DE2948573A1 - Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels - Google Patents
Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheelsInfo
- Publication number
- DE2948573A1 DE2948573A1 DE19792948573 DE2948573A DE2948573A1 DE 2948573 A1 DE2948573 A1 DE 2948573A1 DE 19792948573 DE19792948573 DE 19792948573 DE 2948573 A DE2948573 A DE 2948573A DE 2948573 A1 DE2948573 A1 DE 2948573A1
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- wheel
- television
- television camera
- camera
- image
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- 238000005259 measurement Methods 0.000 title claims abstract description 18
- 238000011156 evaluation Methods 0.000 title claims description 8
- 238000000034 method Methods 0.000 claims abstract description 22
- 230000001419 dependent effect Effects 0.000 claims abstract description 3
- 230000003287 optical effect Effects 0.000 claims description 22
- 238000012986 modification Methods 0.000 claims 2
- 230000004048 modification Effects 0.000 claims 2
- 230000008901 benefit Effects 0.000 description 3
- 239000000725 suspension Substances 0.000 description 2
- 241001416181 Axis axis Species 0.000 description 1
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
- G01B11/022—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness by means of tv-camera scanning
-
- 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
- G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
- G01B2210/146—Two or more cameras imaging the same area
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Verfahren und Anordnung zur berührungslosen Achsver-Procedure and arrangement for non-contact axis control
messung an Kraftfahrzeugen Anwendungsgebiet der Erfindung Die Erfindung liegt auf dem Gebiet der Diagnose von Kraftfahrzeugen und ist bei der Messung der Geometrie von Radachsen und Lenkung anzuwenden.measurement on motor vehicles Field of application of the invention The invention is in the field of motor vehicle diagnostics and is used in the measurement of Apply geometry of wheel axles and steering.
Technischer Hintergrund Für die Fahrsicherheit und den Fahrkomfort bei Kraftfahrzeugen ist eine genaue Einstellung der Radachsen, insbesondere der Vorderachsen, von ausschlaggebender Bedeutung.Technical background For driving safety and comfort in motor vehicles is a precise setting of the wheel axles, especially the Front axles, of vital importance.
Diese Einstellung ist regelmäßig meßtechnisch zu überprüfen.This setting has to be checked regularly by measurement.
Hierfür stehen an sich bekannte Meßgeräte zur Verfügung, mit denen Radsturz, Radspur, Vor- und Nachlauf, Spreizungswinkel, Spurdifferenzwinkel und Lenkrollendurchmesser ermittelt werden. Diese Größen sind im wesentlichen durch die räumliche Lage der Radaufhängung (Lenkachse) und der Rad ebene zueinander bzw. zu senkrechten oder waagerechten Bezugsebenen gegeben.For this purpose, known measuring devices are available with which Camber, wheel track, lead and lag, spread angle, track difference angle and Castor diameter can be determined. These sizes are essentially through the spatial position of the wheel suspension (steering axis) and the Wheel level to each other or to vertical or horizontal reference planes.
Den zur Ermittlung der genannten Größen erforderlichen ideßgeräten liegen mechanische, optische, optisch-mechanische oder elektronische Meßverfahren zugrunde ("Wissenschaftliche Zeitschrift" der Technischen Universität Dresden, 1968, Seiten 923 - 941; Zeitschrift "Werkstattechnik", 1979, Seiten 12 - 14; Zeitschrift "Krafthand", 1979, Seite 608).The ideßgeräte necessary to determine the sizes mentioned are mechanical, optical, opto-mechanical or electronic measuring processes ("Scientific Journal" of the Technical University of Dresden, 1968, Pages 923-941; "Werkstattechnik" magazine, 1979, pages 12-14; magazine "Krafthand", 1979, page 608).
Allgemein üblich sind optische Meßgeräte. Diese arbeiten mit einem Spiegel, der auf der jeweiligen Radachse Justiert wird. Um dabei die Meßergebnisse automatisch auswerten zu können, ist es bekannt, den auf den Spiegel gerichteten Lichtstrahl auf die lichtempfindliche Schicht einer Fernsehaufnahmeeinrichtung zu spiegeln. Durch Auswertung des Videosignals wird die Lage des Bildpunktes erfaßt und damit das gewünschte Meßsignal gewonnen (DE-OS 23 53 965).Optical measuring devices are common. These work with you Mirror that is adjusted on the respective wheel axle. In order to get the measurement results To be able to evaluate automatically, it is known to use the one directed at the mirror Light beam towards the photosensitive layer of a television recording device reflect. The position of the pixel is recorded by evaluating the video signal and thus obtained the desired measurement signal (DE-OS 23 53 965).
