WO2013079395A1 - Procédé de positionnement d'un système de mesure et système de mesure pour mettre en oeuvre le procédé - Google Patents

Procédé de positionnement d'un système de mesure et système de mesure pour mettre en oeuvre le procédé Download PDF

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Publication number
WO2013079395A1
WO2013079395A1 PCT/EP2012/073384 EP2012073384W WO2013079395A1 WO 2013079395 A1 WO2013079395 A1 WO 2013079395A1 EP 2012073384 W EP2012073384 W EP 2012073384W WO 2013079395 A1 WO2013079395 A1 WO 2013079395A1
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WO
WIPO (PCT)
Prior art keywords
transducers
vehicle
control unit
measuring
contact surfaces
Prior art date
Application number
PCT/EP2012/073384
Other languages
German (de)
English (en)
Inventor
Wolfgang Seifert
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2013079395A1 publication Critical patent/WO2013079395A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
    • G01B2210/143—One or more cameras on each side of a vehicle in the main embodiment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/20—Vehicle in a state of translatory motion
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/26—Algorithms, instructions, databases, computerized methods and graphical user interfaces employed by a user in conjunction with the wheel aligner
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G01B2210/283—Beam projectors and related sensors
    • G01B2210/286—Projecting a light pattern on the wheel or vehicle body
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/30—Reference markings, reflector, scale or other passive device

