensor 30 acquiring the image data within its field of view (F).
  • the position information and coordinate information are stored.
  • the data is provided to computer 40 for post processing and storage in RAM or on mass storage device.
  • the computer 40 stores a set of image data which is a collection of spatial coordinates for each acquisition, that is referenced by the angular position of the vision sensor 30.
  • the vision sensor 30 is swept at least 270 degrees.
  • the sweep of the vision sensor 30 maybe in the range of 180 to 360 degrees.
  • a relationship may be established between the sweep of the vision sensor 30 and the rotation of the wheel. For example, to achieve the desired level of wheel plan accuracy certain implementations may call for, it may be useful to have the sum of the sweep of the vision sensor 30 and the rotation of the wheel between measurement cycles total 360 degrees or more.
  • such sum is 317 degrees, representing a 270 degree sweep by the vision sensor and a 47 degree rotation of the wheel.
  • Multiple revolutions may also be statistically averaged together.
  • the vision sensor 30 collects data at a number of different angular positions (i.e., it takes a number of "shots” or “slices” of the wheel). For example, the surface of the wheel maybe sampled every 10 degrees.
  • the processing continues with block 560; otherwise, processing branches back to block 535 where the vision sensor 30 continues rotating and the sampling and storage of position and coordinate data continue.
  • the vision sensor 30 is returned to its initial position in anticipation of performing subsequent measurement cycles.
  • the vision sensor 30 may commence subsequent measurement cycles from the position where it completed the prior measurement cycle.
  • FIGS. 6-9 depict perspective, top, side and bottom views, respectively, of a vehicle wheel alignment system 1 according to one embodiment of the present invention.
  • the vehicle wheel alignment system 1 includes two movable plates 100 which are moveably attached to platform 150. Each plate 100 has a first end 102 and a second end 104. System 1 also includes two adjustable wheel rollers 110. Plates 100 maybe inclined such that first end 102 is slightly higher then second end 104. Thus, the wheels of a vehicle (not shown) parked on plates 102, will be pulled by gravity against rollers 110.
  • the incline of the plates 100 may be adjusted responsive to the weight of the vehicle.
  • a pair of hydraulic or pneumatic rams 140 are shown, each having a first end 145 securely attached to platform 150 and a second end 160 securely attached to plate 100.
  • the rams 140 can expand and contract thereby moving plates 100. If a vehicle (not shown) is placed on plates 100 and the transmission is left in neutral, the movement of plates 100 will cause the wheels of the vehicle to rotate. Because plates 100 are inclined, the vehicle will remain in contact with wheel rollers 110, even while plate 100 is moved. Thus, the wheels can be rotated without needing to move the vehicle or the wheel inspection system. Thus, potential errors associated with moving the vehicle are eliminated. In addition, safety is enhanced and complexity of the system 1 is reduced by not having to deal with movement of the vehicle during measurement.
  • the wheel could be rotated during measurement cycles (e.g., as the vision sensor 30 revolves), provided that the wheel and sensor do not rotate in resonance with one another, so that sensor can "see” an adequate number of points on the wheel (W).

Landscapes

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

Abstract

La présente invention concerne un appareil et des procédés permettant de mesurer des caractéristiques d'alignement de roue de véhicule. Dans un mode de réalisation de l'invention, pendant un premier cycle de mesures, on obtient des coordonnées spatiales de points multiples en plaçant un capteur de vision à divers décalages angulaires par rapport à la roue, ces multiples points étant représentatifs d'échantillons de chacun de ces divers décalages angulaires. Après ce premier cycle de mesures et avant le second cycle de mesures, on fait tourner la roue sur au moins une révolution partielle. Pendant le second cycle de mesures, on obtient les coordonnées spatiales des multiples points sur la roue en plaçant le capteur de vision à divers décalages angulaires par rapport à la roue, ces multiples points étant représentatifs d'échantillons de chacun des divers décalages angulaires. Enfin, on détermine une ou plusieurs caractéristiques de la roue fondées sur les coordonnées spatiales recueillies pendant le premier cycle de mesures et sur les coordonnées spatiales recueillies pendant le second cycle de mesures.
PCT/US2003/012152 2002-04-18 2003-04-18 Alignement de roue de vehicule par capteur de vision rotatif WO2003089876A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
AU2003228595A AU2003228595A1 (en) 2002-04-18 2003-04-18 Vehicle wheel alignment by rotating vision sensor
DE10392553T DE10392553T5 (de) 2002-04-18 2003-04-18 Radjustierung durch drehenden optischen Sensor
GB0423118A GB2403020B (en) 2002-04-18 2003-04-18 Vehicle wheel alignment by rotating vision sensor

