CN103226010B - Wheel alignment system and method - Google Patents

Abstract

A kind of hybrid wheel alignment system and method use the driven target for pair of wheels (such as front-wheel) and the active sensing for another pair of wheels (such as trailing wheel) to measure head.Active sensing is measured head and at least one spatial relationship sensors being used for the imageing sensor gathering target image be used for sensing the relation between active sensing measurement head is combined.Active sensing measures one or both of head can include the device of inclinometer etc, for sensing one or more inclination angles of each sensing measurement head.The data coming from active sensing measurement head can be sent to master computer process, to draw one or more vehicle measurement results, such as, the measurement result of parameter to be used in wheel alignment application.

Description

Wheel alignment system and method

Technical field

This theme relates to the use of location technology based on image procossing and one or more other is determined The combination of position technology realizes the technology and equipment of wheel alignment.

Background technology

The wheel alignment system currently commonly used uses the sensor or measurement being attached on wheel Head measures the various different angles of wheel and suspension.Send these angles to host computer system, In host computer system, the calculating of vehicle location angle uses these angles.Normal in standard In predetermined bits instrument structure, wheel measures head with four location.Each sensor head includes Two levels or beam angle measure sensor and two vertical or camber angle/pitch sensors. Each sensor head also comprise support overall sensor data obtain and with location instrument control The electronic circuit of platform processed communication, local user input, and for feedback of status, diagnosis and school The accurate local display supported.Must prepare four sets constitute each measure head four sensors and Electronic circuit and mechanical cover, because each wheel to have a set of.

In recent years, some shop has been used computer assisted three-dimensional (3D) machine Device vision positioning system positions automotive wheel.In such a system, one or more shootings The target (target) being attached on wheel observed by machine, and the computer in alignment system is to target Target image is analyzed, to determine the position of wheel and to determine car according to wheel-position data The location of wheel.This computer is typically according to by the result of calculation processing acquisition of view data Instruct operator correctly to adjust wheel to realize being accurately positioned.The wheel of this image processing type Alignment system or position finder are sometimes referred to as " 3D position finder ".Use such image procossing The example of wheel alignment meter is can be by commercial means from John Bean Company (Arkansas Zhou Kangwei city) the Visualiner 3D (three-dimensional visible position finder) that obtains or " V3D ", John Bean Company is point public affairs of Snap On Tools Corp. (Snap-on Incorporated) Department.

The conventional non-vision alignment system with the sensor being directly installed on wheel becomes Become fair average quality.Due to dog-eat-dog and image processing type, the biography that is not installed on wheel The alignment system of sensor is generally satisfactory, and the market price of conventional system persistently drops.Main Stream conventional alignment systems still needs the highest precision and set function collection, but lower-cost Technology and manufacturing process are more favourable.Unfortunately, these progress may the most only achieve Rely on and increase the improvement that cost reaches.Desired is to use not only to reduce cost but also keep essence The new-type system taking turns dress sensor head that degree is constant with function.

Summary of the invention

Teaching herein by by image processing aligner type be used for one or more with taking the photograph The target measuring head of camera imaging device and the position/orientation sensing in other wheel heads Device combines and improves conventional alignment systems.

Such as, wheel alignment system can include a pair driven measurement head and a pair active sensing Measure head.Driven measurement head is suitable for what the operation with wheel alignment system to be passed through measured Pair of wheels is installed in combination.Active sensing is measured head and is suitable for second pair of car with vehicle Wheel is installed in combination.Each driven measurement head includes target, such as, can be seen by imageing sensor The target measured.Each active sensing is measured head and is included the image sensing for producing view data Device, measures head at each and is all installed on each wheel of vehicle or ties mutually with each wheel of vehicle When closing ground installation, produced view data should include the image of driven target.This system is also The spatial relationship sensors that head is associated is measured including with at least one active sensing.Spatial relationship Sensor can realize active sensing when being arranged on wheel by these active sensings measurement head The measurement of the spatial relationship between measurement head.This system also includes computer.This computer disposal View data that observation with target is relevant and from least one spatial relationship sensors Position data.These data process the calculating of at least one measurement result being capable of vehicle.

According to another aspect of the present invention, the active sensing being used in wheel alignment system is measured Head includes on the wheel that the operation being arranged on wheel alignment system to be passed through measures Shell and the imageing sensor being arranged in this shell.This imageing sensor produces view data. In measuring operation, view data typically comprises the target that another wheel with vehicle combines Target image.Sensing measurement head also includes at least one tilt sensor being arranged in shell, For active sensing is measured when head is arranged on the wheel of vehicle sense active sensing measure The inclination angle of head.Spatial relationship sensors is arranged in shell, is used for measuring active sensing and measures head And another active sensing being arranged in the different wheel of vehicle is measured the space between head and is closed System.Communication interface makes to reflect view data, sensed inclination angle and by across position sensing The data of the position relationship that device records can be measured head from active sensing and be sent to wheel alignment system The master computer of system.

A kind of take at least one according to the principle lectured herein vehicle measure method relate to Imageing sensor in the first measurement head that second wheel of utilization and vehicle is installed in combination Gather the image of the target that the first wheel with vehicle combines, to produce the first picture number According to.The image of the target combined with the 3rd wheel of vehicle is to utilize the 4th wheel with vehicle Imageing sensor in the second measurement head installed in combination gathers, to produce the second figure As data；The method additionally needs to measure the first measurement head and second and measures the space between head Relation.At the first view data and the second view data and spatial relationship measurement Reason, to calculate at least one measurement result of vehicle.

The extra advantage of part and novel feature will be given in ensuing explanation, and A part of advantage and novel feature for read over hereafter with the people in the art of accompanying drawing It is apparent from for Yuan, or can understand by producing or operating these examples.This The advantage of the teaching of literary composition can be by the side specifically noted in practice or use claims Method, means and combination realize and obtain.

Accompanying drawing explanation

Accompanying drawing depicts according to the one or more implementations instructed herein, as just reality Example, rather than as limiting.In the drawings, identical reference refers to identical or class As element.

Fig. 1 graphic extension target schematically and active sensing measure head relative to wheel The first layout.

Figure 1A and Figure 1B illustrates the various inhomogeneities can being used on driven measurement head The target of type.

Fig. 2 is the functional block diagram of hybrid wheel alignment system, and its element is arranged on by inspection car Wheel on (but to simple and clear, eliminate some other element of vehicle).

Fig. 3 is the side view of some parts being arranged on wheel of this system, wherein actively One of sensor head illustrates in the way of partial cross-section detailed view.

Fig. 4 is to explain camera axis and before and after recording gravity vector between pitch plane The active sensor used during relation measures the side view of one of head.