Definitions

  • the invention relates to a method for positioning a measuring system at a measuring station of a chassis measuring device or a motor vehicle test line and a measuring system for carrying out the method according to the preamble of the independent claims.
  • a method for the relative positioning of a measurement object and a motor vehicle to a measuring device is already known.
  • the measurement object is first recognized by the measuring device and the position of the measurement object is determined for the measuring device. Then, a feedback signal is generated indicating whether the measurement object is in a position suitable for the measurement or not. By further feedback signals, the measurement object can be brought into a suitable position for the wheel alignment.
  • the measuring system In the case of a dynamic measurement (on a moving vehicle), the measuring system must be switched on long before the actual wheel alignment and must take pictures and evaluate images at regular intervals until the wheel is detected.
  • the inventive method with the characterizing features of claim 1 and the measuring system according to the invention with the characterizing features of claim 9 have the advantage that the transducers are moved directly to a desired position, which consists of an indication of essential vehicle parameters such as axle spacing and / or the gauge with or without wheel size, the vehicle to be measured is calculated.
  • a desired position which consists of an indication of essential vehicle parameters such as axle spacing and / or the gauge with or without wheel size
  • the transducers are ready for axis measurement more quickly.
  • the positioning of the transducers in the target position can be carried out before the vehicle is on the measuring station so that the wheel alignment can start directly after the vehicle has drifted onto the measuring station.
  • the camera system has to absorb so ⁇ with not constantly images based on the real vehicle and evaluate up to wheel detection and the target position determination. This uses less energy Ener ⁇ and the measuring system would be usable for a battery.
  • the desired position of the measured value is set in parallel (x-direction) and / or transversely (y-direction) and / or perpendicular (z-direction) to the contact surfaces of the measuring station, so that an optimal alignment of the Transducer to the Rä ⁇ countries is possible. Due to the alignment parallel to the contact surfaces, the transducers can be adjusted to the center distance of the vehicle as accurately as necessary for the measurement. By aligning transversely to the contact surfaces, the transducers can be adapted to the track width (and possibly wheel size) of the vehicle as accurately as necessary for the measurement. By aligning perpendicular to the contact surfaces, the Adjust the transducer as precisely as necessary for the measurement to the height of the wheel center of the vehicle.
  • control unit transmits signals to at least one drive unit in method step c), and in method step d), the at least one drive unit moves the transducer into the solo position, so that no manual movement of the transducers is undertaken. Due to the movement of the transducers by the at least one drive unit, a more accurate alignment of the transducers in relation to the desired position is possible.
  • the reference system measures the distance of at least two transducers from one another and transmits this value to the control unit.
  • the control unit can thus verify the position of the transducers in relation to the desired position and repeat the method steps c) and d) in the event of a deviation between the measured distance and the desired position.
  • the control unit automatically has the required information about the center distance and the track width of the vehicle to be measured.
  • a further exemplary embodiment of the invention with the additional method steps e) to f) is particularly advantageous, since in this embodiment it is checked whether the transducers and the camera system are correctly aligned with the turning centers of the wheels and an error correction if this is not the case.
  • the additional method steps of this embodiment ensure accurate wheel alignment, since measurement errors due to incorrect alignment of the camera system with the wheels are avoided.
  • the front and / or rear transducers may also be advantageous for the front and / or rear transducers to be movable in their height (z-direction) in relation to the contact surfaces, since the receptacles are at the ride height of the vehicle can be adapted, whereby a higher accuracy in the axis measurement is achieved.
  • each transducer is mounted displaceably with the aid of one frame in each case, so that only given directions of movement are permitted when the transducers are aligned, thereby simplifying the method.
  • transducers can be moved within the frame by at least one drive unit, since the alignment of the transducers by the at least one drive unit is possible more accurately and more quickly than with a manually performed alignment of the transducers.
  • FIG. 1 shows a schematic illustration of a measuring station of a chassis measuring device
  • FIG. 3 shows a flowchart of the method according to a second embodiment.
  • An illustrated measuring station 20 has two elongated footprints 22, 24 with rotating plates 26, 28 for the front wheels of a vehicle. These elongated footprints 22, 24 are designed as lifts for lifts and pits as driveway.
  • transducers 10, 12, 14, 16 are arranged, wherein the front right wheel transducers 10, the rear right wheel transducers 12, the front left wheel transducers 14, and the rear left transducers 16 are disposed Wheel is used.
  • the transducers 10, 12, 14, 16 each have a camera system 30, 32, 34, 36 and in each case a reference system 50, 60, 70, 80.
  • the camera systems 30, 32, 34, 36 each have at least one measuring camera. Furthermore, an apparatus for the projection of light beams or light patterns can be connected to the camera system 30, 32, 34, 36. These light beams or light patterns can be recorded by the camera system during wheel alignment and serve with the aid of evaluation routines to determine the lane and camber of the vehicle wheels of the vehicle to be measured.
  • the reference systems 50, 60, 70, 80 have transverse reference units 51, 61, 71, 81 and longitudinal reference units 52, 62, 72, 82 and are used for optical Measurement of the relative Winkeifagen and distances of the transducers 10, 12, 14, 16 to each other.
  • the Referenzierussien 50, 60, 70, 80 can be made an accurate determination of the relative positions and distances of the transducers 10, 12, 14, 16 to each other.
  • the individual wheel parameters determined in their local coordinate systems can be combined to form a chassis parameter set in a common coordinate system.
  • the function of such a reference system is known, for example, from DE 10 2004 013 441 AI.