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US37345502P 2002-04-18 2002-04-18
US60/373,455 2002-04-18

Publications (1)

Publication Number Publication Date
WO2003089876A1 true WO2003089876A1 (fr) 2003-10-30

Family

ID=29251030

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2003/012152 WO2003089876A1 (fr) 2002-04-18 2003-04-18 Alignement de roue de vehicule par capteur de vision rotatif

Country Status (4)

Country Link
AU (1) AU2003228595A1 (fr)
DE (1) DE10392553T5 (fr)
GB (1) GB2403020B (fr)
WO (1) WO2003089876A1 (fr)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008086773A1 (fr) 2007-01-16 2008-07-24 Dürr Assembly Products GmbH Dispositif de mesure de la géométrie d'un train de roulement
EP1980818A1 (fr) * 2007-04-11 2008-10-15 Siemens Aktiengesellschaft Procédé de détermination de l'angle de carrossage et/ou de pincement et dispositif correspondant
WO2009130103A2 (fr) * 2008-04-23 2009-10-29 Robert Bosch Gmbh Procédé et dispositif de contrôle de la géométrie des trains roulants
CN102257354A (zh) * 2008-12-19 2011-11-23 罗伯特·博世有限公司 用于行驶机构测量的方法及用于测量机动车行驶机构几何参数的装置
IT202100018716A1 (it) * 2021-07-16 2023-01-16 Snap On Equip Srl Unico Socio Metodo e apparato per determinare le dimensioni geometriche di una ruota di veicoli montata in modo da poter ruotare attorno ad un asse di rotazione
IT202100018713A1 (it) * 2021-07-16 2023-01-16 Snap On Equip Srl Unico Socio Metodo e apparato per determinare le dimensioni geometriche di una ruota

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4856199A (en) * 1987-02-18 1989-08-15 Merrill Engineering Laboratories, Inc. Single contact point distance measuring for plane determination
US5969246A (en) * 1995-10-10 1999-10-19 Snap-On Technologies, Inc. Apparatus and method for determining axial stability
US6151562A (en) * 1998-07-24 2000-11-21 Merrill; M. Stanley Vehicle wheel alignment data by rotating vision sensor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4856199A (en) * 1987-02-18 1989-08-15 Merrill Engineering Laboratories, Inc. Single contact point distance measuring for plane determination
US5969246A (en) * 1995-10-10 1999-10-19 Snap-On Technologies, Inc. Apparatus and method for determining axial stability
US6151562A (en) * 1998-07-24 2000-11-21 Merrill; M. Stanley Vehicle wheel alignment data by rotating vision sensor

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008086773A1 (fr) 2007-01-16 2008-07-24 Dürr Assembly Products GmbH Dispositif de mesure de la géométrie d'un train de roulement
EP1980818A1 (fr) * 2007-04-11 2008-10-15 Siemens Aktiengesellschaft Procédé de détermination de l'angle de carrossage et/ou de pincement et dispositif correspondant
US8522609B2 (en) 2008-04-23 2013-09-03 Robert Bosch Gmbh Method and device for wheel suspension alignment
WO2009130103A2 (fr) * 2008-04-23 2009-10-29 Robert Bosch Gmbh Procédé et dispositif de contrôle de la géométrie des trains roulants
WO2009130103A3 (fr) * 2008-04-23 2010-05-14 Robert Bosch Gmbh Procédé et dispositif de contrôle de la géométrie des trains roulants
US8578765B2 (en) 2008-12-19 2013-11-12 Robert Bosch Gmbh Method for wheel suspension measurement and a device for measuring the wheel suspension geometry of a vehicle
CN102257354A (zh) * 2008-12-19 2011-11-23 罗伯特·博世有限公司 用于行驶机构测量的方法及用于测量机动车行驶机构几何参数的装置
CN102257354B (zh) * 2008-12-19 2014-08-13 罗伯特·博世有限公司 用于行驶机构测量的方法及用于测量机动车行驶机构几何参数的装置
IT202100018716A1 (it) * 2021-07-16 2023-01-16 Snap On Equip Srl Unico Socio Metodo e apparato per determinare le dimensioni geometriche di una ruota di veicoli montata in modo da poter ruotare attorno ad un asse di rotazione
IT202100018713A1 (it) * 2021-07-16 2023-01-16 Snap On Equip Srl Unico Socio Metodo e apparato per determinare le dimensioni geometriche di una ruota
EP4119890A1 (fr) * 2021-07-16 2023-01-18 Snap-on Equipment Srl a unico socio Procédé et appareil permettant de déterminer les dimensions géométriques d'une roue de véhicule montée de manière à ce qu'elle puisse tourner autour d'un axe de rotation
EP4119889A1 (fr) * 2021-07-16 2023-01-18 Snap-on Equipment Srl a unico socio Procédé et appareil de détermination des dimensions géométriques d'une roue
US20230014682A1 (en) * 2021-07-16 2023-01-19 Snap-On Equipment Srl A Unico Socio Method and apparatus for determining the geometrical dimensions of a vehicle wheel mounted such that it can rotate about an axis of rotation

