WO2005010463A1 - 自動車のホイルアライメント測定方法及びその装置 - Google Patents
自動車のホイルアライメント測定方法及びその装置 Download PDFInfo
- Publication number
- WO2005010463A1 WO2005010463A1 PCT/JP2004/010594 JP2004010594W WO2005010463A1 WO 2005010463 A1 WO2005010463 A1 WO 2005010463A1 JP 2004010594 W JP2004010594 W JP 2004010594W WO 2005010463 A1 WO2005010463 A1 WO 2005010463A1
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- WIPO (PCT)
- Prior art keywords
- wheel mounting
- angle
- mounting portion
- vehicle
- coordinates
- Prior art date
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
- G01B21/26—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53909—Means comprising hand manipulatable tool
- Y10T29/53913—Aligner or center
- Y10T29/53922—Auto wheel with auto chassis
Definitions
- the present invention relates to a method and an apparatus for measuring a foil alignment of a vehicle conveyed in a suspended state on a vehicle assembly line.
- a steering device and a suspension device are mounted on a vehicle body conveyed by a hanger
- the vehicle body is first separated from the hanger on an assembly line of the vehicle body.
- the pin of the positioning means provided below the vehicle body supported by the hanger is fitted into the positioning hole of the vehicle body, and the vehicle body is positioned.
- the suspension device is assembled, the vehicle body is supported so as to be able to move up and down via wheel mounting portions provided on the vehicle body.
- a connecting member such as a chain provided in a pulling-down means for lowering the vehicle body is connected to the front and rear of the vehicle body to lower the vehicle body downward to apply a predetermined load to the vehicle body.
- the suspension device is provided with an urging force corresponding to a predetermined load by the reaction force from the wheel mounting portion, and the vehicle body is fixed in a state closest to a completed vehicle state in which wheels are mounted on the axle. Then, this state is maintained, and the toe angle and the camber angle are measured through the wheel mounting portion.
- it is necessary to reproduce the state closest to the completed vehicle state with respect to the vehicle body, and the vehicle body separated from the hanger before measuring the toe angle and the camber angle. Since it is necessary to perform positioning work and pulling work downward by pulling means, the number of steps required for measurement is relatively large, and there is a disadvantage that efficiency is low.
- the center of gravity of the vehicle changes due to the effect of each component attached to the vehicle, and each hanger changes.
- the posture of the vehicle body is deviated left and right from a predetermined direction, or the vehicle body cannot lean horizontally for each hanger, and the vehicle body may tilt in the vehicle width direction.
- the toe angle and cantilever angle measured from the vehicle body supported by the hanger may be inaccurate due to the influence of the vehicle body posture during measurement.
- the suspension is a double wishbone type suspension
- the size of the upper and lower mounting gaps between the upper arm and the lower arm, and the mutual movement of the upper arm and the mouth arm in the wheel axis direction It is known that the toe angle is affected by the displacement of the mounting position. Therefore, the state of attachment of the upper arm and the lower arm, which are parts of the suspension system, is grasped without reproducing the state closest to the completed vehicle state with respect to the vehicle body as in the conventional method, and the measurement results of the wheel alignment It is desired that this be reflected promptly in the suspension assembly process.
- the present invention provides a wheel mounting portion with the same load as in a completed vehicle. It is possible to measure the foil alignment quickly and accurately without applying any load, thereby improving the productivity.Furthermore, the measurement result of the foil alignment can be promptly reflected in the suspension assembly process. It is an object of the present invention to provide a method and a device for measuring a vehicle alignment that can be performed. Disclosure of the invention
- the present invention relates to a method for measuring a wheel alignment of a vehicle conveyed in a suspended state on an assembly line of the vehicle, the method comprising: The wheel mounting portion is lifted up to a predetermined height position by allowing the wheel mounting portion not mounted to be lifted and lowered, and the position of the wheel mounting portion being lifted during the wheel mounting portion raising process by the wheel mounting portion raising process.
- the measuring step includes: a posture of the vehicle body supported in a suspended state with respect to a predetermined correct posture of the vehicle body at a measurement position.
- a deflection angle detecting means for detecting a deflection angle in a predetermined direction; and a measurement value correction step for correcting a measurement value of a tilt angle of the wheel mounting portion in a predetermined direction based on the deflection angle detected in the deflection angle detection step.
- the tilt angle calculating step includes calculating the tilt angle of the wheel mounting portion in the predetermined direction in a completed vehicle state of the vehicle using the tilt angle of the wheel mounting portion corrected in the measurement value correcting step in the predetermined direction as the measured value. It is characterized by doing.
- the suspended state is maintained and the wheel mounting portion is inclined in a predetermined direction (ie, toe angle or camber corner).
- a predetermined direction ie, toe angle or camber corner.
- the vehicle body is supported in a suspended state so that the wheel mounting portion can be raised and lowered, and the wheel mounting portion is raised to a predetermined height position in the wheel mounting portion raising step.
- the vehicle body does not rise following the wheel mounting portion and separate from the hanger. Height position. This makes it possible to measure the inclination angle of the wheel mounting portion in a predetermined direction while the vehicle body is stably supported without rising from the hanger.
- the position of the wheel mounting portion being raised and the inclination angle of the wheel mounting portion in the predetermined direction are measured in a measuring step, and the measured values are used to determine the inclination of the wheel mounting portion in the predetermined direction in the completed vehicle state of the vehicle. Calculate the angle. This makes it possible to confirm the inclination angle of the wheel mounting portion in a predetermined direction in a completed vehicle state of the vehicle while the vehicle body is supported in a suspended state.
- the predetermined vehicle body is determined at the measurement position.
- the posture of the vehicle body that is actually supported in a suspended state is deviated from the correct posture. Due to the influence of the deviation angle at this time, the measured value of the inclination angle of the wheel mounting portion in a predetermined direction becomes inaccurate. Therefore, in the measurement step, the deviation angle of the vehicle body is detected in the deviation angle detection step, and then the measured inclination angle of the wheel mounting portion in the predetermined direction is corrected based on the deviation angle in the measured value correction step.