Im übrigen ist es allgemein bekannt, zur Automation von Meß- und Regelvorgängen Fernsehsignale elektronisch auszuwerten. Beispielsweise können messende TV-Systeme, die imWichtbaren Spektralbereich oder im Infrarort- oder Ultraviolett-Eereich arbeiten, für Längen-, Breiten- und Höhenmessungen, zur Positionsbestimmung ruhender Objekte oder zur Erkennung und Vermessung von einem oder mehreren Punkten mit bestimmten Helligkeitsniveau eingesetzt werden. Auch sind hierbei komplizierte Umrechnungen mittels eines mit mehreren Mikroprozessoren bestückten Kleinrechners oder in Verbindung mit Großrechnern möglich. Die Verknüpfung des Meßvorganges mit derartigen Rechenoperationen ist beispielsweise dann notwendig, wenn man drei,diqmensionale Vorgänge erfassen will. Dies ist mit Hilfe zweier Fernsehkameras möglich, wobei die Auswertung der Signale beider Fernsehkameras nach den Regeln der Trigonometrie erfolgt (Werbeschrift "Messende TV-Systeme" der Firma Hammamatsu).In addition, it is generally known for the automation of measurement and control processes To evaluate television signals electronically. For example, measuring TV systems, who work in the important spectral range or in the infrared or ultraviolet range, for length, width and height measurements, for determining the position of stationary objects or for the detection and measurement of one or more points with certain Brightness level can be used. There are also complicated conversions here by means of a small computer equipped with several microprocessors or in connection possible with mainframes. The linking of the measuring process with such arithmetic operations is necessary, for example, when you record three dimensional processes want. This is possible with the help of two television cameras, with the evaluation of the Signals from both television cameras are carried out according to the rules of trigonometry (advertising leaflet "Measuring TV systems" from Hammamatsu).
Darstellung der Erfindung a) Aufgabe Der Erfindung liegt die Aufgabe zugrunde, zur meßtechnischen Erfassung der Daten der Radachsen und der Lenkgeometrie eines Kraftfahrzeuges ein Verfahren und eine Anordnung zu schaffen, das bzw. die eine berührungslose:und justierfreie Messung und eine vollautomatische Anzeige der Daten ermöglicht.Presentation of the invention a) Object The invention has the object for the metrological acquisition of the data of the wheel axles and the steering geometry a motor vehicle to create a method and an arrangement that or the a non-contact: and adjustment-free measurement and a fully automatic display of the Data enables.
b) Lösung Zur Lösung dieser Aufgabe geht die Erfindung von einem Verfahren aus, bei dem auf der lichtempfindlichen Schicht einer Fernsehaufnahmeröhre ein von der Radstellung abhängiges Bild erzeugt und das erzeugte Bild elektronisch ausgewertet wird. Gemäß der Erfindung sind folgende Schritte für das Meßverfahren vorgesehen: a. Auf der lichtempfindlichen Schicht der Fernsehaufnahmeröhre wird ein elliptisches Bild des dem äußeren Felgendurchmesser Jedes Rades zugeordneten Kreises oder eines konzentrisch dazu angeordneten, an der Radfelge angebrachten Kreises erzeugt; b. durch elektronische Auswertung des Bildsignals der Fernsehaufnahmeröhre werden der große und der kleine Durchmesser der Ellipse sowie die räumliche Lage der Durchmesser und deren Schnittpunkt ermittelt; c. nacheinander werden bei gleicher Radstellung und gegebenenfalls bei veränderter Radstellung unterschiedliche elliptische Bilder des Kreises erzeugt und das Jeweils erzeugte Bild elektronisch ausgewertet; d. aufgrund der nacheinander erhaltenen Meßergebnisse sowie unter Berücksichtigung bekannter mathematischer Beziehungen werden die räumliche Stellungen der Radebene und der Lenkachse und aus den entsprechenden Daten sowie den gespeicherten Positionsdaten der Fernsehaufnahmeröhre und der Radabmessungen die Daten der Radachsen und der Lenkgeometrie elektronisch ermittelt.b) Solution To solve this problem, the invention is based on a method off, in which on the photosensitive layer of a television pickup tube a of the wheel position-dependent image is generated and the image generated is evaluated electronically will. According to the invention, the following steps are provided for the measuring method: a. An elliptical will appear on the photosensitive layer of the television pickup tube Image of the circle or circle associated with the outer rim diameter of each wheel generated concentrically arranged, attached to the wheel rim circle; b. by electronic evaluation of the image signal from the television pickup tube, the large and small diameters of the ellipse and the spatial position of the diameters and their intersection is determined; c. one after the other with the same wheel position and, if necessary, different elliptical images when the wheel position is changed generated the circle and the image generated in each case electronically evaluated; d. based on the successively obtained measurement results as well as taking into account known mathematical relationships are the spatial positions of the wheel plane and the steering axis and from the corresponding data and the stored position data the television tube and the wheel dimensions the data of the wheel axles and the Steering geometry determined electronically.
