WO2021024286A1

WO2021024286A1 - Regulation apparatus for vehicle calibration devices

Info

Publication number: WO2021024286A1
Application number: PCT/IT2020/050191
Authority: WO
Inventors: Bruno Vianello
Original assignee: Texa Spa
Priority date: 2019-08-05
Filing date: 2020-07-30
Publication date: 2021-02-11

Abstract

Described is a regulation apparatus (100) for vehicle calibration devices, in particular ADAS systems, comprising a calibration device (30), which includes an automated mobile station (3) and which is positioned in front of an ADAS system of a vehicle (2) located in a work area, and at least one sensor unit (10), designed to detect the positioning of the vehicle (2) within the work area in relation to the automated station (3). The automated station (3) is be movable in a direction (Y) transversal to the direction (X) of travel of the vehicle (2) and in an additional vertical direction (Z) and includes at least one panel (18, 38) or display or monitor for the projection or display of images designed for the calibration of the ADAS systems of the vehicle (2). A control computer is designed to receive from the sensor unit (10) the data related to the positioning of the vehicle (2) and to control a movement of the automated station (3) along the transversal (Y) and vertical (Z) directions and a rotation of the automated station around the vertical (Z) direction to align the automated station (3) with the front surface of the vehicle (2).

Description

REGULATION APPARATUS FOR VEHICLE CALIBRATION DEVICES

This invention relates to a regulation apparatus for vehicle calibration devices. More precisely, the invention relates to a series of sensors which can be used to improve the operation of the modern calibration devices for the assisted driving systems of a vehicle, also called Advanced Driving Assistance Systems (ADAS).

Currently, the acronym ADAS refers to all electronic components and systems which, while driving a vehicle, and in particular a motor vehicle, assist a driver when he or she is in an emergency situation or in imminent danger, and are intended to prevent accidents or in any case limit their negative consequences.

Components and devices of a vehicle which are coordinated by ADAS systems include, for example, light clusters, driver assistance cameras, dynamic speed management radar, infrared parking assistance sensors, systems to modulate vehicle speed according to traffic conditions, assisted braking systems, trajectory correction systems, etc.

ADAS systems need to be calibrated before the vehicle is put into circulation, that is, after repair work involving the systems themselves or their housing; according to the prior art the calibration is carried out according to standardised procedures, using images printed on panels.

The images, interacting with the vehicle's detection devices, make it possible to calibrate its operation so that the vehicle itself is ready for use on the road.

The calibration procedure makes use of a number of components, such as support frames, target image panels, cameras and electronic control units, and requires the vehicle, and specifically an area of the vehicle where the component(s) to be calibrated is (are) installed, to be placed in front of the images; the support normally consists of a panel with a fixed or variable height above the ground and a fixed or variable position depending on the position of the vehicle's radar. The methods of execution described above are not without disadvantages, which may also jeopardize the success of the calibration; these disadvantages arise from two main and related factors:

- it is possible to make mistakes when positioning the vehicle in front of the panel, for example by placing it in a position which is not perfectly aligned or in a direction which is not parallel to the panel;

- since the panels are mounted on rigid frames which, in order to adapt to the various types and sizes of vehicles on the market, must be adjusted manually, the calibration procedure is substantially complicated (sometimes requiring the cooperation of more than one person), difficult to perform and achievable in timescales that it would be desirable to reduce.

An aim of the regulation apparatus for vehicle calibration devices is therefore to make the described calibration procedures simpler and more precise to execute.

Another aim of the apparatus according to the invention is to reduce the assistance necessary for the operators in the installation and adjustment of the calibration devices.

In addition, an objective of the invention is to provide a regulation apparatus for vehicle calibration devices which is small and designed to perform calibration procedures in a shorter time than the prior art.

Further, another objective of the invention is to provide a regulation apparatus for vehicle calibration devices that is both easy and economical to produce and simple to use. This and other aims and objectives are achieved by a regulation apparatus for vehicle calibration devices according to the accompanying claim 1 ; further technical features and details of the apparatus are described in the dependent claims.