When Fig. 5 is to explain the relation between video camera and the camber plane recording gravity vector The active sensor used measures the rearview of one of head.

Fig. 6 is the functional block diagram that active sensor measures the parts of one of head.

Fig. 7 illustrates target schematically and active sensing measures head relative to car The another kind of layout of wheel, in this case, uses extra target and image sensing to measure Actively measure the spatial relationship between head.

Fig. 8 is the side view of some parts being arranged on wheel of the system of Fig. 7, wherein Active sensor is measured one of head and is illustrated in the way of partial cross-section detailed view, class generally It is similar to Fig. 3；But wherein spatial relationship sensors uses another video camera.

Fig. 9 is the merit that the active sensor shown in the detailed view in Fig. 7 measures the parts of head Can block diagram.

Figure 10 to Figure 18 illustrates a series of optional layout schematically, this A little optional layouts have the various different heads/targets that the various combination from wheel is associated And use various different structure or equipment to carry out spatial relationship sensing.

Detailed description of the invention

In being discussed in detail below, give a large amount of detail by way of example, for The thorough understanding being to provide relevant teachings.But, to those skilled in the art, have A little should be apparent from, teaching herein can be put into practice without these details.At other In example, known method, process, parts and circuit are with being not related to details with relatively High level is introduced, in order to avoid unnecessarily obscuring the main points instructed herein.

Example shown in each accompanying drawing gives the alignment system of advantage of lower cost.These Exemplary system is substantially " mixing " because they by the main points of image procossing with one Or multinomial other type of measurement technology combines.Such hybrid system is for by measuring car Two wheels use visible targets, the target on the most driven measurement head, and this system Active sensing on two other wheel being attached to vehicle is measured and is used optical imagery to pass in head Sensor (such as video camera) and the combination of other alignment sensor.Driven measurement head is more fixed than tradition The measurement head used in the system of position manufactures obvious considerably cheaper.Active sensing measures the one-tenth of head This in general can be similar with the two of conventional wheel alignment system costs measuring head.

Use imaging technique to measure the position of two front-wheels of vehicle and orientation contribute to extra excellent Point, including draw under normal circumstances in low-cost system can not getable with based on image The ability of the measurement result that the wheel alignment processed is associated.These extra measurement results are permissible Including scrub radius (US 6,532,062), rolling radius (US 6,237,234) and stub Hypsokinesis (US 6,661,751).

It is described in detail with the example being discussed below to shown in accompanying drawing now.

Fig. 1 depicts target and active sensing measures the head wheel relative to instrumented vehicle 20 The first layout, such as, be used for measuring the positional parameter of one or more wheel.For the ease of figure Show, eliminate the part in addition to wheels of vehicle.

This wheel alignment system includes be arranged on each wheel 22 and 24 of vehicle a pair Driven measurement 21 and 23, in this example, the two wheel is steering front wheel.Actively Other each wheel 26 and 28 that sensing measurement head 25 and 27 is suitable for vehicle is combined ground Installing, the two wheel is trailing wheel in this case.Each active sensing is measured head and is included using In the imageing sensor 29 or 31 of generation view data, measure head at each and be all installed into car Time on each wheel of 20, produced view data should include the image of driven target. Imageing sensor 29 He in this first example, in active sensing measurement 25 and 27 31 is two dimension (2D) imaging device, such as video camera.

Measurement 21 and 23 is driven, because they include target, but not including that and appoints What sensing element.Each driven measurement 21 and 23 includes can be by actively measurement 25 and 27 In the target of type that observes of one of imageing sensor 29 or 31.Driven measurement 21 Or the target carrying out image sensing with another sensor measured on head of cause on 23 is permissible It it is active or driven.Actively target, such as light emitting diode (LED), is at power supply Drive the source launching down the energy (such as IR or visible ray) that can be detected by sensor.Driven Target is the element being not driven by power and not launching the energy with the detection of cause sensor.False Having imageing sensor if measuring in 25 or 27, the most driven target should be with can be by scheming accordingly As the mode of sensor detection reflects the object of (or not reflecting) light or other energy.In this example In, these targets are included in when being irradiated by other light source and are able to detect that and can be by actively Bright and the dark area of the device imaging of the video camera in sensing measurement head 25 and 27 etc, But these targets can include one or more light-emitting component.

Figure 1A shows the target can being used in any one driven wheel measurement 21 First example.In this first example, target is rectangle.Shown in Figure 1B Any one driven wheel can be used in and measure second example of the target on 21.? In this second example, target is circular.In several cases, target is not all by with Constituting with the flat board of the circular pattern of size, these circles are in a pre-defined format and style flag Or be arranged on this flat board.Although Figure 1A and Figure 1B is illustrated that specific pattern, but It is apparent from, each target can use various pattern.For example, it is possible to bag Include quantity point more or less and can be these points size and shape of using other.As Another example, it is also possible to use multi-panel or object for these targets.A lot of examples use many The arrangement of individual reflecting element forms each target.More detailed information, can pay close attention to and authorize United States Patent (USP) US5724743 of Jackson.

This system also includes measuring 25 or 27 sky being associated with at least one active sensing Between relationship sensors.Spatial relationship sensors can be by active sensing measurement 25 and 27 Realize these active sensings when being arranged on wheel and measure the measurement of the spatial relationship between head.One For as, depending on used sensor type, spatial relationship sensors can be measured relatively Position and/or orientation.Position measurements refers to the measured object angle from measurement apparatus Or relative position in the coordinate system of measurement apparatus.The measurement of position generally uses standard to sit Mark system, such as Cartesian coordinate or polar coordinate.Orientation can obtain from three-dimensional position measurement Go out, or can independently measure orientation with position.It is orientated and the quilt represented with conventional coordinates Survey device relevant relative to the position of rotation of measurement apparatus.Generally oriented with three orthogonal datum levels In the anglec of rotation represent.

It will be readily understood by those of skill in the art, wheel alignment system discussed herein can be in order to Realize by various types of spatial relationship sensors.In this first example, should System uses two traditional (1D) angular transducers 33 and 35 to measure in beam angle plane The relative angle of active sensing measurement 25 and 27.

Actively measurement 25 and 27 also comprises gravity sensor or similar device, is used for measuring Measure the gradient of head, typically measure camber angle and pitch.At this first example In, measurement 25 includes one or more tilt sensor 37；Measurement 27 includes one Or multiple tilt sensor 39.

Example below will illustrate (seeing Fig. 2) in further detail, and this system also includes meter Calculation machine.This computer disposal comes from active sensing and measures the data relevant with target observation of head And slope data.This computer also processes the space coming from least one spatial relationship sensors Relation data.These data process the calculating of at least one measurement result being capable of vehicle.