Die Erfindung geht von der Uberlegung aus, daß die Radebene des jeweils zu vermessenden Rades bei einer Lenkbewegung Je nach Lage der Lenkachse die Mantelfläche eines Zylinders, eines Kegels oder eines Rotationshyperboloides umschreibt und daß der große Durchmesser des elliptischen Bildes des dem Felgendurchmesser zugeordneten Kreises jeweils eine Mantellinie oder eine Tangente an den Rotationskörper bildet. Aufgrund der Kegelschnittgeometrie sowie der Kreis-Bllipsen-Affinität können daher aus verschiedenen Stellungen des Rades swohl die Achse des Rotationskörpers und damit die räumliche Achse der Radaufhängung, d.h. die Lenkachse, als auch die räumliche Lage der Rad ebene ermittelt und aus der gegenseitigen Zuordnung bzw. der Zuordnung zu senkrechten und waagerechten Bezugsebenen die Daten der Radachsen und der Lenkgeometrie errechnet werden.The invention is based on the consideration that the wheel plane of each wheel to be measured during a steering movement Depending on the position of the steering axis, the outer surface circumscribes a cylinder, a cone or a hyperboloid of revolution and that the large diameter of the elliptical image associated with the rim diameter Circle each forms a surface line or a tangent to the body of revolution. Due to the conic section geometry and the circle-blipple affinity, from different positions of the wheel swohl the axis of the rotating body and thus the spatial axis of the wheel suspension, i.e. the steering axis, as well as the spatial The position of the wheel plane is determined and from the mutual assignment or assignment the data of the wheel axles and the steering geometry for vertical and horizontal reference planes can be calculated.
c) Vorteile er besondere Vorteil des neuen Meßverfahrens liegt darin, daß keine aufwendigen Justierarbeiten für die Durchführung er Messung erforderlich sind, daß für das Fahrzeug keine xakte Positionierung notwendig ist, daß am Fahrzeug im 'prinzip keine Hilfsmittel angebracht werden müssen und daß alle gewünschten Meßwerte mittels elektronischer Geräte ermittelt, angezeigt und gespeichert werden können.c) Advantages he particular advantage of the new measurement method is that that no complex adjustment work is required to carry out the measurement are that no exact positioning is necessary for the vehicle that on the vehicle In principle, no aids need to be attached and that all the desired Measured values are determined, displayed and stored by means of electronic devices can.
d) Weitere Ausgestaltungen Bei der Durchführung des neuen Meßverfahren wird zweckmäßig von der bekannten Anordnung Gebrauch gemacht, bei der seitwärts der Längsachse eines Kraftfahrzeuges eine Fernsehkamera angeordnet ist und bei der die elektrischen Teile der Fernsehkamera mit einer elektronischen Bildauswerteeinrichtung elektrisch verbunden sind. Zur Anpassung dieser Anordnung an das neue Meßverfahren ist in WeiLerbildung der Erfindung vorgesehen, daß auf jeder Seite des Kraftfahrzeuges eine in der Waagerechten schwenkbare und in'der Senkrechten verschiebbare Fernsehkamera angeordnet ist, deren optische Achse mit der jeweiligen Radachse bei Projektion in eine waagerechte Ebene einen Winkel von etwa 450 oder mehr einschließt.d) Further developments in the implementation of the new measuring method is expediently made use of the known arrangement, in the sideways the longitudinal axis of a motor vehicle, a television camera is arranged and in the the electrical parts of the television camera with an electronic image evaluation device are electrically connected. To adapt this arrangement to the new measuring method is provided in WeiLerbildung the invention that on each side of the motor vehicle a horizontally pivotable and vertically displaceable television camera is arranged, the optical axis of which with the respective wheel axis when projected encloses an angle of approximately 450 or more in a horizontal plane.
Durch die schwenkbare und verschiebbare Ausgestaltung der Fernsehkamera ist gewährleistet, daß die gleiche Radposition aus zwei verschiedenen Blickwinkeln der Kamera erfaßt werden kann und daß: für die Beobachtung des Hinterrades und des Vorrades nur Jeweils eine Kamera auf jeder Fahrzeugseite erforderlich ist. Die geometrische Zuordnung der Kamera zum Fahrzeug gewährleistet dabei, daß der dem Felgendurchmesser zugeordnete Kreis des Jeweiligen Rades als Ellipse auf der Fernsehaufnahmeröhre abgebildet wird, wobei die Daten der Ellipse umso genauer erfaßt werden können, je größer der Winkel zwischen der optischen Achse der Fernsehkamera und der Radachse ist.Due to the pivoting and sliding design of the television camera ensures that the same wheel position from two different angles the camera can be detected and that: for the observation of the rear wheel and the Vorrades only one camera is required on each side of the vehicle. The geometric Assignment of the camera to the vehicle ensures that the rim diameter Associated circle of the respective wheel as an ellipse on the television tube is mapped, whereby the data of the ellipse can be recorded all the more precisely, the greater the angle between the optical axis of the television camera and the wheel axis is.
Die erwähnte Anordnung mit je einer schwenkbaren und verschiebbaren Fernsehkamera auf jeder Fahrzeugseite kann dadurch modifiziert werden, daß man anstelle einer in der senkrechten verschiebbaren Fernsehkamera zwei in der Senkrechten fest installierte Fernsehkameras vorsieht.The aforementioned arrangement with one pivotable and one slidable TV cameras on each side of the vehicle can be modified by replacing one in the vertical sliding television camera two in the vertical fixed provides installed television cameras.