- the deviation angle can be removed from the measured value of the inclination angle of the wheel mounting portion in the predetermined direction, and the accurate measured value of the inclination angle of the wheel mounting portion in the predetermined direction can be obtained. Can be obtained.
- the inclination angle of the wheel mounting portion in the predetermined direction may be a toe angle of the wheel mounting portion or a camber angle of the wheel mounting portion.
- the deviation angle detected in the deviation angle detecting step extends in the vehicle length direction of the vehicle body predetermined at the measurement position.
- the center line extending in the vehicle length direction of the vehicle body supported in a suspended state with respect to the correct center line is the thrust angle deviated left and right. That is, when the vehicle body is suspended by a hanger or the like, when measuring the position of the wheel mounting portion and the toe angle, the center line extending in the vehicle length direction of the vehicle body is a predetermined correct center line.
- the measured values may not be accurate due to the thrust angle deviated right and left of the center line. Therefore, in the measurement step, the thrust angle, which is the deviation angle of the center line in the horizontal direction, is detected in the deviation angle detection step, and then the measured toe angle is corrected based on the thrust angle in the measurement value correction step. As a result, the thrust angle can be removed from the toe angle measurement value, and an accurate toe angle measurement value can be obtained. As described above, according to the present invention, it is possible to efficiently and accurately measure the toe angle while maintaining the hung state by the hanger or the like.
- the detection of the thrust angle in the deviation angle detecting step is performed simultaneously with the measurement of the position of the wheel mounting portion during the ascent and the measurement of the toe angle.
- the thrust angle at the time of measurement of the toe angle can be detected, and the measured toe angle can be corrected. More accurate toe angle measurements can be obtained.
- the inclination angle calculating step in the method of the present invention includes: a coordinate comprising a position of the wheel mounting portion measured at the start of the ascent of the wheel mounting portion and a corner corrected at the position and corrected by the measurement value correcting step.
- a coordinate comprising a position of the wheel mounting portion measured at the start of the ascent of the wheel mounting portion and a corner corrected at the position and corrected by the measurement value correcting step.
- the first calculation step first, the position at which the ascending of the wheel mounting portion in the wheel mounting portion elevating step is started and the toe angle at the position are measured, and the measured value of the toe angle is further measured. It is corrected by the measurement value correction process. Then, the coordinates including the measured position and the corrected toe angle are set as first reference coordinates. Next, the position of the wheel mounting portion and the toe angle at each position are measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position, and further, each measured value of the toe angle is measured. It is corrected by the value correction process. Then, a plurality of coordinates consisting of each measured position and the corrected toe angle at each position are measured. Coordinates. Next, the inclination of each straight line connecting the first reference coordinates and each measurement coordinate is calculated.
- the slope of each straight line connecting the second reference coordinate calculated in advance and each set coordinate, and the slope of each straight line connecting the first reference coordinate and each measured coordinate are calculated. Calculate the difference.
- the second reference coordinates are predetermined in correspondence with the position of the wheel mounting portion of the first reference coordinates (that is, the position at which the lifting of the wheel mounting portion by the wheel mounting portion raising process is started) and the position. This is the coordinate consisting of the correct toe angle.
- Each set coordinate is a position of the wheel mounting portion at each of the measurement coordinates (ie, a position of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position). ) And the correct toe angle predetermined for each position.
- the inventor conducted various tests on the amount of change in the toe angle, and
- an amount to be adjusted until a correct angle of the position of the wheel mounting portion in a completed vehicle state of the vehicle is obtained based on the value obtained in the second calculation step.
- the deviation angle detected in the deviation angle detecting step is obtained by measuring the position of the wheel mounting portion and the one angle of the chamber. This is the posture angle of the vehicle body that is suspended before the operation is performed and is deviated from the horizontal in the vehicle width direction. If the car body is suspended by hangers or the like, when measuring the camber angle of the wheel mounting part, the car body may not be supported in a horizontal position and may be tilted in the vehicle width direction. The measured value of the camber angle becomes inaccurate due to the influence of the inclination in the vehicle width direction.
- a deviated attitude angle in the vehicle width direction with respect to the horizontal of the vehicle body is detected in the deviated angle detection step, and then the measured camber angle is corrected based on the attitude angle by the measured value correction step. .
- the posture angle can be removed from the camber angle measurement value, and an accurate camber angle measurement value can be obtained.
- it is possible to efficiently and accurately measure the camber angle while maintaining the suspension state by the hanger or the like.
- the inclination angle calculating step in the method of the present invention includes a coordinate comprising a position of the wheel mounting portion measured at the start of the ascending of the wheel mounting portion and a camber angle measured at the position and corrected by the measurement value correcting step. Is the first reference coordinate, and the position of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position, and the measured value correction is performed at each position.
- Coordinates are set as second reference coordinates, and a plurality of coordinates consisting of each position of the wheel mounting portion in each of the measurement coordinates and a correct camber angle predetermined in correspondence with each position are set in advance as set coordinates. Based on the difference between the slope of each straight line connecting the second reference coordinate and each set coordinate and the slope of each straight line connecting the first reference coordinate and each measured coordinate, the wheel of the vehicle in the completed vehicle state is determined.
- a second calculating step of calculating an estimated value of the position of the mounting portion at the position of the wheel; and obtaining a correct position of the position of the wheel mounting portion in the completed vehicle state of the vehicle based on the value obtained by the second calculating step.
- a third calculation step for obtaining an amount to be adjusted.
- the first calculation step first, the position at which the ascending of the wheel mounting portion in the wheel mounting portion elevating step is started and the angle of the chamber at that position are measured, and the measured value of the camber angle is further measured. It is corrected by the value correction process. Then, the coordinates consisting of the measured position and the corrected corner of the kyamba are used as the first reference coordinates. Next, the position of the wheel mounting portion and the camber angle at each position are measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position, and each measured value of the camber angle is measured. Correct by the value correction process. Then, a plurality of coordinates including each measured position and the corrected chamber angle at each position are set as measurement coordinates. Next, the slope of each straight line connecting the first reference coordinates and each measurement coordinate is calculated.