In wheel alignment system, the measurement using image processing techniques to carry out is the most different In using traditional angle measurement technique.Although basic image processing techniques is art technology Known to personnel, but for the sake of clarity, brief introduction can be provided.The image of main body with And watch the perspective of this main body and change, and the sight that the change of image and viewing are along main body See that the perspective view in path is directly related and can determine from this perspective view.Additionally, we Know and just associate with its real non-fluoroscopy images only by by the fluoroscopy images of object May determine that perspective view.Conversely speaking, can be by non-with its by the fluoroscopy images of object Fluoroscopy images is compared to determine that object is (or perpendicular towards viewing path with which kind of angle Plane).

In practice, the true picture by the mathematical expression of target or with target (that is, passes through The image vertically watched with the principal plane of target and obtain) and the corresponding data of size compile in advance Journey is in the memorizer of computer, thus during localization process, computer has can be with target Target is depending on being shown in the reference picture that fluoroscopy images compares.

Computer calculates the mode in target orientation and is some geometric properties on identification target, takes These geometric properties perspective measurement result and by these measurement results with compile the most in advance Journey compares to the true picture in computer storage.

Additionally, due to the full-size(d) of target has been pre-programmed in the memorizer of computer, Therefore the method and apparatus of the present invention can be used to determine accurate in three dimensions of wheel Position.First this can be by determining that on target, the fluoroscopy images of some element of pattern is (such as, Distance between circle) and the full-size(d) of the size of this image with these elements is carried out Relatively complete.So will draw the distance between this element and imageing sensor, correspondingly, The distance between target and imageing sensor will be drawn.

To wheel alignment system discussed herein, actively measure the imageing sensor viewing in head The target being attached on wheel and the view data producing the fluoroscopy images describing target.Computer The perspective image data of target is associated with the true shape of target.Process in do so In, computer is by corresponding to fluoroscopy images for the size of some known geometric element of target unit Element dimensional relationship get up, and by carry out some triangulation calculation (or by any other Suitable mathematics or numerical method), calculate wheel location.Computer can also calculate with from The three-dimensional position of the rotary shaft (axletree) of the wheel that moving-target mark is associated and orientation.

For measuring relevant extraneous information with based on target image process, can again close Note licenses to United States Patent (USP) US5724743 of Jackson.

Fig. 2 depicts an example more general of low cost hybrid wheel alignment system 50 And four wheels 41,43,45 and 47 of vehicle (for brevity, are shown without it Its part).System 50 include for install in the drawings with the wheel 41 of textual representation, 43, Four measurements 51,53 being associated on 45 and 47 or with wheel 41,43,45 and 47, 55 and 57.Various different types of erecting device can be used.In this example, Driven measurement 51 and 53 is arranged on front-wheel 41 and 43, and front heads 51 He 53 use retro-reflective targets.When mounted on the wheels as shown, retro-reflective targets towards Rear, in order to the imageing sensor observation in head can be measured by each active sensing.These are reflective Target can be similar with the target used in three-dimensional (3D) machine vision alignment system.It is arranged on Measurement 55 and 57 on trailing wheel 45 and 47 is that active sensing measures head, because they include Image sensing element.In this example, as discussed below, measurement 55 and 57 Additionally include gradient and spatial relationship sensing element, for obtaining by wheel alignment system 50 Host computer system 100 process information.

The imaging sensor being similar to V3D video camera is positioned in each rear measurement head.Each this The optical axis of kind video camera is directing forwardly along the track of vehicle, in order to measure the target being attached on front-wheel Target position and orientation.These video cameras need not be directly on the track of wheel, that is, It is on the rolling circuit of wheel.These video cameras only need to be from side towards wheel trajectories, just foot To watch and to gather the figure of target in the driven measurement 51,53 being combined with front-wheel Picture.In this embodiment, active sensing is measured 55 and is included comprising and have the track along left wheel The image sensing module of imageing sensor of form or similar dress towards front video camera 61 Put.When so installing, it is driven that the visual field of video camera 61 includes being arranged on the near front wheel 41 The target moiety of measurement 51.Similarly, active sensing is measured 57 and is included comprising and have edge The image sensing of the imageing sensor of the form of the track plane of right wheel video camera 63 forward Module or similar device.When so installing, before the visual field of video camera 63 includes being arranged on the right side The target moiety of the driven measurement 53 on wheel 43.

Measure after one or more sensors are attached on 55,57 and by one or Multiple sensors are positioned to for measuring the spatial relationship between two active sensings measurement heads.Can To use various available detection technologies, and two examples will be discussed after a while.At Fig. 2 Shown in example in, active sensing is measured 55 and is included sensor 65；Active sensing is measured 57 include sensor 67.Sensor 65 and 67 is used for sensing actively biography in this application Relative angular relation between sensed quantity 55 and 57, and to the figure from video camera 61 and 64 It is the Front wheel Alignment Parameters in order to calculate routine that image signal carries out processing, such as camber angle and bundle Angle.

After each, measurement 55 or 57 is also equipped with one or more inclinometer, these inclinometers As tilt sensor, measure after being used for measuring each head relative to the relative camber angle of gravity and Pitch angles.These inclinometers, for example, it is possible to include being designed as being integrated in track camera Printed circuit board (PCB) on MEMS-type device.

Fig. 3 is the side view of some wheel mounting portion parts of native system.This left view illustrates The left front measuring head 51 that is attached on the near front wheel 41, driven with it of left front measuring head 51 Target.This side view also show the left back active sensing measurement 55 being attached on left rear wheel 45. Fig. 3 partly gives the amplification of the element of active sensing measurement 55 in profile mode Detail drawing.

As it can be seen, measurement 55 includes shell 71.In order to clearly, eliminate and shell be pacified Install to the hardware on wheel.Shell 71 comprises forward direction track camera 61.In this example, Spatial relationship sensors 65 uses beam angle detection technology, carries out this later with reference to Fig. 6 Discuss, but other type of sensor can also be used.This shell also comprises for user sharp Live and measure the keyboard 74 of 55 and comprise for coming from (multiple) video camera and other passes The data of sensor carry out processing and with the data processing electronics of the communication of master computer Printed circuit board (PCB) 75.In order to form the sensing measurement head of hybrid system, before plate 75 also support Rear pitching tilt sensor 77 and camber angle tilt sensor 79.Although shown is separately , but these two tilt sensor 77,79 can be the unit of an independent inclinometer module Part.Sensor 77,79 inclination readings is sent on plate 75 for camera data is sent out Deliver to the processor of mainframe computer system 100.