In gleicher Weise kann die vorgesehene Schwenkung der Fernsehkamera - die notwendig ist, um das Vorderrad und das Hinterrad erfassen zu können - durch zwei in der Waagerechten fest installierte Kameras ersetzt werden. Sofern man beide Maßnahmen gemeinsam verwirklichen will, können demnach auf Jeder Fahrzeugseite v. er Fernsehkameras angeordnet sein, wovon jeweils zwei einem Vorderrad bzw.The intended pivoting can be carried out in the same way the TV camera - which is necessary to capture the front and rear wheels can - be replaced by two horizontally permanently installed cameras. If you want to implement both measures together, everyone can Vehicle side v. he television cameras, two of which each have a front wheel respectively.
einem Hinterrad zugeordnet sind.are assigned to a rear wheel.
Man kann aber die räumliche Anordnung jeder Fernsehkamera auf einer Fahrzeugseite und deren räumliche Zuordnung zu dem Vorder- und dem Hinterrad auch derart wählen, daß auf Jeder Seite des Kraftfahrzeuges eine Fernsehkamera mit einem in deren optischer Achse verfahrbaren Umlenkspiegel oder mit zwei in deren optischer Achse hintereinander angeordneten Umlenkspiegeln angeordnet ist, von denen der kamaranahe Spiegel aus der optischen Achse ausklappbar ist, und daß der oder die Umlenkspiegel einzeln oder gemeinsam derart um die optische Achse der Fernsehkamera drehbar sind, daß die von den Umlenkspiegeln gespiegelte optische Achse der Fernsehkamera mit der Jeweiligen Radachse bei Projektion in eine waagerechte Ebene einen Winkel von etwa 450 oder mehr einschließt. In diesem Fall erfolgt die Umstellung von der Beobachtung des Vorderrades auf das Hinterrad durch eine Schwenkung des bzw. der der Fernsehkamera zugeordneten Umlenkspiegel, gegebenenfalls gemeinsam mit der Fernsehkamera, während die Verschiebbarkeit der Fernsehkamera in der Senkrechten mit Hilfe der Umlenkspiegel simuliert wird, die entweder selbst in der Höhe verscaiebbar oder auf verschiedenen Höhen angeordnet sind. Dabei vermittelt der kamaranahe Spiegel der Fernsehkamera ein anderes Bild von dem zu beobachtenden Rad als der kameraferne Spiegel.But you can change the spatial arrangement of each television camera on one Vehicle side and their spatial assignment to the front and rear wheels as well choose such that on each side of the vehicle a television camera with a deflecting mirrors movable in their optical axis or with two in their optical axis Axis one behind the other arranged deflecting mirrors, of which the camara close The mirror can be folded out of the optical axis, and that the deflecting mirror or mirrors can be rotated individually or together around the optical axis of the television camera, that the optical axis of the television camera mirrored by the deflecting mirrors with of the respective wheel axis when projected into a horizontal plane an angle of includes about 450 or more. In this case, the switch is made from observation from the front wheel to the rear wheel by swiveling the television camera assigned deflecting mirror, possibly together with the television camera, during the ability to move the television camera vertically with the help of the deflecting mirror is simulated, which can either be adjusted in height or on different levels Heights are arranged. The camera-mounted mirror of the television camera mediates a different image of the wheel to be observed than the mirror remote from the camera.
Bei einer derartigen Ausgestaltnng der Fernsehkamera mit einem oder zwei Umlenkspiegeln kann es zur Verbesserung der Meßergebnisse und Meßeigenschaften von Vorteil sein, wenn die Kamera gemeinsam mit den Umlenkspiegeln schrittweise um kleine Winkel, beispielsweise um Winkel von etwa 10, um die optische Achse der Kamera drehbar ist. Gegebenenfalls empfiehlt es sich, unabhängig davon den Umlenkwinkel der Umlenkspiegel schrittweise um kleine Winkel, beispielsweise um Winkel von etwa 10, verstellbar auszugestalten.In such a configuration of the television camera with an or two deflecting mirrors can improve the measurement results and measurement properties be of benefit, though the camera together with the deflecting mirrors gradually by small angles, for example by angles of about 10 to the optical Axis of the camera is rotatable. It may be advisable regardless of this the deflection angle of the deflection mirror gradually by small angles, for example to make angles of about 10 adjustable.
Die Anordnung einer oder mehrerer Fernsehkameras seitwärts der Längsachse eines Kraftfahrzeuges kann so vorgenommen werden, daß das Vorder- und das Hinterrad gemeinsam von vorn oder von hinten betrachtet werden. Dies hat aber den Nachteil, daß die Entfernung zwischen Fernsehkamera und Vorderrad nicht gleich ist der Entfernung zwischen Fernsehkamera und Hinterrad. Es ist daher vorteilhaft, die Fernsehkamera (s) auf jeder Seite des Kraftfahrzeuges etwa in der Mitte zwischen Vorderachse und Hinterachse anzuordnen. Die Größen der elliptischen Bilder von Vorder- und Hinterrad sind dann in etwa gleich.The arrangement of one or more television cameras to the side of the longitudinal axis a motor vehicle can be made so that the front and rear wheels viewed together from the front or from the back. But this has the disadvantage that the distance between the television camera and the front wheel is not the same as the distance between the television camera and the rear wheel. It is therefore advantageous to use the television camera (s) on each side of the motor vehicle approximately in the middle between the front axle and Arrange rear axle. The sizes of the elliptical images of the front and rear wheels are then roughly the same.