- the slope of each straight line connecting the second reference coordinate calculated in advance and each set coordinate, and the slope of each straight line connecting the first reference coordinate and each measured coordinate are calculated. Calculate the difference.
- the second reference coordinates are predetermined in correspondence with the position of the wheel mounting portion of the first reference coordinates (that is, the position at which the lifting of the wheel mounting portion by the wheel mounting portion raising process is started) and the position. These are the coordinates consisting of the correct camber angle.
- Each set coordinate is a position of the wheel mounting portion at each of the measurement coordinates (ie, (A position of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position) and a correct camber angle predetermined for each position. Coordinates.
- the inventor conducted various tests on the amount of change in the camber angle as well as the toe angle, and determined the inclination of each straight line connecting the second reference coordinates and each set coordinate, and the first reference coordinates. It has been found that the difference between the inclination of each straight line connecting and the measured coordinates changes with the position of the wheel mounting part.
- the second calculation step based on a difference between a slope of each straight line connecting the second reference coordinate and each set coordinate and a slope of each straight line connecting the first reference coordinate and each measured coordinate. Then, the estimated value of the camber angle at the position of the wheel mounting portion in the completed vehicle state of the vehicle is calculated.
- an amount to be adjusted from the value obtained in the second calculation step until the position of the wheel mounting portion in the completed vehicle state becomes a correct chamber angle is obtained.
- the camber angle of the position of the wheel mounting portion in the completed vehicle state can be accurately obtained by calculation without actually setting the wheel mounting portion in the position of the completed vehicle state of the vehicle. It is possible to easily obtain the amount to be adjusted until the position of the wheel mounting portion in the vehicle state becomes a correct corner.
- the predetermined data corresponding to the mounting state of the components constituting the suspension device is provided.
- a data extraction step is provided to configure a suspension device.
- the predetermined data corresponding to the mounting state of the component is extracted at the time of calculating the toe angle in the tilt angle calculating step.
- the quality of the mounting state of the components constituting the suspension device is determined based on the data poured out in the data extracting step.
- the toe angle in the completed vehicle state of the vehicle can be confirmed, and at the same time, the mounting state of the components constituting the suspension device can be confirmed. Then, the result of the determination in the determination step can be reflected in the work of analyzing the mounting state of the components constituting the suspension device.
- the inclination angle calculating step is a step of calculating coordinates including the position of the wheel mounting portion measured at the start of the ascent of the wheel mounting portion and the toe angle measured at the position and corrected by the measurement value correcting step.
- the reference coordinates of (1), the position of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position, and measured at each position, and the measured value correction step is performed.
- the coordinates consisting of the position of the part and the correct toe angle predetermined in accordance with the position are defined as second reference coordinates, and are predetermined in accordance with each position and each position of the wheel mounting part in each of the measurement coordinates.
- the coordinates of the straight line connecting the second reference coordinates calculated in advance and each set coordinate, the first reference coordinates and each measurement coordinate are defined as a plurality of coordinates including the correct toe angle obtained as the set coordinates.
- Calculate the slope difference which is the difference between the slope of each connecting line Calculating a slope of a straight line connecting at least two coordinates among a plurality of coordinates including a second calculation step and a plurality of coordinates including the respective tilt differences calculated in the second calculation step and the positions of the wheel mounting portions corresponding to the respective tilt differences.
- the inclination calculated in the third calculation step is extracted as first data corresponding to a mounting state of a component constituting a suspension device, and the first data and the second calculation
- a tilt difference corresponding to the position of the wheel mounting portion in the completed vehicle state of the vehicle is determined based on the tilt differences calculated in the process, and the tilt difference is determined as a second value corresponding to the mounting state of the components constituting the suspension device. Extracted as data.
- the first calculation step of the inclination angle calculation step first, a position at which the ascending of the wheel mounting portion in the wheel mounting portion elevating step is started and a toe angle at the position are measured, and the measured position and the measured value are measured. Coordinates consisting of the toe angle corrected in the correction process are set as first reference coordinates. Next, the position of the wheel mounting portion and the toe angle of each position are measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position, and at each measured position and at each position. Measured values A plurality of coordinates which are corrected in the correction process and are formed as one corner are defined as measured coordinates. Next, the inclination of each straight line connecting the first reference coordinates and each measurement coordinate is calculated.
- the second calculation step of the inclination angle calculation step first, the inclination of each straight line connecting the second reference coordinate calculated in advance and each set coordinate, and the first reference coordinate and each measurement coordinate are connected. The difference from the inclination of each straight line is calculated.
- the second reference coordinate is determined in advance in accordance with the position of the wheel mounting portion at the first reference coordinates (that is, the position where the raising of the wheel mounting portion in the wheel mounting portion raising process is started) and the position. And the correct toe angle.
- Each set coordinate is a position of the wheel mounting portion at each of the measurement coordinates (ie, a position of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position). ) And the correct toe angle predetermined for each position. Note that the inventor performs various tests on the amount of change in the toe angle, and calculates the slope of each straight line connecting the second reference coordinates and each set coordinate, and the slope connecting each first reference coordinate and each measured coordinate. It has been found that the difference from the inclination of the straight line changes with the position of the wheel mounting part. Therefore, in the second calculation step, the difference between the slope of each straight line connecting the second reference coordinate and each set coordinate and the slope of each straight line connecting the first reference coordinate and each measured coordinate (the slope difference) ) Is calculated.
- the third calculation step of the tilt angle calculation step first, among a plurality of coordinates consisting of each tilt difference calculated in the second calculation step and the position of the wheel mounting portion corresponding to each tilt difference, Calculate the slope of a straight line connecting at least two coordinates. Next, based on the inclination, the toe angle of the position of the wheel mounting portion in the completed vehicle state of the automobile is calculated. By doing so, the toe angle of the position of the wheel mounting portion in the completed vehicle state can be accurately obtained by calculation without actually setting the wheel mounting portion in the position of the completed vehicle.
- the inventor conducted various tests on the relationship between the amount of change in the toe angle and the mounting state of the components constituting the suspension, and determined each inclination difference calculated in the second calculation step and each of the differences.