Also Published As

Publication number Publication date
GB0423118D0 (en) 2004-11-17
AU2003228595A1 (en) 2003-11-03
GB2403020A (en) 2004-12-22
DE10392553T5 (de) 2005-11-03
GB2403020B (en) 2005-10-19

Similar Documents

Publication Publication Date Title
US7065462B2 (en) Vehicle wheel alignment by rotating vision sensor
US6862544B1 (en) Vehicle wheel alignment data by rotating vision sensor
JP4039714B2 (ja) タイヤ輪郭の獲得の装置及び方法
CN102144144B9 (zh) 用于确定和调整一辆汽车的底盘几何结构的设备和方法
CA2656096C (fr) Appareil et procede pour determiner l'orientation d'un objet tel qu'un alignement des roues d'un vehicule
US6658751B2 (en) Target system for use with position determination system
EP1995083B1 (fr) Procédé et appareil pour déterminer la dimension géométrique d'une roue de véhicule avec des capteurs optiques
KR102299086B1 (ko) 롤링 가상의 휠 스핀들 캘리브레이션
CN1227629A (zh) 轮胎状态评估装置和方法
CN102841147B (zh) 用于火车车轮超声测试设备的方法和设备
US20090033949A1 (en) Method and apparatus for determining geometrical dimensions of a vehicle wheel
CN114034265A (zh) 具有提高的便携性的自校准车轮对准器
EP2353890A1 (fr) Procédé et appareil pour déterminer les dimensions géométriques d'une roue de véhicule avec des capteurs optiques
JPH06508680A (ja) 中心の決定と、それに関連する測定とのための装置及び方法
CN113701648A (zh) 一种基于三维线激光扫描仪的金属轮毂尺寸测量装置及方法
WO2003089876A1 (fr) Alignement de roue de vehicule par capteur de vision rotatif
US20130128281A1 (en) Method for detecting the shape and/or dimensions of a wheel on vehicle repair workshop machines or the like
CN113375577B (zh) 一种大型回转体内孔测量系统和测量方法
CN108317973B (zh) 一种全自动式单轮汽车四轮定位仪检定装置和方法
JP3936545B2 (ja) トレッドセグメントの内面凹凸測定装置及び測定方法
CN212692812U (zh) 一种轮定位系统以及车辆测量系统
CN209764050U (zh) 一种漆膜检测转台
CN2677922Y (zh) 结构光视觉传感步进驱动型轮对测量装置
CN117804323A (zh) 基于几何量与圆度组合的回转体指定半径的高度测量方法
CN113958803A (zh) 用于测量车辆定位的装置和方法

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): AE AG AL AM AT AU AZ BA BB BG BR BY BZ CA CH CN CO CR CU CZ DE DK DM DZ EC EE ES FI GB GD GE GH GM HR HU ID IL IN IS JP KE KG KP KR KZ LC LK LR LS LT LU LV MA MD MG MK MN MW MX MZ NI NO NZ OM PH PL PT RO RU SC SD SE SG SK SL TJ TM TN TR TT TZ UA UG UZ VC VN YU ZA ZM ZW

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): GH GM KE LS MW MZ SD SL SZ TZ UG ZM ZW AM AZ BY KG KZ MD RU TJ TM AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR BF BJ CF CG CI CM GA GN GQ GW ML MR NE SN TD TG

ENP Entry into the national phase

Ref document number: 0423118

Country of ref document: GB

Kind code of ref document: A

Free format text: PCT FILING DATE = 20030418

121 Ep: the epo has been informed by wipo that ep was designated in this application
WWE Wipo information: entry into national phase

Ref document number: 0423118.9

Country of ref document: GB

122 Ep: pct application non-entry in european phase
NENP Non-entry into the national phase

Ref country code: JP

WWW Wipo information: withdrawn in national office

Country of ref document: JP