The invention will now be described, by way of example but without limiting the scope of the invention, according to its preferred embodiments and with the help of the accompanying drawings, in which: - Figure 1 is a front view of a first embodiment of a vehicle calibration device forming part of a regulation apparatus, according to the invention;

- Figure 1 A is a prospective view of the regulation apparatus shown in Figure 1 , according to the invention;

- Figure 1 B is a side view of the regulation apparatus shown in Figure 1A, according to the invention;

- Figures 2 and 2A show two perspective views of a second embodiment of the vehicle regulation apparatus, according to the invention;

- Figure 2B is a side view of the regulation apparatus in Figures 2 and 2A, according to the invention;

- Figures 2C and 2D show two enlarged detail views of a component used in the regulation apparatus in Figures 2, 2A and 2B, according to the invention;

- Figure 3 is a front view of another embodiment of a vehicle calibration device forming part of a regulation apparatus, according to the invention;

- Figure 3A is a prospective view of the regulation apparatus shown in Figure 3, according to present invention;

- Figure 3B is a plan view from above of the regulation apparatus in Figures 3 and 3A, according to the invention;

- Figure 3C shows an enlarged detail view of a component used in the regulation apparatus in Figures 3, 3A and 3B, according to present invention;

- Figure 4 is a front view of a further embodiment of a vehicle calibration device forming part of a regulation apparatus, according to the invention;

- Figure 4A is a perspective view of the regulation apparatus shown in Figure 4, in a first operating position, according to the invention;

- Figure 4B is a perspective view of the regulation apparatus shown in Figure 4, in a second operating position, according to the invention; - Figures 5A and 5B show two front views of further embodiments of a vehicle calibrating device forming part of the regulation apparatus, according to the invention;

- Figure 5A is a prospective view of the regulation apparatus in Figure 5A, according to invention.

With particular reference to Figures 1 , 1A and 1 B, according to a first embodiment of the invention, an automatic vehicle regulation apparatus 100, of the type with four independent fixed sensors, includes a calibration device 30, which includes an automated mobile station 3, movable automatically horizontally along the Y axis, for the measurement, calibration and reproduction of images.

The calibration device 30 includes, in turn, a vertical support, on which a panel or monitor 32 is installed for the display and/or projection of images identical to those of the panel, suitable for calibration of the ADAS systems of a vehicle 2, which is movable with automatic vertical movement along the Z axis and/or rotatable around the Z axis.

The automated mobile station 3 can be placed either at the front or at the front and rear of vehicle 2, during the calibration steps; in the case of both front and rear positioning, a system with simultaneous calibration of the front and rear ADAS systems of vehicle 2 is obtained and an additional automated mobile station 3 installed at the rear of vehicle 2 is used. Furthermore, preferably, an additional calibration panel 7 can be mounted on the automated mobile station 3, movable horizontally along the Y axis (perpendicular to the X axis) and vertically along the Z axis, on which a laser device (distance meter) and/or a camera can be mounted to measure the distance between the panel 7 and the front of the vehicle 2 and used for centering the vehicle 2 with respect to the mobile station 3.

The entire automated mobile station 3 has at least two degrees of freedom, as it is able both to move horizontally along the Y axis on respective rails 31 and to move and/or rotate around the vertical Z axis through the use of a suitable base platform 14; the automated rotation of the station 3 along the Z axis is performed for the correct alignment of the panels 7 and 32 perpendicular to the longitudinal axis of the vehicle 2.

According to other preferred, non-limiting embodiments of the invention, it is also possible to provide for the movement of the automated mobile station 3 along the X axis (according to the direction of forward movement of the vehicle 2), towards or away from the front surface of the vehicle 2, in order to position the entire station 3 in the position and at the distance foreseen by the manufacturer of the vehicle model.