- the inclination of a straight line connecting at least two coordinates among a plurality of coordinates consisting of the position of the wheel attachment portion corresponding to the inclination difference and the inclination difference corresponding to the position of the wheel attachment portion in the completed vehicle state of the vehicle are determined by It has been found that it changes depending on the mounting state of the components constituting the mounting device. Therefore, in the data extracting step, the slope calculated in the third calculation step is extracted as the first data, and the first data and each slope difference calculated in the second calculation step are extracted.
- the inclination difference corresponding to the position of the wheel mounting portion in the completed vehicle state, which can be obtained based on this, is extracted as the second data.
- the mounting state of the components constituting the suspension device in the determination process is determined. Can be easily determined.
- the determination step includes: It is possible to determine the quality of the vertical mounting interval between the upper arm and the lower arm, and to determine the quality of the mutual mounting position of the upper arm and the lower arm in the wheel axis direction based on the second data.
- the vertical mounting distance between the upper arm and the lower arm is adjusted based on the first data so as to be a good distance, and the second data is adjusted.
- the upper and lower arms can be adjusted so that the mounting positions of the arm and the lower arm in the wheel axis direction are good, and the mounting accuracy of the upper and lower arms can be easily improved.
- the present invention is an apparatus for measuring a wheel alignment of a vehicle conveyed in a suspended state on an assembly line of the vehicle, wherein the vehicle body is suspended and supported by freely moving up and down a wheel mounting portion on which no wheels are mounted.
- Vehicle body supporting means provided at a lower position of the vehicle body supported by the vehicle body supporting means, wheel mounting section raising means for raising the wheel mounting section to a predetermined height position, and provided at the wheel mounting section raising means
- First measuring means for measuring the height position of the wheel mounting portion by means of a second measuring means provided on the wheel mounting portion elevating means for measuring an inclination angle of the wheel mounting portion in a predetermined direction;
- a deviation angle detecting means for detecting a deviation angle in a predetermined direction of the posture of the vehicle body supported in a suspended state with respect to a correct posture of the vehicle body, and a wheel mounting part by the wheel mounting part elevating means.
- the height measurement by the first measuring means and the wheel mounting part by the second measuring means are performed at predetermined intervals from the position where the ascending is started to the time when the wheel mounting part is raised to the predetermined height position.
- Inclination angle in a given direction Measurement control means for measuring the vehicle angle and detecting the deviation angle of the vehicle body by the deviation angle detection means; a measurement value of the first measurement means, a measurement value of the second measurement means, and a detection angle of the deviation angle detection means.
- a tilt angle calculating means for calculating a tilt angle of the wheel mounting portion in a predetermined direction corresponding to the position of the wheel mounting portion in the completed vehicle state of the vehicle based on the above.
- the vehicle body supporting means supports the vehicle body. At this time, the vehicle only needs to be supported so that the wheel mounting portion can be moved up and down.
- a hanger that conveys the vehicle body on the vehicle body assembly line can be used as the vehicle body support means.
- the wheel mounting part raising means raises the wheel mounting part of the vehicle body supported by the vehicle body supporting means.
- the measurement control means measures the height position of the wheel mounting part by the first measuring means when the wheel mounting part is raised by the wheel mounting part raising means, and the wheel mounting part by the second measuring means.
- the inclination angle in the predetermined direction is measured, and the deviation angle is detected by the deviation angle detecting means.
- the inclination angle calculating means determines whether the vehicle is mounted on a wheel in a completed vehicle state based on the measured value by the first measuring means, the measured value by the second measuring means, and the detection angle by the deviation angle detecting means. The inclination angle of the wheel mounting part corresponding to the position of the part in the predetermined direction is calculated.
- the inclination angle calculating means corrects the inclination angle of the wheel mounting portion in the predetermined direction measured by the second measuring means based on the deviation angle detected by the deviation angle detecting means. It is possible to accurately calculate the inclination angle of the wheel mounting portion in the predetermined direction at the position of the wheel mounting portion in the completed vehicle state of the vehicle, using the measured value of the inclination angle of the wheel mounting portion having a high height in the predetermined direction.
- the inclination angle of the wheel mounting portion in the predetermined direction in the device of the present invention includes a case where the toe angle of the wheel mounting portion is a case and a case where the inclination angle of the wheel mounting portion is a corner of the wheel mounting portion.
- the apparatus of the present invention is employed for measuring a corner angle.
- the deviation angle detected by the deviation angle detecting means extends in the vehicle length direction of the vehicle body predetermined at the measurement position.
- the center line extending in the vehicle length direction of the vehicle body supported in a suspended state with respect to the correct center line is the thrust angle deviated left and right. That is, when the toe angle is measured by the device of the present invention, the second measuring means measures the toe angle of the wheel mounting portion, and the deflection angle detecting means detects the thrust angle.
- the inclination angle calculating means based on the measured value by the first measuring means, the measured value by the second measuring means, and the thrust angle by the deviation angle detecting means, in the completed vehicle state of the vehicle The toe angle corresponding to the position of the wheel mounting part is calculated.
- the inclination angle calculating unit corrects the toe angle measured by the second measuring unit based on the thrust angle detected by the deviation angle detecting unit, thereby using a highly accurate measured value of the toe angle. It is possible to accurately calculate the toe angle at the position of the wheel mounting portion in a completed vehicle state.
- the inclination angle calculating means corrects based on the position of the wheel mounting part measured at the start of the ascending of the wheel mounting part and the detection angle measured by the deviation angle detecting means at the position.
- the coordinates consisting of the calculated toe angle are used as first reference coordinates, and the positions of the wheel mounting portion measured at predetermined intervals until the wheel mounting portion is raised to the predetermined height position and each position.
- the inclination of each straight line connecting the first reference coordinate and each measurement coordinate is calculated by using a plurality of coordinates consisting of the toe angle measured based on the detection angle of the deviation angle detection means measured in the above manner as the measurement coordinates.
- First calculating means, and the first reference coordinates The coordinates consisting of the position of the wheel mounting portion in the above and a correct toe angle predetermined in accordance with the position are defined as second reference coordinates, and each position of the wheel mounting portion in each of the measurement coordinates corresponds to each position.