Fig. 4 and Fig. 5 is that active sensing measures 55 provides with side view and rearview form The graphic extension more or less stylized, the two accompanying drawing graphic extension is surveyed by tilt sensor The axle of amount and the mutual relation of other element.It is assumed for discussion here that tilt sensor 77-79 is the element of an independent MEMS inclinometer.This inclinometer determines relative to front and back bowing Face upward the gravity vector (Fig. 4) of plane (Fig. 4) and the gravity vector relative to camber plane (Fig. 5).Certainly, another active sensing is measured 57 (Fig. 2) also to take to be similar to Measurement.It is acted upon as such, it is possible to each is measured head relative to the orientation of gravity, to incite somebody to action The optical axis of the video camera of each oriented locus associates (Fig. 4 and Fig. 5) with gravity.So Each front target and gravity can also be recorded by processing view data and gravity vector data Relation.

Fig. 6 is the functional block diagram that active sensing measures the element of one of head, in this case It is the functional block diagram of measuring head 55, but the element of measuring head 57 in this first example Similar.

As previously discussed, active sensing is measured 55 and is included comprising and have track camera The image sensing module 81 of the imageing sensor of 61 forms or similar device, track camera 61 In use can along the track plane of revolver forwards, so that this video camera is obtained in that and comprises The image (also seeing Fig. 2) of the target of driven measurement 51.Oriented locus shown in Fig. 6 Image sensor module 81 include LED array 83, this LED array uses as luminous organ, The target being used in the measurement 51 for being arranged on the wheel 41 of vehicle the same side realizes expectation Illumination and launch light.Video camera 61 is the number sensing image for wheel alignment application Code-phase machine.In operation, video camera 61 senses based on point corresponding with pixel in the picture To the analog intensity of light generate the value of each image pixel.By this value digitized and by it Read in the circuit on main printed circuit board 75.Can on camera sensor chip or Outside to this value digitized.

In this implementation, spatial relationship sensor module 65 include IR LED 85, (such as charge-coupled image sensor (CCD) or CMOS are mono-for gap 86 and linear imaging sensor 87 Unit).IR LED 85 throws towards beam angle sensor similar in the measurement 57 of opposite side Irradiating light beam.In a comparable manner, the measurement 57 of opposite side includes towards measurement 55 The IR LED of projecting beam.

The IR light radiation sent from the IR LED measuring 57 of opposite side is by linear graph As sensor 87 senses via gap 86.Detect on sensor 87 that coming from another surveys The Accurate Points of the IR light of amount head indicates and comes from the light of opposite side measurement head in measurement 55 In sensor 87 on relative incident angle.In a similar fashion, measurement 55 is come from The IR light radiation of IR LED 85 passed by the linear image measured in 57 of opposite side Sensor senses via gap；Detect on the linear imaging sensor of opposite side and come from LED Accurate Points at the IR light of 85 indicates the light coming from measurement 55 in measurement 57 Relative incident angle on linear transducer.Come from the angle detection number of two linear transducers According to process be capable of two active sensings and measure the video camera of the video camera 61 and 63 in head The determination of the angular relationship between optical axis.

Circuit board 75 includes digital signal processor (DSP) or other image processor type Circuit and adjoint data/program memorizer 91.In operation, each video camera 61,63 Digital Image Data is supplied to image processing circuit 89.As it can be seen, active sensing measures head 55 also include camber angle tilt sensor 79 and pitch tilt sensor 77.These tilt Meter element supplies gravity angle measurements (see the content of the discussions of Fig. 4 and Fig. 5) to processor 89. Image processing circuit 89 carries out one or more operation and by these data for these data It is supplied to communication interface 93, in order to be sent to mainframe computer system 100.

The image processing operations of circuit 89 can relate to various different data are carried out form Change, in order to communication.Alternatively, processor 89 can be to host computer Machine system 100 carries out a certain degree of pretreatment before sending.For view data, image Pretreatment can include that gradient calculation, background eliminate and/or run length encoding (run-length encoding) or other data compression are (be shown in such as being applied for by Robb et al. United States Patent (USP) US 6,871,409).Processor 89 may also respond to come from gradient and passes The slope data of sensor 77,79 and/or spatial relationship measurement data, by image real time transfer To a certain extent.Alternatively, can be by gradient with across position data letter Singly it is transferred to mainframe computer system, in case using in the process further of view data.

The processor 89 actively measured in one of head can be configured to measure head from another connect Receive data and carry out wheel alignment parameter calculating in inside, and the most only vehicle being measured Result is sent to mainframe computer system 100.Furthermore, it is possible to the place that will actively measure in one of head Reason device 89 is configured to calculate all of locator value and also generate user interface.In this situation Under, actively to measure head and can take on the responsibility of the webserver, supply realizes wheel alignment system The webpage of user interface, and master computer can be by with web browser and do not have car Any general purpose computer of wheel alignment specific software is constituted.But, in order to make cost minimum, can To perform the major part that data process in main frame, in such a case, it is possible to by DSP/ Process process (and thus DSP/ processes the complexity of the circuit 89) guarantor that circuit 89 is carried out Hold on floor level.

Processor 89 or another controller (not having separately shown) on plate 75 also provide for Control for the operation of active sensing measurement 55.Such as, element (processor 89 is controlled Or other controller) opportunity of LED array 83 and IR LED 85 transmitting will be controlled with strong Degree and video camera 81 and the opportunity of linear imaging sensor 87 and other possible operation ginseng Number.Active sensing measurement 55 also includes the keyboard 74 activating measurement 55 for user, And processor 89 or another controller will detect and respond the input via keyboard 74.

Computer Communications Interface 93 is parts and the master computer 100 of active sensing measurement 55 (Fig. 2) provide bidirectional data communication, and provide and actively measure between head under some configures Bidirectional data communication.Communication interface 93 meet applicable data protocol standard and provide with Expect the joint of physical media such that it is able to desired speed with concrete installation form institute's phase Hope mode realize to the data communication from master computer 100.Such as, principal communication interface can Being with for carrying out, with the matched interfaces in master computer 100, the USB joint that cable is connected USB interface.It will be recognized by those skilled in the art, can make in wheel alignment system With other data communication interface, such as Ethernet, RS-232, RS-422, RS-485, WIFI Or wireless ethernet, Zigbee, bluetooth, UWB (ultra broadband), IrDA or any other fit When arrowband or broadband data communication technology.That is, communication can be Ethernet, USB, CAN, RS-232, Other suitable technology of RS-422, RS485, WIFI, UWB, Zigbee, bluetooth, IrDA or any.

Electronic circuit on plate 75 and image sensing module 81 and spatial relationship sensors mould The element of block 85 receives electric power from power supply 94.Any voltage and current level can be used enough Normal power supplies.If system 50 uses cable, then power supply may come from the AC of routine Electrical network or receive electric power by USB or Ethernet wiring.If measurement 55 and 57 is nothing Line, then power supply can use battery supply, or connects from chargeable or droppable battery Receive electric power.Alternatively, the energy-accumulating medium for wireless measurement head can be by Especially big electric capacity is constituted.