Bei der Anwendung des neuen Meßverfahrens kann es gegebenenfalls weiterhin von Vorteil sein, wenn jeweils nicht das komplette elliptische Bild eines dem Felgendurchmesser zugeordneten Kreises, sondern nur ein Teil der Ellipse beobachtet und vermessen wird. Zu diesem Zweck empfiehlt es sich, die Jeweilige Fernsehkamera mit automatisch wechselbaren Objektiven unterschiedlicher Brennweite oder mit einem VarioobJektiv zu versehen. Auch kann es im Hinblick auf die Genauigkeit der Messung von Vorteil sein, wenn die jeweilige Fernsehkamera und/oder die Umlenkspiegel mit einer Feinpositioniereinrichtung versehen sind, die in einer waagerechten oder senkrechten Ebene wirksam ist.If the new measuring method is used, it may continue to do so be advantageous if not the complete elliptical image of the rim diameter assigned circle, but only part of the ellipse observed and measured will. For this purpose it is recommended to use the respective television camera with automatically interchangeable lenses of different focal lengths or with a vario lens to provide. It can also be advantageous in terms of the accuracy of the measurement be if the respective television camera and / or the deflection mirror with a fine positioning device are provided that is effective in a horizontal or vertical plane.
Im Rahmen der Erfindung wird als technisch äquivalente Lösung ein Meßverfahren angesehen, bei dem das Jeweilige Rad zeilenweise mit einen Laserstrahl beleuchtet und das reflektierte Licht empfangen und das empfangene Lichtsignal zusammen mit den den Laserstrahl steuernden Impulsen elektronisch ausgeVertet wird. Bei einer entsprechenden Anordnung zur Durchführung dieses äquivalenten Meßverfahens wäre jede Fernsehkamera durch eine Laserröhre mit Laserstrahlablenksystem und eine auf das jeweilige Rad ausgerichtete lichtempfindliche Diode ersetzt.In the context of the invention, a technically equivalent solution is used Considered measuring method in which the respective wheel line by line with a laser beam illuminated and that received reflected light and the received The light signal is electronically evaluated together with the pulses controlling the laser beam will. With an appropriate arrangement for carrying out this equivalent measuring method every television camera would be through a laser tube with laser beam deflection system and a Replaced a light-sensitive diode aligned with the respective wheel.
e) Ausführungsbeispiele Das neue Meßverfahren wird anhand der in den Fig. 1 bis 3 dargestellten Ausführungsbeispiele einer Anordnung zur Durchführung des Verfahrens sowie anhand der in den Fig.e) Embodiments The new measuring method is based on the in the Fig. 1 to 3 illustrated embodiments of an arrangement for implementation of the method as well as on the basis of the FIGS.
4 bis 7 dargestellten Diagramme näher erläutert.4 to 7 illustrated diagrams explained in more detail.
Fig. 1 zeigt in schematischer Darstellung das Fahrgestell eines Kraftfahrzeuges, auf dessen Vorderachse die Vorderräder 1 und 2 sowie an dessen Hinterachse die Räder 3 und 4 angeordnet sind. An der Vorderachse ist die Lenkung 5 vorgesehen.Fig. 1 shows a schematic representation of the chassis of a motor vehicle, the front wheels 1 and 2 on its front axle and the wheels on its rear axle 3 and 4 are arranged. The steering 5 is provided on the front axle.
Auf Jeder Seite des Kraftfahrzeuges ist etwa in der Mitte zwischen der Vorderachse und der Hinterachse eine Fernsehkamera 7 bzw. 8 angeordnet,die in der Waagerechten um den Winkel CL schwenkbar ist, um aus zwei verschiedenen Stellungen sowohl das Vorderrad 1 bzw. 2 als auch das Hinterrad 3 bzw. 4 beobachten zu können. Zum Zwecke der Beobachtung ist der dem Felgendurchmesser zugeordnete Kreis 6 eines jeden Rades besonders hervorgehoben. Der jeweilige Kreis wird von der Kamera 7 bzw. 8 aus zwei verschiedenen Positionen beobachtet. Hierzu ist die Fernsehkamera in der Senkrechten um den Abstand h verschiebbar, wie in Fig. 2 dargestellt ist. Aufgrund der verschiedenen Höhenstellungen der Fernsehkamera 8 bzw. 8' läat sich der Abstand der Fernsehkamera zum jeweiligen Rad bzw. zum Mittelpunkt des Kreises 6 ermitteln Die Fernsehkamera 7 bzw. 8 sind derart angeordnet, daß ihre optische Achse mit der jeweiligen Radachse einen Winkel p von etwa 450 oder mehr in der Geradeausstellung der Räder einschließt. Bei Durchführung des erfindungsgemäßen Meßverfahrens ist die Radstellung der gelenkten Räder, d. h. der Vorderräder, gegepenenfalls mehrfach zu verändern. Dabei wird auch der Winkel &, Je nach Größe des Lenkungseinschlages, verändert.On each side of the motor vehicle is roughly in the middle between the front axle and the rear axle a television camera 7 and 8, respectively, which are shown in FIG the horizontal can be pivoted through the angle CL to get from two different positions to be able to observe both the front wheel 1 or 2 and the rear wheel 3 or 4. For the purpose of observation, the circle 6 associated with the rim diameter is one each wheel is highlighted. The respective circle is shown by the camera 7 or 8 observed from two different positions. To do this, the television camera is in of the vertical can be displaced by the distance h, as shown in FIG. Because of the different heights of the television camera 8 or 8 'is the distance the Determine the television camera for the respective wheel or the center of the circle 6 TV cameras 7 and 8 are arranged such that their optical axis with the respective Wheel axis an angle p of about 450 or more in the straight ahead position of the wheels includes. When the measuring method according to the invention is carried out, the wheel position is the steered wheels, d. H. the front wheels, if necessary to be changed several times. The angle & is also changed, depending on the size of the steering angle.