- a third calculating means for calculating an amount to be adjusted until a correct toe angle of the position of the wheel mounting portion in the completed vehicle state of the vehicle based on the above.
- the inclination angle calculating means calculates the inclination of each straight line connecting the first reference coordinate and each measurement coordinate, and the inclination of each straight line connecting the second reference coordinate and each set coordinate. Based on the difference between the inclination of each straight line connecting the first reference coordinate and each measurement coordinate, the estimated value of the toe angle of the position of the wheel mounting portion in the completed vehicle state of the vehicle is calculated. Can be obtained by calculation without calculating the position of the wheel in the completed vehicle state. Then, based on the estimated value of the toe angle at this time, an amount to be adjusted until the position of the wheel mounting portion in the completed vehicle state becomes a correct toe angle can be obtained, so that the load is applied to the vehicle body as in the conventional case. It is possible to quickly and accurately measure the toe angle in a completed vehicle state by simplifying the device configuration without using the device.
- the apparatus of the present invention is used for measuring one corner of a chamber.
- the deviation angle detected by the deviation angle detecting means is the vehicle width with respect to the horizontal of the suspended body.
- the attitude angle is deviated in the direction. That is, when measuring the camber angle by the device of the present invention,
- the second measuring means measures one angle of the chamber of the wheel mounting portion, and the deviation detecting means detects an attitude angle.
- the inclination angle calculating means based on the measured value of the first measuring means, the measured value of the second measuring means, and the attitude angle of the deviation angle detecting means, Calculate the camber angle corresponding to the position of the mounting part.
- the inclination angle calculating means corrects the one-chamber angle measured by the second measuring means based on the attitude angle detected by the deviation angle detecting means, thereby using a highly accurate measured value of the camber angle. This makes it possible to accurately calculate the angle of the kyamba at the position of the wheel mounting portion in the completed vehicle state.
- FIG. 1 is an explanatory diagram showing a schematic configuration of a foil measurement device according to the present embodiment
- FIG. 2 is an explanatory diagram of an operation of a wheel mounting portion raising means
- FIG. 3 is an explanatory diagram showing a second measuring device
- FIG. 5 is an explanatory view showing the attitude of the vehicle body at the time of measurement
- FIG. 6 is a flowchart showing a method of measuring the toe angle
- FIG. FIG. 8 is a graph showing the relationship between the position of the wheel mounting portion and the difference in inclination
- FIG. 9 is an explanatory diagram showing a schematic configuration of a vehicle suspension system
- FIG. 10 is a diagram showing an upper arm and a lower arm.
- FIG. 11 is a flowchart showing a method of measuring a camber angle
- FIG. 12 is a graph showing a relationship between a position of a wheel mounting portion and a camber angle.
- reference numeral 1 denotes a hanger for supporting an automobile body 2, which is not shown.
- the vehicle body 2 is transported along an assembly line.
- the foil measurement device 3 of the present embodiment is provided below the transport path of the vehicle body 2 by the hanger 1.
- the vehicle 2 conveyed to a position directly above the wheel alignment measuring device 3 has a steering device and a suspension device 4 (not shown) assembled on an assembly line, and the steering position of the steering device is adjusted to a neutral position.
- the wheel mounting portion 5 provided on the vehicle body 2 via the suspension device 4 has no wheels mounted yet, and is hung up and down freely by the hanging support of the vehicle body 2 by the hanger 1. .
- the wheel alignment measuring device 3 includes a wheel mounting portion raising means 6 for raising the wheel mounting portion 5, a first measuring device 7 for measuring a height position of the wheel mounting portion 5, A second measuring means 8 for measuring a toe angle and a camber angle, which are inclination angles of the wheel mounting portion 5 in a predetermined direction.
- the first measuring means 7 and the second measuring means 8 are connected to measurement control means (not shown) for controlling measurement at a plurality of positions, which will be described later.
- the measurement control means is connected to arithmetic means (not shown) (tilt angle calculating means), and the arithmetic means includes a toe angle and a camber based on a plurality of measurement values, which will be described later, collected via the measurement control means. Calculate the angle.
- the calculating means further includes a data extracting means and a judging means which will be described later, together with the inclination angle calculating means.
- the wheel mounting portion raising means 6 is provided at four locations corresponding to each wheel mounting portion 5 of the vehicle body 2, and as shown in FIGS. 1 and 2, a contact member that comes into contact with the wheel mounting portion 5 from below. 9, a vertically movable elevating plate 10 that integrally supports the contact member 9, and a first cylinder 11 that elevates the wheel mounting portion 5 that is in contact with the contact member 9 via the elevating plate 10.
- the first table 12 on which the first cylinder 11 is provided is provided so as to be able to move up and down along a guide rail 14 provided on a column 13 standing upright.
- the first A second table 15 is provided below the table 12 so as to be able to move up and down along the guide rails 14.
- the second table 15 is provided with a second cylinder 1 which moves the first table 12 up and down. 6 are provided. Further, the second table 15 is moved up and down by a third cylinder 18 provided on a bracket 17 below the column 13.
- the second table 15 is provided with a bar-shaped attitude angle detecting means 19 (deflection angle detecting means).
- the attitude angle detecting means 19 is provided at its front end with a sensor 20 for detecting that the second table 15 has been raised and has come into contact with the base end of the suspension device 4 at the bottom of the vehicle body 2. Then, when the sensor 20 detects that the bottom of the vehicle body 2 abuts on the base end of the suspension device 4, the operation of the third cylinder 18 is stopped, and the position of the second table 15 is maintained.
- Attitude angle detecting means 19 are provided at four locations corresponding to each wheel mounting portion 5 of the vehicle body 2, and when the ascent by the second table 15 is stopped by the detection of the sensor 20, a pair of left and right attitudes is provided.
- the attitude angle of the vehicle body on the hanger 1 in the vehicle width direction (with respect to the horizontal as the deviation angle) (Inclination angle of the vehicle body).
- the first measuring means 7 is a laser sensor provided on the first table 12 as shown in FIGS. 1 and 2, and measures the ascending distance of the elevating plate 10 so that the wheel mounting portion 5 Measure the axial center position.