  • Each Querreferenzieratti 51, 61, 71, 81 has at least one Referenzier- camera and at least one reference apportaget.
  • the reference targets on each transverse reference unit 51, 61, 71, 81 are formed by LEDs, each transverse reference unit 51, 61, 71, 81 in the present exemplary embodiment each having two LEDs for the opposite referencing camera.
  • the distance between two transducers 10, 12, 14, 16 can be determined.
  • the referencing camera of the transverse reference unit 51 can receive the two LEDs of the transverse reference unit 71 and thereby determine the distance between the two front transducers 10, 14 relative to one another.
  • the Referenzierin the Querreferenzierappel 71 can receive the two LEDs of the Querreferenzierü 51 and thereby make a further measurement of the distance between the two front transducers 10, 14 to each other.
  • the transducers 10, 12, 14, 16 are connected to a control unit 1, in particular a workshop computer or tablet PC or PDA.
  • the control unit 1 initiates or allows a signal exchange between the transducers 10, 12, 14, 16, which in turn signals or instructions to the respective camera system 30, 32, 34, 36 and / or to the respective reference system 50, 60, 70, 80 forward. It is also a direct control of the camera systems 30, 32, 34, 36 and / or reference systems 50, 60, 70, 80 of the transducers 10, 12, 14, 16, by the control unit 1 is possible.
  • local control / evaluation units can be provided in the individual transducers 10, 12, 14, 16, which are e.g. communicate with each other on the basis of a master / slave system.
  • the control unit 1 contains a user interface, or is connected to a user interface, via which data (for example vehicle type, desired lane and nominal lintel) about the vehicle to be measured can be entered by a user.
  • data for example vehicle type, desired lane and nominal lintel
  • the control unit 1 can be connected in an advantageous manner to a database in which vehicle-specific data are stored for the vehicle type.
  • this database can already provide the user with an indication of the vehicle type, the track width and the center distance and the setpoint values for lane and lane of a vehicle.
  • the transducers 10, 12, 14, 16 may be mounted in a frame 40, 42.
  • the frames 40, 42 allow a movement of the transducers 10, 12, 14, 16 in parallel (x-direction) and / or transversely (y-direction) and / or perpendicular (z-direction) to the contact surfaces 22, 24th
  • the frame 40, 42 may consist of several elements.
  • the elements of the frame 40, 42 are movably connected to each other.
  • the attachment of the transducers 10, 12, 14, 16 takes place on an element of the frame 40, 42.
  • Duch the movement of the individual elements of the frame 40, 42 can be the transducer 10, 12, 14, 16 parallel (x-direction) and / or transversely (y-direction) and / or perpendicular (z-direction) to the contact surfaces 22, 24 move.
  • other embodiments of a frame 40, 42 are possible in order to ensure the desired functionality.
  • the adjustment possibility of the transducers 10, 12, 14, 16 relative to the roadway is realized by means of generally known techniques (eg sliding or ball-bearing linear guides, joints, etc.) within the frame 40, 42.
  • the attachment of the frame 40, 42 relative to the roadway is preferably via adapters, which can be easily adapted to the respective embodiments of the footprints (eg lift type or mine workstation).
  • the adapters can also be designed so that, if necessary, a quick assembly / disassembly of the frame 40, 42 is made possible.
  • the movement of the transducers 10, 12, 14, 16 can be performed manually or by at least one drive unit.
  • the at least one drive unit can have an electric, hydraulic or pneumatic drive.
  • the at least one drive unit of the individual frames 40, 42 can be controlled by the control unit 1 or also via the respective transducers 10, 12, 14, 16.
  • FIG. 1 shows a preferred exemplary embodiment in which the frames 40 of the two front transducers 10, 14 are fastened to the contact surfaces 22, 24 at the level of the rotary plates 26, 28.
  • the camera systems 30, 34 of the front transducers 10, 12 are in the x-direction at the same height as the center of the rotary plates 26, 28.
  • the front transducers 10, 14 can on the front frame 40 transversely (y - Direction) to the footprints 22, 24 are moved.
  • the frame 42 of the two rear transducers 12, 16 are mounted in the approach direction behind the two front transducers 10, 14 at the contact surfaces 22, 24.
  • the rear transducers 12, 16 on the frame 42 can be moved in parallel (x-direction) and transversely (y-direction) to the contact surfaces 22, 24.
  • the rear transducers 12, 16 may be at a distance from the front transducers 10, 14 be piat satisfy, which essentially corresponds to the center distance of the vehicle to be measured. With a suitable design of the measuring system, a positioning accuracy of +/- 10 cm can already be sufficient. Due to the movement of the front and rear transducers 10, 12, 14,
  • the front and rear transducers 10, 12, 14, 16 transversely (y-direction) to the footprints 22, 24, the front and rear transducers 10, 12, 14, 16 are adapted to the track width of the vehicle to be measured.
  • the vehicle wheels can thus be better picked up by the camera systems 30, 34, 36, 38 during an axle measurement, which increases the measurement accuracy.
  • the transducers 10, 12, 14, 16 are positioned at a greater distance (y-direction) from the footprints 22, 24 than in vehicles with small diameter wheels and / or smaller track width.
  • the variety of settings can be limited by using predetermined preferred positions. With manual adjustment, this is done for example by defined locking positions in the frame construction. Depending on the design of the measuring system, 2 or 3 preferred positions may be sufficient.
  • the transducers 10, 12, 14, 16 In addition to the movement of the transducers 10, 12, 14, 16 in parallel (x-direction) and / or transversely (y-direction) to the contact surfaces 22,24, the transducers 10, 12, 14, 16 also perpendicular (z-direction) to the contact surfaces 22, 24 are moved.
  • the camera systems 30, 32, 34, 36 of the sensor 10, 12, 14, 16 position more accurately with respect to the RadFE scholar.
  • the transducers 10, 12, 14, 16 are positioned at a greater height with respect to the footprints 22, 24 than with small diameter wheels.
  • transducers 10, 12, 14, 16 In addition to the exemplary embodiment of a chassis measuring device with four transducers 10, 12, 14, 16 shown in FIG. 1, it is also possible to use only two transversely to the direction of entry of the motor vehicle. provide opposite transducers 10, 14 or 12, 16. These transducers 10, 14 or 12, 16 should be movable at least parallel (x-direction) to the contact surfaces, if the vehicle is to be measured while stationary. In addition, a movement of the two transverse to the direction of entry of the motor vehicle opposite transducer 10, 14 or 12, 16 transversely (y-direction) and / or perpendicular (z-direction) to the contact surfaces 22, 24 is possible.