Bei dem in den Fig. 1 und 2 dargestellten Ausführungsbeispiel sind die Fernsehkameras 7 und 8 schwenkbar und in der Senkrechten verschiebbar ausgebildet. Diese Schwenkbarkeit und Verschiebbarkeit kann! ausgeschaltet werden, wenn Jedes Rad mit Hilfe von zwei übereinander angeordneten Kameras beobachtet wird.In the embodiment shown in Figs. 1 and 2 are the television cameras 7 and 8 are designed to be pivotable and vertically displaceable. This pivotability and displaceability can! be turned off when any Wheel is observed with the help of two cameras arranged one above the other.
Bei dem in Fig. 3 dargestellten Ausführungsbeispiel erfolgt die Beobachtung des Rades 4 mittels einer in dem Gehäuse 10 feststehend angeordneten Fernsehkamera 9, deren optische Achse senkrecht von oben nach unten verläuft. Um ein elliptisches Bild des nicht näher dargestellten Felgendurchmesserkreises 6 auf der lichtempfindlichen Schicht der Fernsehaufnahmeröhre zu erzeugen, sind die Umlenkspiegel 11 und 12 vorgesehen, die in der optischen Achse der Fernsehkamera 9 hintereinander angeordnet sind. Dabei ist der kameranahe Umlenkspiegel 11 aus der optischen Achse ausklappbar. "uf diese Weise kann entweder über den Umlenkspiegel 11 oder den Umlenkspiegel 12 das Rad 4 aus zwei verschiedenen Höhenpositionen beobachtet werden. Um mit der dargestellten Anordnung auch das Vorderrad 2 des in Fig. 1 dargestellten Fahrgestells beobachten zu können, sind die umlenkspiegel 11 und 12 in dem Rahmen 13 ange- ordnet, der um die optische Achse der Fernsehkamera 9 drehbar ist. Zweckmäßigerweise wird die Fernsehkamera mitgedreht.In the exemplary embodiment shown in FIG. 3, the observation takes place of the wheel 4 by means of a television camera which is fixedly arranged in the housing 10 9, the optical axis of which runs vertically from top to bottom. To an elliptical Image of the rim diameter circle 6, not shown, on the photosensitive To generate the layer of the television pickup tube, the deflecting mirrors 11 and 12 are provided, which are arranged one behind the other in the optical axis of the television camera 9. Included the deflection mirror 11 close to the camera can be folded out of the optical axis. "uf this Way can either via the deflection mirror 11 or the deflection mirror 12, the wheel 4 can be observed from two different height positions. To deal with the depicted Also observe the arrangement of the front wheel 2 of the chassis shown in FIG. 1 to be able to, the deflecting mirrors 11 and 12 are attached in the frame 13 arranges, which is rotatable about the optical axis of the television camera 9. Appropriately is turned the television camera.
Fig. 4 zeigt das elliptische Bild 6' des Felgendurchmesserkreises 6 eines Rades auf dem Schirm 14 einer Fernsehwiedergaberöhre. Mit Hilfe einer elektronischen Auswertung des Fernsehsignals können beispielsweise fünf beliebige Punkte des elliptischen Bildes ausgewählt und deren Lage in einem XY-Koordinatensystem ermittelt werden. Aufgrund der Koordinaten dieser fünf Punkte können die Durchmesser der Ellipse und damit die Lage des Mittelpunktes bestimmt werden.Fig. 4 shows the elliptical image 6 'of the rim diameter circle 6 of a wheel on the screen 14 of a television display tube. With the help of an electronic Evaluation of the television signal can, for example, any five points of the elliptical Image selected and its position determined in an XY coordinate system. Based on the coordinates of these five points, the diameters of the ellipse and so that the position of the center can be determined.