- the second measuring means 8 includes three laser sensors (a first sensor 21, a second sensor 22, and a third sensor 23), and is integrated with the support member 24. And is raised and lowered by the first cylinder 11.
- the first sensor 21, the second sensor 22, and the third sensor 23 face three points e, f, and g of the wheel mounting portion 5, respectively.
- the first sensor 21 has a distance E to the point e of the wheel mounting portion 5, and the second sensor 22 has a distance E to the point f of the wheel mounting portion 5.
- the third sensor 23 measures the distance G to the point g of the wheel mounting portion 5, respectively. Then, the horizontal displacement between the points f and g is measured from the difference between the distance F measured by the second sensor 22 and the distance G measured by the third sensor 23, and the toe is calculated from the displacement. The angle is detected, and the displacement in the vertical direction between the point e and the center point between the points f and g is calculated from the difference in the distance measured by the first sensor 15, the second sensor 16 and the third sensor 17. Measure the camber angle from this displacement.
- the first sensor 21, the second sensor 22, and the third sensor 23 of the second measuring means 8 are configured to supply the measurement results to a thrust angle detecting means (bias angle detecting means) (not shown).
- a thrust angle detecting means bias angle detecting means
- the thrust angle detection means is as follows: the first sensor 21 shown in FIG. 3 has a distance E to the point e of the wheel mounting portion 5; the second sensor 22 has a distance F to the point f of the wheel mounting portion 5; (3) The sensor 23 determines the distance between the second measuring means 8 and the wheel mounting portion 5 from (E + F + G) 3 based on the distance G to the point g of the wheel mounting portion 5 as shown in FIG.
- the thrust angle 0 of the vehicle body 2 is calculated based on the respective distances of the four locations corresponding to the respective wheel mounting portions 5 of the vehicle body 2. As described above, the thrust angle detection means determines that the predetermined center line A extending in the vehicle length direction of the vehicle body 2 is different from the center line B extending in the vehicle length direction of the vehicle body supported in a suspended state. Is detected as a thrust angle of 0. The detection of the thrust angle 0 by the thrust angle detection means is performed simultaneously with the first measurement means 7 and the second measurement means 8 under the control of the measurement control means.
- the lift plate 10 is lifted by the first cylinder 11, and the contact member 9 contacts the wheel mounting portion 5.
- the axial position of the wheel mounting portion 5 at which the ascent is started is measured by the first measuring means 7.
- the wheel mounting portion 5 at this time is at a position hanging down from the vehicle body 2, and for the vehicle type to be measured in the present embodiment, the position of the wheel mounting portion 5 in the completed vehicle state (O mm) is ⁇ 90 mm. Somewhat below mm.
- a position of 90 mm is a measurement start position
- a position of ⁇ 60 mm is an adjustment position of the toe angle and the camber angle.
- the wheel mounting portion 5 is raised by the wheel mounting portion raising means 6, the plurality of positions of the wheel mounting portion 5 and the toe angle and the camber angle corresponding to each position are measured by the control of the measurement control means. And a thrust angle of 0 is measured.
- the wheel mounting portion under the control of the measurement control means, the wheel mounting portion is positioned at ⁇ 90 mm, ⁇ 80 mm, ⁇ 70 mm, ⁇ 60 mm with respect to the position of the wheel mounting portion 5 in the completed vehicle state.
- the position of 5 is detected by the measurement of the first measuring means 7, and the toe angle, camber angle and thrust angle 0 at each position are measured by the second measuring means 8 and the thrust angle detecting means.
- the vehicle body 2 supported by the hanger 1 can be moved up to a position of ⁇ 60 mm with respect to the position of the wheel mounting portion 5 in the completed vehicle state ( ⁇ 9). 30 mm above the 0 mm position), hanger 1 It does not float away from you.
- the maximum ascending position of the wheel mounting portion 5 is set to a position where the vehicle body 2 is not lifted up and the state of being supported by the hanger 1 is reliably maintained, so that the toe angle and the cab One corner measurements can be made.
- the wheel mounting portion 5 is raised by the wheel mounting portion raising means 6.
- the position of the wheel mounting portion 5, the toe angle and the chamber angle are measured, and the thrust angle is measured.
- the calculating means corrects the toe angle based on the thrust angle, corrects the camber angle based on the previously detected attitude angle, and adjusts the toe angle corresponding to the position of the wheel mounting portion 5 in the completed vehicle state.
- the corner and the corner of the kyamba are calculated.
- the computing means adjusts the adjustment position (one position with respect to the position of the wheel mounting portion 5 in the completed vehicle state).
- the adjustment amount of the toe angle and the chamber angle at the position (0 mm) is calculated, and the adjustment of the toe angle and the camber angle at the adjustment position is performed according to the adjustment amount.
- a corrected toe angle b is determined by reflecting the thrust angle 0 to the toe angle b ′ measured at this time. For example, referring to FIG. 4, if the direction of the center line B of the vehicle body 2 (the front direction of the vehicle body) is to the right of the correct center line A, For each of the right and left wheel mounting portions 5 of the vehicle body 2, a corrected toe angle b is obtained from the equation (1). In this case, since the direction of the center line B of the body 2 is shifted to the right of the center line A with respect to the wheel mounting portions 5 on the left front wheel and the left side of the rear wheel of the body 2, the equation (2) is used. A corrected toe angle b is determined.
- the coordinates (a, b) of the toe angle b measured and corrected when the axial center position a of the wheel mounting portion 5 is ⁇ 90 mm are first reference coordinates J
- the coordinates (a, b) of the toe angle b measured and corrected when the axial center position a of the wheel mounting portion 5 is ⁇ 80 mm are the first measured coordinates J and the axial center of the wheel mounting portion 5.
- the slope calculated at this time is referred to as an actually measured slope (Atoe j).
- the correct amount of change in the toe angle due to the elevation of the wheel mounting portion 5 by the wheel mounting portion raising means 6 for each type of automobile is recorded as a basic characteristic curve T shown in FIG.
- the coordinates of the correct toe angle are the second reference coordinates N
- the correct toe angle coordinate is the first set coordinate N.