According to further preferred and advantageous embodiments of the invention, the regulation apparatus 100 can also integrate, individually or in combination with each other, the following additional components:

- an extendible bellows cover 5, placed above the automated mobile station 3 and the vehicle 2, in order to form a retractable tunnel, to achieve optimal screening of the panels 7 and 32 from excessive light radiation, which could jeopardize the successful calibration procedure and to achieve further optimal calibration conditions for the vehicle 2;

- a projector 6 to position at the exact distance and height foreseen by the manufacturer and inserted in a special table the reproduction of the calibration images on the panel 32 of the automated mobile station 3 or, as an alternative to the use of the projector 6 and the panel 32, a monitor or display suitable for displaying the above-mentioned images;

- a headlamp centring device, installed on the automated mobile station 3 and suitable for calibrating the light beams projected by the headlamps of the vehicle 2. As an alternative to the projector 6 and/or panel 32, when using a monitor it is possible to use a suitable removable panel 17, equipped with brackets 19 and panel 18, such as to obtain, once applied, the total surface area foreseen by the manufacturer for the calibration table of images and/or signs. The regulation apparatus 100 shall also include at least two sensors 1 housed in respective sensor units 10 and each of them placed at a respective tyre 20 of the vehicle 2; preferably, there shall be four sensor units 10, independent of each other and each of them placed at the front of a rim of a respective tyre 20 of the vehicle 2 in a fixed position.

As shown in more detail in Figures 2C and 2D, sensors 1 can comprise, for example, cameras 12 to recognize the type of rim size of tyre 20, and/or laser distance meters 13 to measure the distance and orientation of the vehicle 2 with respect to the automated mobile station 3; the cameras 12 and distance meters 13 can also move along a designated seat 15 provide in each sensor unit 10 along a substantially vertical direction (Z axis).

After the positioning of vehicle 2 in the work area, the automated calibration procedure, according to the invention, provides for the scanning of the image of the rims and tyres 20 of the vehicle 2, through the movement of the camera 12 and the distance meter 13 placed in each sensor unit 10, and the consequent detection of the overall positioning of the vehicle 2 in the X, Y, Z coordinates, with respect to the automated mobile station 3 and with respect to the display and/or projection panels 32 and calibration panels 7; the data detected is transmitted to a control computer (not shown) which is designed for the coordination of the entire regulation apparatus 100.

At this point, by means of the computer, the mobile automated station 3 moves and orients itself adequately and automatically, by means of computer-controlled actuating devices, along the X, Y Z axes, with respect to the vehicle 2, and rotates around the Z axis, in such a way that panels 7, 32 are correctly aligned with respect to the front surface of the vehicle 2 and are placed at a correct height with respect to the seat of the vehicle 2 where the devices to be calibrated are installed; in this way, it is possible to ensure a correct execution of the calibration procedure of the ADAS systems of the vehicle 2, in a simple, fast and automated manner, as the automated mobile station 3 automatically aligns itself according to the position of the vehicle 2 in the work area.

According to an alternative embodiment of the invention (shown in detail in Figures 2, 2A, 2B, 2C and 2D), the sensor units 10 are movable and, in particular, slide on their rails 11 positioned on the sides of the vehicle 2. In particular, one or two sensor units 10 are used for each rail 11 , which are automatically activated and run along the rails 11 to the wheel centres of the vehicle 2, in order to detect the presence and position of the vehicle 2 by detecting the wheel centre, rim centre and rim of each tyre 20 of the vehicle 2.

At the end of the calibration procedure, sensor units 10 can be returned to a rest configuration, moving to their relative charging stations 4 located, for example, near the automated mobile station 3; in this way, it is possible to recharge the batteries inside each sensor unit 10 for subsequent operation and, moreover, during the charging of sensor units 10, the workshop area located in front of the automated mobile station 3 is also clear of equipment and therefore free to be used for other maintenance operations of the vehicle 2.

According to further alternative embodiments of the invention, as shown in detail in Figures 3, 3A, 3B and 3C, one or two fixed dependent sensors are used; in this case, the sensor units 10, always equipped with cameras and distance meters, are associated with a fixed structure 16 placed on one or both sides of the vehicle 2, and are positioned in a semi-automated manner near the wheel centres and the tyres 20 of the vehicle 2. As an alternative (as shown in detail in Figures 4, 4A and 4B), the fixed dependent sensors can also be moved along the Z axis, by means of a platform 21 lifting the fixed structures 16 and the entire vehicle 2; the platform 21 can be lifted along the Z axis by means of a specific actuation device 22, for example with jacks, having a specific structure, for example like a pantograph.