Bei der Ermittlung der Kenndaten des elliptischen Bildes kann man auch gemäß Fig. 5 vorgehen, wonach von dem elliptischen Bild 6" eines dem Felgendurchmesser zugeordneten Kreises auf dem Bildschirm 15 lediglich zwei Punkte sowie zwei Tangenten ermittelt werden. Ausgehend von den Koordinaten der beiden Ellipsenpunkte sowie den Gleichungen der beiden in diesem Fall horizontal verlaufenden Tangenten können ebenfalls der große und der kleine Durchmesser der Ellipse sowie der Mittelpunkt ermittelt werden.When determining the characteristics of the elliptical image one can also proceed according to FIG. 5, according to which one of the elliptical image 6 ″ is the rim diameter associated circle on the screen 15 only two points and two tangents be determined. Based on the coordinates of the two ellipse points as well the equations of the two tangents running horizontally in this case also the large and small diameters of the ellipse and the center be determined.
Fig. 6 zeigt zusammen mit Fig. 7 ein Beispiel dafür, wie mittels unterschiedlicher Objektive ein einzelner Bildpunkt des elliptischen Bildes 61' aus dem großen Bild 15 im Bildausschnitt 16 vergrößert wiedergegeben um damit genauer ausgemessen werden kann. Um solche ausschnittsweisen Betrachtungen durchführen zu können, ist es notwendig, die Jeweilige Fernsehkamera mit automatisch auswechselbaren ObJektiven unterschiedlicher Brennweite oder mit einem Varioobjektiv auszurüsten.FIG. 6 together with FIG. 7 shows an example of how by means of different Objectives a single pixel of the elliptical image 61 'from the large image 15 reproduced enlarged in the image section 16 in order to be measured more precisely can. In order to be able to carry out such excerpts, it is necessary to the respective television camera with automatically interchangeable lenses of different Focal length or equipped with a varifocal lens.
12 Ansprüche 7 Figuren12 claims 7 figures
Claims (12)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19792948573 DE2948573A1 (en) | 1979-12-03 | 1979-12-03 | Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE19792948573 DE2948573A1 (en) | 1979-12-03 | 1979-12-03 | Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DE2948573A1 true DE2948573A1 (en) | 1981-06-04 |
Family
ID=6087472
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DE19792948573 Ceased DE2948573A1 (en) | 1979-12-03 | 1979-12-03 | Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels |
Country Status (1)
| Country | Link |
|---|---|
| DE (1) | DE2948573A1 (en) |
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| DE3729946A1 (en) * | 1986-10-07 | 1988-04-14 | Iyasaka Seiki Kk | METHOD AND DEVICE FOR MEASURING THE ADJUSTMENT OF VEHICLE WHEELS |
| US4745469A (en) * | 1987-02-18 | 1988-05-17 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
| EP0280941A1 (en) * | 1987-02-18 | 1988-09-07 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
| DE3740777C1 (en) * | 1987-12-02 | 1989-02-23 | Ford Werke Ag | Device for dynamic axle measurement on motor vehicles |
| DE4212426C1 (en) * | 1992-04-14 | 1993-07-01 | Wolfgang 3407 Gleichen De Brunk | Measurement of tracking and camber of vehicle wheel axles - recording markers on rotating wheels using synchronised video cameras, image evaluation of marker positions |
| DE4217702A1 (en) * | 1992-05-24 | 1993-11-25 | Vision Tools Bildanalyse Syste | Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images. |
| US5724743A (en) * | 1992-09-04 | 1998-03-10 | Snap-On Technologies, Inc. | Method and apparatus for determining the alignment of motor vehicle wheels |
| WO1994005969A1 (en) * | 1992-09-04 | 1994-03-17 | Balco, Incorporated | Method and apparatus for determining the alignment of motor vehicle wheels |
| AU669211B2 (en) * | 1992-09-04 | 1996-05-30 | Snap-On Technologies, Inc. | Method and apparatus for determining the alignment of motor vehicle wheels |
| US5535522A (en) * | 1992-09-04 | 1996-07-16 | Jackson; Bernie F. | Method and apparatus for determining the alignment of motor vehicle wheels |
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| US6148528A (en) * | 1992-09-04 | 2000-11-21 | Snap-On Technologies, Inc. | Method and apparatus for determining the alignment of motor vehicle wheels |
| US5368260A (en) * | 1993-11-01 | 1994-11-29 | Canadian Pacific Limited | Wayside monitoring of the angle-of-attack of railway vehicle wheelsets |
| US5600435A (en) * | 1995-05-24 | 1997-02-04 | Fori Automation, Inc. | Intelligent sensor method and apparatus for an optical wheel alignment machine |
| US5731870A (en) * | 1995-05-24 | 1998-03-24 | Fori Automation, Inc. | Intelligent sensor method and apparatus for an optical wheel alignment machine |