- the correct toe angle coordinate is the second set coordinate.
- the coordinates of the correct toe angle at N 2 , one 60 mm, are taken as the third set coordinates N 3 .
- inclination stored in advance as a basic slope (Atoe n).
- a difference (m) between each measured slope (Atoe j) and each basic slope (Atoe n ) is calculated.
- the difference in the inclination m- 80, m-70. M- 6 o is obtained.
- the inventors have tested (m) is to exhibit a certain variation various between each measured slope (Atoe j) and each basic slope (Atoe n) at each position of the axis of the wheel mounting portion 5 I know it. That is, as shown in FIG. 8, each position of the axis of the wheel mounting portion 5 is set as the horizontal axis, and the difference (m) between each measured inclination (Atoe j) and each basic inclination (Atoe n ) at each position is calculated.
- the difference between the calculated slopes m- 80 , m- 70 , and m- 60 is calculated based on The inclination difference mo at the axis center position (0 mm) of the mounting portion 5 can be estimated (see STEP 6 in FIG. 6).
- the toe angle y calculated here indicates the toe angle at the axial center position of the wheel mounting portion 5 in a completed vehicle state.
- the adjustment position of the toe angle is set to ⁇ 60 mm from the axial center position of the wheel mounting portion 5 in a completed vehicle state. Therefore, as shown in Expression (8), the correction amount y ′ corresponding to the adjustment position is added to the calculated toe angle y, thereby calculating the adjustment amount q (see STEP 8 in FIG. 6). .
- the toe angle is adjusted at the adjustment position according to the adjustment amount Q thus obtained.
- the inclination of the straight line c is extracted as the first data Y for the wheel mounting portion 5 corresponding to the straight line c from the graph shown in FIG. , Wheels in completed car condition Measured inclination (Atoe j) and basic inclination at the axis center position (0mm) of the mounting part 5
- the upper arm 2 changes in accordance with the magnitude of the vertical mounting distance H between the lower arm 27 and the lower arm 27, and according to the distance B between the mutual mounting positions of the upper arm 26 and the lower arm 27 in the wheel axis direction. It has been found from various tests that the second day X changes.
- the first data Y and the second data X are connected to the wheel mounting portion 5 corresponding to the straight line c depending on whether or not the first data Y and the second data X are within a predetermined range.
- the upper and lower mounting distances H between the upper arm 26 and the lower arm 27 and the distance B between the mounting positions of the upper arm 26 and the lower arm 27 in the wheel axis direction are determined.
- the coordinates (X, Y) composed of the first data Y and the second data X are represented by the vertical axis between the upper arm 26 and the lower arm 27.
- Fig. 10 shows the distribution of the coordinates (X, Y) for multiple vehicle bodies (five in Fig. 10) for each wheel mounting part 5 corresponding to four wheels of the same model. ing.
- the upper arm 26 is moved so that the coordinates (X, Y) fall within the predetermined range g.
- the vertical mounting distance H between the lower arm 27 and the lower arm 27 It is possible to specify a place where the interval B between the mounting positions of the upper arm 26 and the lower arm 27 in the wheel axis direction is to be adjusted. Furthermore, the tendency of the mounting state of the upper arm 26 and the lower arm 27 in the vehicle type can be easily grasped from the distribution of the coordinates (X, Y) of a plurality of vehicle bodies of the same vehicle type.
- a higher-precision suspension device can be obtained by reflecting the change in the design of the suspension device.
- the wheel is mounted at the adjustment position (in this embodiment, at a position of -60 mm from the completed vehicle state) without applying the same load to the vehicle body as in the completed vehicle state.
- the toe angle of the part 5 can be measured and adjusted.
- the toe angle adjustment amount can be obtained only by raising the wheel mounting portion 5 to the adjustment position without detaching the vehicle body 2 from the hanger 1, the toe angle can be measured and adjusted efficiently, and productivity can be improved. Can be improved.
- the center line B in the vehicle length direction of the vehicle body 2 suspended by the hanger 1 is displaced from the correct center line A by a right or left thrust angle of 0, the toe angle can be accurately calculated.
- the measurement of the corners of the upper arm 26 and the mounting state of the upper arm 26 and the lower arm 27 can be determined at the same time, the quality of the mounting state of the suspension device can be quickly checked, thereby improving productivity. Can be improved.
- the camber angle b 'above is measured, and then the axis position of the wheel mounting part 5 is adjusted to the adjustment position.
- Measure the camber angle b 'on the hanger 1 at predetermined intervals (every 10 mm) until (a -60 mm).
- the corrected camber angle b is obtained by reflecting the attitude angle p on the camber angle b ′ measured at this time. For example, referring to FIG.
- the coordinates (a, b) of the camber angle b measured and corrected when the axial position a of the wheel mounting portion 5 is ⁇ 90 mm are first reference coordinates. J. Further, the coordinates (a, b) of the camber angle b measured and corrected when the axis center position a of the wheel mounting section 5 is ⁇ 80 mm are first measured coordinates J i, and the axis of the wheel mounting section 5
- the coordinate (a, b) of the keybar angle b measured and corrected when the position a is —70 mm is the second measurement coordinate J 2 , and the axial center position a of the wheel mounting portion 5 is ⁇ 60 mm.
- the coordinate (a, b) of the camber angle b measured and corrected at mm is the third measured coordinate J3.
- the inclination calculated at this time is referred to as an actually measured inclination (Acam j).
- the calculation means the correct amount of change in the camber angle due to the elevation of the wheel mounting portion 5 by the wheel mounting portion raising means 6 for each type of automobile is recorded as a basic characteristic curve T shown in FIG.
- the coordinates of the correct camber angle are the second reference coordinates N
- the correct camber angle coordinate is the first set coordinate N and the correct camber angle coordinate is 170 mm.
- the second set coordinate N 2 is set as the correct camber angle coordinate when ⁇ 60 mm is set as the third set coordinate N 3 .
- the camber angle y calculated here indicates the camber angle at the axial position of the wheel mounting portion 5 in a completed vehicle state.