Return to Fig. 2, mainframe computer system 100 process come from active sensing measure 55, The data of 57 and provide user interface for system 50.As noted earlier, data process Can be complete in DSP or the similar device during active sensing measures one or both of 55,57 Become.But, in order to the cost making measurement 55 and 57 is minimum, can be by mainframe computer system The data handling equipment of 100 or similar provides main disposal ability.In this example, system 100 Can be by desktop PC (PC) or such as notebook, UMPC (super shifting Dynamic PC) or other computer installation of similar device etc realize.Client can also be used Machine server scheme, in such cases, server can perform main process and actively measure head One of or another user's set can undertake the responsibility of client computer to provide user interface.Although it is ripe Know the personnel of advanced wheel alignment technologies should be familiar with various suitable computer systems parts, Program and operation, but providing a brief example still may be helpful.

Computer system 100 includes CPU (CPU) 101 and is used for providing user The adjoint element of interface.CPU part 101 includes bus 102 or other is for transmitting information Communication mechanism, and the processor 104 for processing information connected with bus 102.Computer System 100 also include connecting with bus 102 for storing information and will be by processor 104 The main storage 106 of instruction performed, such as random access memory (RAM) or other move State storage device.During main storage 106 can be also used for storing processor 104 execution instruction Temporary variable or other average information.Computer system 100 additionally includes and bus 102 The read only memory (ROM) for storing static information and instruction for processor 104 connected 108 or other static memory.Provide the storage device for storing information and instruction 110, such as disk or CD, and store device 110 and connect with bus 102.Although only Illustrate only one, but a lot of computer system includes that two or more store device 110.

The embodiment of shown computer system 100 additionally provides such as local user interface, So that this system shows as may using in wheel alignment bay or automobile maintenance workshop Personal computer or work station.Computer system 100 can via bus 102 with for Computer user shows that the display 112 of information connects, such as cathode ray tube (CRT) or Flat faced display.Input equipment 114 (including alphanumeric and other button) and bus 102 Connect, be used for passing on information and command selection to processor 104.Another type of user is defeated Entering device is cursor control 116, such as mouse, trace ball or cursor direction key, cursor Controller 116 for being communicated to processor 104, CPU 101 by directional information and command selection Directional information and command selection is used the most again to control cursor movement on the display 112. Cursor input devices 116 typically has in the first axle (such as, x-axis) and the second axle (example Such as, y-axis) two kinds of degree of freedom on two axles, this allows the device in given plane Position.Joint between user interface element 112-116 and CPU 101 can be wired or Person can use optics or RF wireless communication technology.

CPU 101 also includes one or more input/output interface for communication, with citing Mode as measuring 55 and 57 interfaces carrying out bidirectional data communication with active sensing 118 show such input/output interface.For wheel alignment application, interface 118 CPU is able to receive that and comes from the view data of active sensing measurement 55 and 57, space Relationship measurement data and slope data.Typically, interface 118 also makes host computer system 100 can measure under a 55 and 57 transmission operational order and possible software to active sensing Carry.Such as, communication interface 118 can be with for measuring 55,57 with active sensing In matched interfaces 93 carry out the communication interface 118 of USB joint of cable connection.This area Skilled person will appreciate that, other data communication can be used in wheel alignment system to connect Mouthful, such as Ethernet, RS-232, RS-422, RS-485, WIFI or wireless ethernet, Zigbee, bluetooth, other suitable arrowband of UWB, IrDA or any or broadband data communication skill Art.It is not shown, but if necessary, another communication interface can provide warp By the communication of network.This extra interface can be modem, Ethernet card or any Other data communication equipment being suitable for.It is connected to extra (multiple) communication interface and from which The physical link picked out can be optics, wired or wireless.

Although computer 100 can serve other purposes in shop, but alignment system 50 use computer system 100 to process the data coming from measurement 55,57, with from this A little measurement in the data that head provides draws desired positioning measurement result, and carries for system 50 For user interface.Computer system 100 typically runs various application program and storage The data provided by these elements of such as 112-116 realize desired process, it is possible to via User interface realize one or more alternately.For wheel alignment application, program will include suitably Code to process the data received from the specific implementation measuring 55,57, including Desired wheel alignment measurement parameter is drawn from the various data coming from measurement 55 and 57 Calculate.Master computer 100 typically runs the general-purpose operating system and application program or is suitable for specially In performing the shell (shel l) that the data relevant with location process, and offer is used for Input and output are for positioning the user interface measuring the expectation information with related service.Owing to being General-purpose system, during therefore system 100 can run the application program of other desirable a large amount of Any one or more of.

The parts comprised in computer system 100 be typically as server, work station, Those parts found in the general-purpose computing system of personal computer, the network terminal etc. It is true that these parts are intended to represent these computers as known in the art originally exactly The broad aspects of parts.

Difference when, the relevant procedures for wheel alignment application may reside in several On one or more in different medium.For example, it is possible to some or all program is stored in firmly On dish or other type of storage device 110 and be loaded into the main storage in CPU 101 In 106, cause processor 104 performs.This program can also reside in for being loaded into system 100 In other medium on or by other medium described carry, substantially to install and/or to rise Its program of level.Thus, difference when, owning for any or all component software Or part executable code or data may reside within physical medium or taken by electromagnetic media Carry or via various different medium transmission, carry out program control specific system and/or actively pass The electronic circuit of sensed quantity 55,57.As used herein, such as computer or machine " can Read medium " such term it is therefore intended that take part in processor provide instructions to perform mistake Any medium of journey.Such medium can to take any form, including, but not limited to, non- Volatile media, Volatile media and transmission medium (such as electric wire, optical fiber etc.) and can To transmit data or various types of signals of instruction between the systems or between system unit.

As traditional first sample of conventional assignment test, outside lifting trailing wheel can being passed through and using Obliquity sensor measures beat vector, then lifting front-wheel and at target round the axle of front-wheel Use video camera to target imaging while rotation, carry out beat compensation to measuring head.A kind of Alternative method can be by rolling wheel and in track camera to front along elevator Fixing target on target and elevator, vehicle or other fixing object carries out imaging and sets up Carry out beat measurement with inclinometer to measuring head while fixed coordinate system, avoid lifting car Wheel.

After as it was previously stated, measurement 55,57 is equipped with the tilt sensor of inclinometer type, is used for Measure and measure head after each relative to the relative camber angle of gravity and pitch angles.Once obtain Beat value and recorded inclinometer angle values, it is possible to each is measured head relative to gravity Orientation process, associated with gravity with the optical axis by the video camera of each oriented locus Come.Use the video camera of oriented locus and the relation of gravity and measured front target and towards rail The relation of the video camera of mark, can calculate the relation of front target and gravity.By sensor 65 With 67 measurement space relations, to determine the spatial relationship between track camera 61 and 63.