| WO1997014016A1 (en) * | 1995-10-10 | 1997-04-17 | Snap-On Technologies, Inc. | Method and apparatus for determining the alignment of motor vehicle wheels |
| US5724128A (en) * | 1995-12-28 | 1998-03-03 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
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| US5675515A (en) * | 1995-12-28 | 1997-10-07 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
| US5724129A (en) * | 1996-04-23 | 1998-03-03 | G.S. S.R.L. | Method for determining vehicle wheel alignments |
| EP0803703A1 (en) * | 1996-04-23 | 1997-10-29 | Snap-on Equipment Srl a unico socio. | A method for determining vehicle wheel alignment |
| WO1998012503A1 (en) * | 1996-09-18 | 1998-03-26 | Snap-On Technologies, Inc. | Calibrating cameras used in alignment of wheels |
| US5978077A (en) * | 1996-10-31 | 1999-11-02 | Fori Automation, Inc. | Non-contact method and apparatus for determining camber and caster of a vehicle wheel |
| US6064750A (en) * | 1997-01-10 | 2000-05-16 | Hunter Engineering Company | Apparatus and method for determining vehicle wheel alignment measurements from three dimensional wheel positions and orientations |
| EP0996868A1 (en) * | 1997-07-10 | 2000-05-03 | Snap-on Technologies, Inc. | Apparatus and method for adjusting wheel alignment camera height |
| EP0996868A4 (en) * | 1997-07-10 | 2002-06-12 | Snap On Tech Inc | Apparatus and method for adjusting wheel alignment camera height |
| EP0895056A3 (en) * | 1997-08-01 | 2000-08-23 | CORGHI S.p.A. | Method and device for regulating the attitude of a motor vehicle. |
| EP0895056A2 (en) * | 1997-08-01 | 1999-02-03 | CORGHI S.p.A. | Method and device for regulating the attitude of a motor vehicle. |
| US6341013B1 (en) | 1997-08-01 | 2002-01-22 | Corghi S.P.A. | Method and device for regulating the attitude of a motor vehicle |
| DE19757763A1 (en) * | 1997-12-23 | 1999-07-01 | Bosch Gmbh Robert | Device for determining the wheel and / or axle geometry of motor vehicles |
| US6404486B1 (en) | 1997-12-23 | 2002-06-11 | Robert Bosch Gmbh | Device for determining the geometry of a wheel and/or axle in motor vehicles |
| US7065462B2 (en) | 1998-07-24 | 2006-06-20 | Merilab, Inc. | Vehicle wheel alignment by rotating vision sensor |
| US6178358B1 (en) * | 1998-10-27 | 2001-01-23 | Hunter Engineering Company | Three-dimensional virtual view wheel alignment display system |
| US6959253B2 (en) | 2000-03-23 | 2005-10-25 | Snap-On Incorporated | Self-calibrating, multi-camera machine vision measuring system |
| WO2001077637A1 (en) * | 2000-04-12 | 2001-10-18 | Gieffe Immobiliare S.N.C. Di Gianfranco Crosta & C. | Method and apparatus for checking the slacks in the suspension and steering of a motor vehicle |
| WO2001077617A1 (en) * | 2000-04-12 | 2001-10-18 | Gieffe Immobiliare S.N.C. Di Gianfranco Crosta & C. | Measuring vehicle wheel alignment with video cameras and repeated approximation calculations |
| US6931340B2 (en) | 2000-05-22 | 2005-08-16 | Snap-On Incorporated | Self-calibrating, multi-camera machine vision measuring system |
| WO2002003027A1 (en) * | 2000-07-04 | 2002-01-10 | Robert Bosch Gmbh | Geometrical wheel data, geometrical axle data and bodywork displacement data comprising wheel markers configured at the production stage |
| EP1184640A2 (en) * | 2000-09-02 | 2002-03-06 | Beissbarth GmbH | Arrangement for vehicle geometry measurement |
| EP1184640B1 (en) * | 2000-09-02 | 2007-06-06 | Beissbarth GmbH | Arrangement for vehicle geometry measurement |
| US6839972B2 (en) | 2001-06-15 | 2005-01-11 | Snap-On Incorporated | Self-calibrating position determination system |
| US7062861B2 (en) | 2001-06-28 | 2006-06-20 | Snap-On Incorporated | Self-calibrating position determination system and user interface |
| US6842238B2 (en) | 2002-02-04 | 2005-01-11 | Corghi S.P.A. | Device for measuring the parameters of a vehicle characteristic attitude |
| US6894771B1 (en) | 2002-05-15 | 2005-05-17 | Hunter Engineering Company | Wheel alignment apparatus and method utilizing three-dimensional imaging |
| WO2004011879A1 (en) * | 2002-07-25 | 2004-02-05 | Arvinmeritor Do Brasil Sistemas Automotivos Ltda. | System and method for controlling the shape and alignment of wheels |
| US7230694B2 (en) | 2003-08-05 | 2007-06-12 | Siemens Aktiengesellschaft | Method for determining an axle geometry and sensor for its execution |
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| US7453559B2 (en) * | 2003-10-09 | 2008-11-18 | Hunter Engineering Company | Vehicle lift reference system for movable machine-vision alignment system sensors |
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| WO2006074026A1 (en) * | 2004-12-30 | 2006-07-13 | Snap-On Incorporated | Non-contact vehicle measurement method and system |
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