- the adjustment position of the camber angle is set at 160 mm from the axial center position of the wheel mounting portion 5 in a completed vehicle state. Therefore, as shown in equation (16), the correction amount y ′ corresponding to the adjustment position is added to the calculated camber angle y to calculate the adjustment amount q (step 9 in FIG. 11). reference).
- the wheel is mounted at the adjustment position (in this embodiment, at a position of 160 mm from the completed vehicle state) very quickly without applying the same load to the vehicle body as in the completed vehicle state. Measurement and adjustment of one corner of the part 5 can be performed. In addition, without lifting the vehicle body 2 from the hanger 1, just raise the wheel mounting part 5 to the adjustment position, Therefore, the measurement and adjustment of the corner of the chamber can be performed efficiently, and the productivity can be improved. Moreover, even if the vehicle body 2 suspended by the hanger 1 is not horizontal but is inclined to the left or right in the vehicle width direction with the attitude angle p, the camber angle can be accurately calculated.
- the above-described measurement start position, adjustment position, and each measurement interval are appropriately determined according to the characteristics of the suspension of the vehicle to be measured, and are used in the measurement of the toe angle and the camber angle in the present embodiment. It is not limited to the dimensions given. In the measurement interval, the shorter the setting, the higher the accuracy of the adjustment amount. Industrial applicability
- the present invention is employed when measuring and adjusting the wheel alignment of an automobile, so that the wheel alignment can be measured and adjusted quickly and accurately without applying the same load to the wheel mounting portion as when traveling. Can be improved.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Body Structure For Vehicles (AREA)
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP04747957A EP1659364B1 (en) | 2003-07-28 | 2004-07-20 | Method and device for measuring automobile wheel alignment |
DE602004008940T DE602004008940T2 (de) | 2003-07-28 | 2004-07-20 | Verfahren und einrichtung zur messung der ausrichtung von kraftfahrzeugrädern |
US10/564,724 US7278215B2 (en) | 2003-07-28 | 2004-07-20 | Method and device for measuring wheel alignment of automobile |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2003281298A JP4128919B2 (ja) | 2003-07-28 | 2003-07-28 | 自動車のトー角測定方法及びその装置 |
JP2003281299A JP4128920B2 (ja) | 2003-07-28 | 2003-07-28 | 自動車のキャンバー角測定方法及びその装置 |
JP2003-281298 | 2003-07-28 | ||
JP2003-281299 | 2003-07-28 | ||
JP2003-347424 | 2003-10-06 | ||
JP2003347424A JP4128933B2 (ja) | 2003-10-06 | 2003-10-06 | 自動車のホイルアライメント測定方法 |
Publications (1)
Publication Number | Publication Date |
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WO2005010463A1 true WO2005010463A1 (ja) | 2005-02-03 |
Family
ID=34108579
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2004/010594 WO2005010463A1 (ja) | 2003-07-28 | 2004-07-20 | 自動車のホイルアライメント測定方法及びその装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7278215B2 (ja) |
EP (1) | EP1659364B1 (ja) |
DE (1) | DE602004008940T2 (ja) |
WO (1) | WO2005010463A1 (ja) |
Cited By (5)
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JP2009236702A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | 自動車の車輪アライメント測定方法 |
JP2009236701A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | 自動車の車輪アライメント測定方法及びその装置 |
JP2009236780A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | ハブの姿勢検出方法及びその装置 |
CN113411742A (zh) * | 2021-06-11 | 2021-09-17 | 三一海洋重工有限公司 | 一种基于无线定位的工程机械控制方法、装置及系统 |
CN115420249A (zh) * | 2022-08-19 | 2022-12-02 | 智己汽车科技有限公司 | 一种车载四轮定位实时监测系统、监测方法及制动角总成 |
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JP3949098B2 (ja) * | 2003-10-27 | 2007-07-25 | 日本発条株式会社 | 角度検出装置およびこれを用いたスキャン型アクチュエータ |
DE102009013157B4 (de) * | 2008-03-17 | 2012-10-31 | Honda Motor Co., Ltd. | Fahrzeug-Radeinstellungs-Messverfahren und Vorrichtung |
US7953508B2 (en) * | 2008-04-01 | 2011-05-31 | Toyota Motor Engineering & Manufacturing North America, Inc. | Quality control system and method thereof |
GB2468121B (en) * | 2009-02-25 | 2011-07-06 | Inigo Martinez | Vehicle wheel alignment measuring system |
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DE102013106239A1 (de) * | 2013-06-14 | 2014-12-18 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung zur Rad-/Achseinstellung bei einem Kraftfahrzeug |
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Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2009236702A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | 自動車の車輪アライメント測定方法 |
JP2009236701A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | 自動車の車輪アライメント測定方法及びその装置 |
JP2009236780A (ja) * | 2008-03-27 | 2009-10-15 | Honda Motor Co Ltd | ハブの姿勢検出方法及びその装置 |
JP4516615B2 (ja) * | 2008-03-27 | 2010-08-04 | 本田技研工業株式会社 | ハブの姿勢検出方法及びその装置 |
JP4646041B2 (ja) * | 2008-03-27 | 2011-03-09 | 本田技研工業株式会社 | 自動車の車輪アライメント測定方法及びその装置 |
JP4646042B2 (ja) * | 2008-03-27 | 2011-03-09 | 本田技研工業株式会社 | 自動車の車輪アライメント測定方法 |
CN113411742A (zh) * | 2021-06-11 | 2021-09-17 | 三一海洋重工有限公司 | 一种基于无线定位的工程机械控制方法、装置及系统 |
CN115420249A (zh) * | 2022-08-19 | 2022-12-02 | 智己汽车科技有限公司 | 一种车载四轮定位实时监测系统、监测方法及制动角总成 |
Also Published As
Publication number | Publication date |
---|---|
US7278215B2 (en) | 2007-10-09 |
DE602004008940D1 (de) | 2007-10-25 |
EP1659364A4 (en) | 2006-12-06 |
DE602004008940T2 (de) | 2008-06-19 |
EP1659364B1 (en) | 2007-09-12 |
US20070112469A1 (en) | 2007-05-17 |
EP1659364A1 (en) | 2006-05-24 |
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