Toe-in angle, back rake angle and SAI should be to use and the becoming of such as V3D position finder etc As technology that those technology embedded in position finder are similar is measured.Rear propelling angle, after each Single beam angle and track camera horizontal angular relationship each other can be according to by rear sky Between the measurement result that obtains of relationship sensors draw.Inclinometer can pass through common gravity vector basis Each track camera of brigadier is associated with each other.The axis along the rear axis of thrust is utilized to have each other The track camera that effect is relevant, can be in the coordinate system directly related with propelling angle and gravity Determine position and the orientation of each front target.

Can be according to the mode roughly the same with current alignment general measure by by after each Measurement head is arranged on straight corrector strip (calibration bar) to be calibrated.First Corrector strip is carried out rotation to compensate beat.Then the zero of rear space relationship sensors can be set Offset and by leveling corrector strip, the zero offset of each camber transducer can be set.Before The zero offset of rear pitching is by with precision level leveling measuring head and record pitch The value of inclinometer is arranged.It is suitable for pacifying from the angle of track camera by increasing another The corrector strip of dress front target, it is possible to achieve the camera calibration degree of enhancing is (see such as James The U.S. Patent Application Publication No. 2004/0244463 that Dale, Jr submit to).Carry out After above-mentioned initial calibration, track camera at front target and corrector strip around the axle of front corrector strip The orientation of front target measured by line while rotating.A video camera can be calculated image with another The relation of machine and so calculate each video camera with through checking or the rear space of calibration closes The relation of system.By leveling front target calibration bar, it is also possible to check each track camera and this The fixed relationship of ground inclinometer.This redundancy check likely include for require certainty of measurement with The ISO of the client of track ability checks.

Furthermore, it is possible to little target to be fixed on the friendship being capable of extra measurement or corner On each front rotating disk that fork checks.

V3D bodywork height indicator can also be used to refer to for bodywork height or other car body Target purposes and measure front of the car point.

It will be readily understood by those of skill in the art, wheel alignment system discussed herein can be in order to Realize by various types of spatial relationship sensors.Imageing sensor is that spatial relationship passes One type of sensor.Imageing sensor can be by the shooting of the two-dimensional array with sensing element Mechanism becomes, and the two-dimensional array of sensing element produces to represent to be expected to comprise the visual field being in this sensor Within the data of image of target.Can be to coming from the data of imageing sensor Reason, the position relevant with the target that determines to watched and orientation information, so that it is determined that with survey Position that amount head, wheel or other object of being associated to target are relevant and orientation information.Existing In technology, the example of imageing sensor is can be by commercial means from John Bean Company The video camera used in the Visualiner 3D that (Kang Wei city, the Arkansas State) obtains, John Bean Company is the branch company of Snap On Tools Corp. (Snap-on Incorporated). Angular transducer is another type of applicable spatial relationship sensors.Angular transducer produces Represent the sensor data relative to the angle of a bit.Various types of angular transducer one It is all known for as.One example of angular transducer is can be from John Bean That linear CCD sensor used in the Visualiner that Company has bought.

Thus, consider now that such a example is probably helpful: with being similar to track The imaging-type video camera of video camera replaces gap and the linear graph introduced above for Fig. 3 and Fig. 6 Spatial relationship sensing layout as sensor style.Fig. 7 to Fig. 9 is analogous to Fig. 1, Fig. 3 With the view/schematic diagram of Fig. 6, what simply the graphic extension of this second implementation represented is Such use target and imageing sensor realize the replacement technology of spatial relationship sensing function. The wheel similar with the wheel of the implementation of Fig. 1, Fig. 3 and Fig. 6 and element and element use Similar reference and be by with previously described in the way of the most identical mode construct With operation.This example uses driven two-dimensional target 51 and 53 on front-wheel 41 and 43； And it uses on trailing wheel and actively measures head 55' and 57', for the side at track of vehicle Measure, similar with the example of Fig. 1.Rear active sensing is measured head and is used video camera 61, the 2D imageing sensor of 63 or similar obtains the target in front heads 51,53 Image, and determine target relative to the relative position actively measuring head and orientation, and above pin As Fig. 2 is discussed in detail.But, two spaces actively measuring head 55', 57' are closed System is determined by least one 2D imageing sensor 97, and this imageing sensor 97 obtains Opposite side must be arranged on and actively measure the image of the 2D target 67' on head.At this example In, actively measure head 57' and there is the relevant of one of the target that is similar to measure on 51 and 53 Target 67', but measure head 57' and do not include measuring for realizing spatial relationship the biography of function Sensor.Active sensing is measured head 55' and is used the way of image processing type, based on to target 67' Carry out imaging and realize crossing over the spatial relationship measurement of vehicle rear.Imageing sensor 97 typical case Ground can be similar to be used as in the example of Fig. 2 video camera or the similar device of 2D imageing sensor.

As shown in Fig. 8 and Fig. 9 in further detail, spatial relationship sensors 95 use with The similar image sensing module of image sensor module 81 of oriented locus.Spatial relationship image Sensing module 95 includes DV 97 and LED array 99.LED array 99 plays to be sent out The effect of light device.For the application of spatial relationship sensing, LED array 99 produces infrared ray (IR) Illumination.Measure head 57' after another and include the sensitive retro-reflective targets 67'(Fig. 7 of IR), should Retro-reflective targets 67' to be irradiated by LED array 99, is then sensed retro-reflective targets by video camera 97 The reflection light of 97'.

It is paired another that spatial relationship camera 97 replaces another spatial relationship sensors to be pointed to One target 67' measured on head (across the rear portion of vehicle) carries out imaging.Video camera 61 A common process plate measured in head can be shared both 97, and another measuring head can To simply use an independent video camera (for track) and target (for across).By The process of the target image that video camera 97 obtains can measure the angular region between head after calculating Relation, its mode substantially with the example of Fig. 1 and Fig. 2 in from actively measuring head video camera Image is processed to determine the relative angle of the target being arranged on wheel and/or position Mode is identical.It not measurement space relationship angle as in the example above, but image sensing The 3D of the target actively measured on head that module and relevant image procossing measure opposite side is empty Between relation.For measuring relevant extraneous information with based on target image process, can be again Pay close attention to United States Patent (USP) US5724743 licensing to Jackson.

In the system of Fig. 7 to Fig. 9, at least one is actively measured head and comprises gravity sensor, It is used for measuring camber angle and the pitch of head.Actively survey owing to being arranged on opposite side The imaging of the target on amount head allows the system to obtain two three actively measured between head Dimension (3D) spatial relationship measurement, therefore have only to one actively measure head have gravity biography Sensor.In addition, structure, operate with calculate identical with the example above generally.