  • the two transducers 10, 14 or 12, 16 which are opposite each other transversely to the direction of entry of the motor vehicle, are used for an axle-by-axle rapid measurement of a vehicle in passing, a steepening of the transducers 10, 14 or 12, 16 along the roadway (x-direction) is not required.
  • the transducers 10, 12, 14, 16 shown in FIG. 1 operate without contact and without targets on the basis of an optical measurement.
  • an illumination pattern can be projected onto the wheel to be measured by the measurement signal generators, not shown, and the illumination pattern can be recorded by the camera system 30, 32, 34, 36. From these images, spatial coordinates of points on the wheel surfaces are determined by means of existing arithmetic units in the control unit 1 and / or the transducers 10, 12, 14, 16 and corresponding software algorithms, which are converted to determine the position (eg lane, camber) of the wheels , The method can also be used accordingly for non-contact and target-bound measuring systems.
  • FIG. 2 shows a sequence diagram m of the method according to the invention in accordance with a first exemplary embodiment.
  • the control unit 1 and the transducers 10, 12, 14, 16 are activated.
  • the control unit 1 receives information about the center distance and / or the track width and optionally the wheel size of the vehicle to be measured. This information can be entered via the user interface of the control unit 1.
  • control unit 1 can be connected to a database that contains information about the associated center distance and / or the track width or wheel size of a vehicle for a number of vehicle types.
  • information about the vehicle type of the vehicle to be measured can be input via the user interface.
  • the control unit 1 checks whether information about the wheelbase and / or the track width is stored for this type of vehicle. If no information on the axle distance and / or track width of a vehicle type is stored, these values must be entered manually by a user.
  • the control unit checks whether the front transducers 10, 12 are aligned with the rotary plates 26, 28 in such a way that the camera system 30, 34 is guided within predetermined tolerances in the longitudinal direction of the trajectory (x direction), centered on the center of rotation. plates 26, 28 stands. This can either be confirmed once by the user (eg in the roadway fixed installation of transducers 10, 12, 14, 16 and turntable 26, 28) or for each new survey, or by image recognition methods of the rotary plate characteristics on the footprints 22, 24 automatically ,
  • the control unit 1 calculates a setpoint position of the transducers 10, 12, 14, 16 depending on the information about the center distance and / or the track width of a vehicle.
  • the floor position is determined such that the camera systems 30, 32, 34, 36 in FIG Regarding the turning centers of the wheels of the vehicle are aligned.
  • control unit 1 based on the known position of transducers 10, 12, 14, 16 with respect to one another, transmits instructions, How to move the transducers 10, 12, 14, 16 to reach their soloing position.
  • the control unit 1 can transmit the instructions on how the transducers 10, 12, 14, 16 have to be moved in the form of instructions to a user.
  • optical signals e.g. Arrows are used, which tell the user in which direction the transducers 10, 12, 14, 16 are to be moved.
  • acoustic signals are possible.
  • control unit 1 can directly or indirectly move the instructions on how the transducers 10, 12, 14, 16 must be moved via the transducers 10, 12, 14 16 to the at least one drive unit in the frame.
  • the transducers 10, 12, 14, 16 are moved according to the instructions of the control unit 1 into the desired position. This can be done manually by the user who moves the transducers 10, 12, 14, 16 according to the instructions in the desired position.
  • the transducers 10, 12, 14, 16 may each be on a frame 40, 42, on which they are parallel (x-direction) and / or transverse (y-direction) and / or perpendicular (z-direction) let move the rails 22, 24 of the measuring station 20.
  • the transducers 10, 12, 14, 16 pass through in the method step 130 the at least one drive unit moves to the desired position.
  • the movement in the frame by the at least one drive unit can be parallel (x-direction) and / or transverse (y-).
  • FIG. 2 A further embodiment of the method is shown in FIG. 2 by the additional method step 140. Since the method step 140 is an optional method step, it is connected in FIG. 2 by dashed lines to the preceding method step 130 and the subsequent method end E.
  • reference system 50, 60, 70, 80 again measures the distance between at least two transducers 10, 12, 14, 16 and transmits this distance to control unit 1.
  • Control unit 1 checks whether the measured distance matches the reference position of the transducers 10,12,14,16 matches. In a deviation of distance and target position, the method is continued in step 120.
  • FIG. 3 shows a flow diagram of the method according to the invention in accordance with a second exemplary embodiment.
  • the method steps 100 to 130 and the optional method step 140 correspond to the method steps 100 to 140 already explained in the first embodiment.
  • the method step 130 or the optional method step 140 is followed by the method step 150, in which the vehicle is positioned on the two rails 22, 24 of the measuring station 20.
  • the vehicle on the two rails 22, 24 positioned so that in each case a front wheel on each of a rotary plate 26, 28 of the two rails 22,24 is located.
  • method step 160 the rotation center of the individual vehicle wheels is determined from the recordings of the individual vehicle wheels by the interaction of the transducers 10, 12, 14, 16 with the control unit 1.
  • method step 170 it is checked whether the center of rotation of each vehicle wheel is located centrally within a predetermined range with respect to camera systems 30, 32, 34, 36 of transducers 10, 12, 14, 16.
  • an error treatment is carried out in method step 180 since the transducers 10, 12, 14, 16 are not correctly positioned with respect to the vehicle wheels.
  • the bet stored in the control unit 1 for the center distance and / or the track width of the vehicle are checked with the current measured values. If the values stored in the control unit 1 for the axial spacing and / or the track width of the vehicle to be measured are incorrect, the method is continued with method step 100.
  • step 150 If the values stored in the control unit 1 for the axial spacing and / or the track width of the vehicle to be measured are correct, then the vehicle is not correctly positioned. The method is continued in this case at step 150.