According to a further embodiment of the invention (shown in detail in Figures 5, 5A and 5B), sensor units 10 can be inserted inside fixed structures 23, positioned on arches 24 or on ceilings 25, to scan and measure the overall dimensions and positioning of the vehicle 2, by taking images from above by the camera and the measurement of the distance meters present in each sensor unit 10. The above-mentioned system makes it possible to automatically identify the positioning of the vehicle with respect to the panel, screen or monitor without additional measurements, then using this data to control the panel, screen or monitor to position itself automatically and appropriately with respect to the vehicle.

As a result, the system according to the invention is not only able to improve the effectiveness of the calibration procedure, but also increase the productivity and efficiency of the contingent activities which can be carried out on a vehicle within a workshop. The apparatus described is also able to operate for vehicles of different dimensions, whose ADAS components can be housed in different areas of the vehicle 2 (front, rear, etc.), simply by adapting the movement of sensor units 10 and the automated mobile station 3, according to the shape and type of the vehicle 2 itself. The features of the regulation apparatus for vehicle calibration devices, which is the object of the invention, clearly emerge from the preceding description, as do the advantages thereof.

It is also apparent that the invention is described by way of example only, without limiting the scope of application, according to its preferred embodiments, but it shall be understood that the invention may be modified and/or adapted by an expert in the field without thereby departing from the scope of the inventive concept of the claims herein.

Claims

1 . Regulation apparatus (100) for vehicle calibration devices, in particular of ADAS systems, comprising a calibration device (30), which includes an automated mobile station (3) and which is positioned in front of an ADAS system of a vehicle (2) placed on a workspace, and at least a sensor unit (10), suitable for detecting the positioning of said vehicle (2) inside said workspace with respect to said automated mobile station (3), wherein said automated mobile station (3) is movable in translation according to a transverse direction (Y) to the direction of travel (X) of said vehicle (2) and according to a further vertical direction (Z) and includes at least a first panel (18, 38) or display or monitor for the projection or visualization of images suitable for the calibration of the vehicle's (2) ADAS systems, characterized in that an electronic control computer is adapted to receive from said at least one sensor unit (10) the data relating to the positioning of said vehicle (2) and to command a movement of said automated mobile station (3) in translation along at least said transverse direction (Y) and along said vertical direction (Z) and rotating around said vertical direction (Z) to align said automated mobile station (3) with the front surface of said vehicle (2).

2. Regulation apparatus (100) as in claim 1 , characterized in that at least one sensor unit (10) includes a series of sensors (1 ), such as cameras (12) and/or laser measures from (13), suitable for carrying out a measuring of the distance and of the orientation of said vehicle (2) with respect to said automated mobile station (3).

3. Regulation apparatus (100) as in at least one of the preceding claims, characterized in that said at least one sensor unit (10) is positioned on a fixed structure (16) mounted laterally to said vehicle (2) and positioned in correspondence with a least one center-wheel of the vehicle (2).

4. Regulation apparatus (100) as in at least one of the preceding claims, characterized in that each sensor unit (10) is positioned in correspondence with each center-wheel of the vehicle (2).

5. Regulation apparatus (100) as at least one of the preceding claims, characterized in that said at least one sensor unit (10) is positioned on a fixed structure (23) connected to an arch (24) or to a ceiling (25) placed above said vehicle (2).

6. Regulation apparatus (100) as in at least one of the preceding claims, characterized in that are provided at least two sensor groups (10), each of which slidably movable on a respective rail (11 ) along said direction of travel (X) of said vehicle (2).

7. Regulation apparatus (100) as in at least one of the preceding claims, characterized in that said sensor (1) are placed inside a seat (15) of each sensor unit (10), said seat (15) being sliding in a substantially vertical direction.

8. Regulation apparatus (100) as in claim 6, characterized in that said at least two sensor group (10) automatically move between a rest configuration, according to which said at least two sensor groups (10) are located near respective charging stations (4), and a working configuration, according to which each of said at least two sensor groups (10) is positioned near a center-wheel of said vehicle (2).

9. Regulation apparatus (100) according to at least one of the preceding claims, characterized in that said automated mobile station (3) includes at least a second calibration panel (7), movable along said direction of travel (X) of the vehicle (2) and along said vertical direction (Z), on which a laser device and/or camera adapted to measure the distance between said second calibration panel (7) and said front surface of said vehicle (2) is mounted.