In example discussed previously, it is all to be combined actively measuring head with trailing wheel, and Target is combined with vehicle front-wheel.But, it will be understood by those within the art that and above beg for The essential structure of opinion has a lot of modification.And, there is each of imaging sensor and other sensor Plant various combination and determine the spatial relationship that can use.It is explained below and illustrates several groups Close.

Figure 10 such as shows a kind of layout being similar to Fig. 1, wherein active measuring head and target Mark measuring head position is contrary.The wheel alignment system of Figure 10 includes each car being arranged on vehicle A pair driven measurement 221 and 223 on wheel 222 and 224, in this example, these are two years old Individual wheel is trailing wheel.Active sensing is measured 225 and 227 and is suitable for and each of vehicle 220 Front-wheel 226 and 228 is installed in combination.Equally, each active sensing measure head include for Produce the imageing sensor 229 or 231 of view data, measure head at each and be all installed into car Each wheel on time, produced view data should include the image of driven target.At this Imageing sensor 229 and 231 in individual example, in active sensing measurement 225 and 227 It is two dimension (2D) imaging device, such as similar with the track camera in previous examples shooting Machine.

It is driven for measuring 221 and 223 because they include can be by actively measuring head The target of that type of one of imageing sensor in 225 and 227 observation, but they are not Including any sensing element.Typically, these targets are included in energy when being irradiated by other light source The dress of a video camera enough detected and can measure in 225 and 227 by active sensing etc It is set to the bright of picture and dark area.

The same with in the example above, this system also includes measuring with at least one active sensing 225 or 227 spatial relationship sensors being associated.Spatial relationship sensors can be by this A little active sensings are measured and are realized active sensing measurement 225 and 227 when head is arranged on wheel Between the measurement of spatial relationship.In this example, this system uses two traditional (1D) Angular transducer 233 and 235 is measured active sensing in beam angle plane and is measured 225 He The relative angle of 227.Actively measure 225 also comprise gravity sensor with 227 or similar fill Put the gradient measuring head, typically measure camber angle and pitch.Thus, survey Amount 225 includes one or more tilt sensor 237；And measurement 227 includes one Or multiple tilt sensor 239.

The same with shown in the example above (such as Fig. 2), this system also includes computer. This computer disposal comes from active sensing and measures the data relevant with target observation of head and oblique Degrees of data.This computer also processes the spatial relationship coming from least one spatial relationship sensors Data.These data process the calculating of at least one measurement result being capable of vehicle.

As noted, this example is substantially by the target/active sensing of the example of Fig. 1 Measure the preposterous form in head position.Although do not provide all of modification, but this area Skilled person will appreciate that, for discussed herein every kind other optional layout, it is also possible to real Reverse modification and/or modification reversed left to right before and after existing similar type.

The another kind of optional layout of Figure 11 graphic extension.In this example, two are actively passed Sensed quantity head is arranged on vehicle side, and two slave sensors are arranged on the phase of vehicle On offside.As it can be seen, the installation that target is on driven measurement head provide a certain degree of far From the extension of wheel, so that the imageing sensor actively measured in head is it can be seen that and to target Mark imaging.Each is actively measured head and comprises the target on the corresponding wheel being attached to vehicle opposite side Target image carries out the imageing sensor obtained.The same with in the example above, each is actively surveyed Amount head comprises gravity sensor to measure camber angle and the pitch of head.Wherein, two The spatial relationship actively measuring head is to measure two by two conventional angle sensors to measure head Between beam angle Plane Angle determine.Due to structure, operate and calculating is generally similar to Example in the early time, is not the most given in the case of being discussed in more detail further, this area Technical staff is it is also understood that the example of Figure 11.

The another kind of optional layout of Figure 12 graphic extension.In this example, two are actively passed Sensor is arranged on vehicle side, and two slave sensors are arranged on the opposite side of vehicle On.Each is actively measured head and comprises the target on the corresponding wheel being attached to vehicle opposite side Image carries out the imageing sensor obtained.Wherein, two spatial relationships actively measuring head be by One or many that the image being arranged on opposite side and actively measuring the target on head is obtained Determined by individual imageing sensor.In this embodiment, front head of actively measuring includes target, and after Actively measure head to include for the 3d space measurement to be similar in the example of Fig. 7 to Fig. 9 Mode obtains the 2D imaging sensor of the image of this target.At least one is actively measured head and comprises Gravity sensor, is used for measuring camber angle and the pitch of head.Owing to this system obtains Obtain two 3D positions actively measured between head and orientation measurement, the most only need one Actively measure head and there is gravity sensor.Similarly, since structure, operate and calculate class generally It is similar to example in the early time, is not the most given in the case of being discussed in more detail further, this Skilled person is it is also understood that the example of Figure 12.

Figure 13 is yet another alternative arrangement.This example uses the first active sensing to measure head, This first active sensing is measured head and is comprised an independent 2D imageing sensor, is used for obtaining installation The driven target on the first driven measurement head on another wheel of the same side of vehicle Image.First driven measurement head is arranged on actively to be measured head and is in the car of vehicle the same side with first On wheel.In the specific example shown in the drawing, first actively measures head is arranged on left rear wheel, And the first driven measurement head is arranged on the near front wheel.A target on first driven measurement head Can be used to be carried out imaging by the 2D imageing sensor combined with left rear wheel, that is, edge The track of vehicle imaging of this side of vehicle.

But, what the first driven measurement head also comprised relative to its first driven target is relative Second driven target known to position.Second driven target reaches the front of wheel, thus can To be watched by the corresponding 2D imageing sensor of vehicle opposite side, in order to survey in spatial relationship Amount carries out imaging.Thus, second actively measures head is installed to the first driven measurement head opposite, That is, it is arranged on off-front wheel in illustrated layout.Second actively measures head comprises two Individual 2D imageing sensor.One of the two sensor obtains to be arranged on and invests an opposite side (left side Before) image of target on the first driven measurement head on wheel, in order to carry out spatial relationship measurement. Second another 2D imageing sensor acquisition actively measured in head is arranged on the second driven measurement The image of the target on head, the second driven measurement head is arranged on the same side of vehicle, that is, In this example on off hind wheel.Second driven measurement head comprises an independent target, and This is measured head and is arranged on the first opposite actively measuring head.

In the layout of Figure 13, at least one is actively measured head and comprises gravity sensor, is used for Measure camber angle and the pitch of head.Head is actively measured owing to this system obtains two Between 3D position and orientation measurement, therefore need only to one and actively measure head and have Gravity sensor.Generally speaking, the implementation of the system of Figure 13 and the details of operation should It is can from the detailed disclosure of this Brief Discussion and the example of Fig. 1-Fig. 9 in the early time substantially Go out.