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

Abstract

L'invention concerne un procédé de positionnement d'un système de mesure à un endroit de mesure d'un dispositif de mesure du train de roulement ou d'une voie de contrôle et un système de mesure pour mettre en oeuvre le procédé. Le système de mesure présente au moins deux capteurs de valeur de mesure (10, 12, 14, 16) comprenant chacun un système de caméra (30, 32, 34, 36) et un système de référence (50, 60, 70, 80) qui sont reliés à une unité de commande (1). Dans le procédé, l'unité de commande (1) reçoit des informations sur l'empattement et/ou la voie du véhicule à mesurer et calcule une position de consigne des capteurs de valeur de mesure (10, 12, 14, 16). L'unité de commande (1) transmet des instructions sur la manière dont les capteurs de valeur de mesure (10, 12, 14, 16) doivent être déplacés pour atteindre la position de consigne. Les capteurs de valeur de mesure (10, 12, 14, 16) sont déplacés dans la position de consigne déterminée en fonction des instructions.
PCT/EP2012/073384 2011-11-28 2012-11-22 Procédé de positionnement d'un système de mesure et système de mesure pour mettre en oeuvre le procédé WO2013079395A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011087177.2 2011-11-28
DE102011087177A DE102011087177A1 (de) 2011-11-28 2011-11-28 Verfahren zur Positionierung eines Messsystems und Messsystem zur Durchführung des Verfahrens

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WO2013079395A1 true WO2013079395A1 (fr) 2013-06-06

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US11243074B2 (en) 2018-04-30 2022-02-08 BPG Sales and Technology Investments, LLC Vehicle alignment and sensor calibration system
US11294051B2 (en) 2017-05-02 2022-04-05 Creative Racing Products, LLC Ultrasonic measurement device
CN114684566A (zh) * 2020-12-31 2022-07-01 同方威视技术股份有限公司 用于辐射检查的输送设备和辐射检查系统
US11597091B2 (en) 2018-04-30 2023-03-07 BPG Sales and Technology Investments, LLC Robotic target alignment for vehicle sensor calibration
US11624608B2 (en) 2018-04-30 2023-04-11 BPG Sales and Technology Investments, LLC Vehicular alignment for sensor calibration
US11781860B2 (en) 2018-04-30 2023-10-10 BPG Sales and Technology Investments, LLC Mobile vehicular alignment for sensor calibration
US11835646B2 (en) 2018-04-30 2023-12-05 BPG Sales and Technology Investments, LLC Target alignment for vehicle sensor calibration

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DE102015209246A1 (de) * 2015-05-20 2016-11-24 Robert Bosch Gmbh System und Verfahren zur Durchführung von Einstellarbeiten an einem Kraftfahrzeug
CN105181358A (zh) * 2015-08-28 2015-12-23 石家庄华燕交通科技有限公司 一种车辆四轮定位检测装置

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CN114684566A (zh) * 2020-12-31 2022-07-01 同方威视技术股份有限公司 用于辐射检查的输送设备和辐射检查系统

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