Example shown in Figure 14 is generally similar to the example of Figure 13, simply Figure 14's In system, first actively measures head also comprises the second imageing sensor.In this measurement head Two imageing sensors obtain the image of the second target being attached on the second driven measurement head.This structure The advantage making the layout being better than Figure 13 is, it only needs two kinds of unique head hardware configurations, Rather than four kinds.Two are actively measured head is identical, and two driven measurement heads are identical 's.Each actively measures head can be analogous to the measurement head 55' shown in Fig. 8 and Fig. 9. One actively should be measured head and regard as front heads, and measure after another is regarded as Head.This typically can realize with the firmware in flush bonding processor.

The second advantage of this structure (Figure 14) is, second space relationship measurement is Calculate the unwanted redundancy of wheel alignment.This redundancy can serve as the school to system Quasi-inspection.If actively measuring head and all comprise gravity sensor for two, then can verify camber angle With both beam angles.If only one of which actively measures head comprises gravity sensor, then can verify Beam angle is calibrated.

In the example shown in Figure 15, this system use be arranged on each front-wheel with target Target driven measurement head is substantially the same with in the example of Fig. 1-Fig. 9.Illustrate on trailing wheel Actively measure head and comprise 2D imageing sensor.Placed the reference bar with target on two ends, Making each actively measure head can watch one of target in reference bar and vehicle same Target on the front-wheel of side.Relative position and the orientation of two targets in reference bar are known 's.This system can according to by actively measure two reference target that head records 3D position and The known relation of orientation and two reference target finds out two spatial relationships actively measuring head. Which provide and obtained by the spatial relationship sensors target of the example of Fig. 7 to Fig. 9 Spatial relationship information.Owing to the position of reference target is fixing, therefore they are also used as Roll the reference measured during beat.Those skilled in the art will be from accompanying drawing, this explanation The discussion of other similar example understands detailed construction and the operation of this example in the early time.

Example shown in Figure 16 operates with the example of Figure 15 generally about the samely, only It it is the most independent reference target.The viewing angle actively measuring the imageing sensor in head must Must be wide enough to the driven measurement head target and described independent of vehicle the same side can be watched Individual reference target.

The yet another example of Figure 17 graphic extension hybrid wheel alignment system.Here, this is System uses the driven measurement head with attached targets being arranged on each front-wheel.Actively measure head It is arranged on trailing wheel, the same with several situations in example in the early time.Each actively measures head bag The 2D image sensing obtained containing the image of the driven measurement head target on side each to vehicle Device.

Imageing sensor forward extends out from trailing wheel center, so that sensor is positioned at rear rim Front, in order to the sight line crossing over vehicle in under-vehicle is provided.One of imageing sensor, at this The sensor actively measuring on head being mounted on left rear wheel in individual example, comprises partially reflective Mirror, this partially reflecting mirror makes the image coming from driven target pass through or be arranged on coming from The corresponding image actively measuring the target on head of vehicle opposite side reflects.In Figure 18 more Add the operation that illustrate in detail reflecting mirror.

Come from and be arranged on vehicle the same side (that is, the left side being arranged in illustrated arrangement On front-wheel) driven measurement head on the light of driven target directly through half-silvered mirror, arrive peace The active sensing being contained on left rear wheel measures the 2D imageing sensor on head.Come from relative one Side actively measure on head (that is, the active being arranged on the off hind wheel in illustrated arrangement is measured On head) the light of driven target arrive the partially reflective side of reflecting mirror at a certain angle and by instead Inject the active sensing being arranged on left rear wheel and measure the 2D imageing sensor on head.This The advantage of system is, it by making one of sensor can watch two different targets and Eliminate an imageing sensor.

Although foregoing describes embodiment and/or other example being seen as optimal mode Son, but it is to be understood that various change can be carried out wherein, and disclosed herein Theme can realize with various different forms and example, and teaching herein can be applied In multiple application, the most only describe a portion.The purpose of claims is requirement Protection falls into any and all application within the true scope instructed herein, transforms and change.

Claims (6)

1. a wheel alignment system, including:

A pair driven measurement head, each driven measurement head includes target, and this is to driven measurement head For with to be tied mutually by the pair of wheels of the vehicle that the operation of wheel alignment system is measured Close ground to install；

A pair active sensing measures head, installs in combination for second pair of wheel with vehicle, Each active sensing is measured head and is included imageing sensor and have MS with this imageing sensor The relevant gravity sensor of system, each active sensing is measured head and is produced included in each target The view data that the fluoroscopy images of individual target is expressed with include the relative camber angle relative to gravity Gravity vector data with pitch angles；

Spatial relationship sensors, when active sensing measurement head is arranged on the wheel of vehicle, This spatial relationship sensors is measured each active sensing and is measured the spatial relationship between head；And

Computer, for processing gravity vector data and and the target measuring head from active sensing View data that target fluoroscopic observation is relevant and the spatial relationship from spatial relationship sensors Data, to calculate at least one measurement result relevant with wheel alignment of vehicle.

2. the wheel alignment system of claim 1, during wherein each active sensing measures head Gravity sensor includes inclinometer.

3. the wheel alignment system of claim 1, wherein, by allocation of computer for processing figure As data, gravity vector data and relevant with the spatial relationship that each active sensing is measured between head Data, to calculate at least one measurement result relevant with wheel alignment of vehicle.

4. the wheel alignment system of claim 1, wherein each active sensing measurement head also wraps Include video camera and for irradiating the luminous organ of target during this camera operation.

5. a wheel alignment system, including:

A pair driven measurement head, each driven measurement head includes target, and this is to driven measurement head For with to be tied mutually by the pair of wheels of the vehicle that the operation of wheel alignment system is measured Close ground to install；

A pair active sensing measures head, installs in combination for second pair of wheel with vehicle, Each active sensing is measured head and is included:

A () has the video camera of optical axis, it is for during the operation of wheel alignment system Produce the figure including the fluoroscopy images expression of a target in each target As data；And

B the optical axis of () and video camera has the gravity sensor of known relation, it is used for feeling Survey the relative camber angle relative to gravity and pitch angles；

Spatial relationship sensors, when active sensing measurement head is arranged on the wheel of vehicle, This spatial relationship sensors is measured each active sensing and is measured the spatial relationship between head；And

Computer, for process from spatial relationship sensors spatial relationship data, from View data that the fluoroscopic observation with target of video camera is relevant and from gravity sensor Relative to the orientation of gravity, to calculate at least one measurement knot relevant with wheel alignment of vehicle Really.

6. the wheel alignment system of claim 5, also includes for active sensing is measured head The device installed in combination with second pair of wheel of vehicle.