CN102893123B - For the method determining the oscillating motion of vehicle wheels - Google Patents
For the method determining the oscillating motion of vehicle wheels Download PDFInfo
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- CN102893123B CN102893123B CN201180016719.9A CN201180016719A CN102893123B CN 102893123 B CN102893123 B CN 102893123B CN 201180016719 A CN201180016719 A CN 201180016719A CN 102893123 B CN102893123 B CN 102893123B
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000002372 labelling Methods 0.000 claims abstract description 52
- 238000012937 correction Methods 0.000 claims abstract description 12
- 238000005259 measurement Methods 0.000 claims description 18
- 238000013519 translation Methods 0.000 claims description 6
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- 238000001514 detection method Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
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Abstract
Advise a kind of oscillating motion for determining vehicle wheels (10) in the scope that vehicle bridge is measured and/or the method for the oscillating motion of Measuring Object being placed on vehicle wheels (10).Implement described oscillating motion relative to the rotary shaft of the wheel accurately (14) of vehicle wheels (10) and determine at least one correction value between wheel rotary shaft (14) and reference axis (18) accurately.At least two is detected present on vehicle wheels (10) or in order to measure the wheel labelling (12) being placed and be assessed by the apparatus for evaluating (13) being arranged in downstream at motor-driven vehicle going by period by means of at least one image unit (11).The wheel labelling (12) driving through period picked-up is utilized to determine wheel coordinate system K01 and labelling coordinate system K02.In order to determine that described correction value makes described wheel coordinate system K01 and described labelling coordinate system K02 interrelated.
Description
Technical field
The present invention relates in the scope that vehicle bridge is measured for determining the method for the oscillating motion of vehicle wheels or for the method determining the oscillating motion of the Measuring Object being placed on vehicle wheels.
Background technology
By the known a kind of object for determining rotation of DE2313087C3 relative to the device of the oscillating motion of its actual rotary shaft.In the case, fixing reference element on the object of this rotation, this reference cell produces the sine-shaped reference value similar with the oscillating motion of object.Employing the control element being staggered 180 °, these control parts for determining orientation in predetermined first plane and in the plane of 90 ° relative to this first Plane Rotation.This invention uses the fact that, i.e. if vehicle wheel rotation, then a kind of sine-shaped curve would be followed in the oscillating motion of wheel.If mutually at a distance of the measurement point detection oscillating motion of 180 ° and be added and two measured values divided by 2 at two, then can obtain a meansigma methods, this meansigma methods provides the actual Plane of rotation of wheel.
By a kind of known contactless method compensated for wheel rim beat of EP1857774Bl.Wherein, the rotational angle one side of wheel is calculated by affiliated effective rolling radius by rolling distance and the another aspect of wheel, and wherein, the rolling distance of wheel is determined by the displacement of movable plate.In the case, the beginning and end of displacement is not only measured and it is necessary to implement continuous print range measurement.The determination of the effective rolling radius of wheel is preferably carried out by the camera review data of the wheel during vehicle wheel rotation.
Summary of the invention
It is to determine the oscillating motion relative to wheel rotary shaft accurately of Measuring Object that the oscillating motion of vehicle wheels and/or determine is arranged on vehicle wheels according to the feature of the method for the present invention.Utilize at least one image unit, at motor-driven vehicle going by period, detection at least two is being arranged on Measuring Object on vehicle wheels, that have the wheel labelling existed thereon and is being estimated by the apparatus for evaluating being arranged in downstream present on vehicle wheels or in order to measure wheel labelling mounted thereto or detection.Utilize (record) wheel labelling of picked-up during travelling, limit an a wheel coordinate system K01 and labelling coordinate system K02.Wheel coordinate system K01 and labelling coordinate system K02 is associated, in order to determine at reference axis and correction value between wheel rotary shaft accurately.
Have the advantage that according to the method for the present invention, i.e. need not fix reference element or other the object assisting to measure on vehicle wheels.This greatly reduces the working cost for determining oscillating motion.Additionally, obtain the safety in operation improved, because Measuring Object that is that outside need not be relied on or that be fixed on wheel.The method used in image processing has the highest degree of accuracy and can measure under the least cost simultaneously.
Owing to during driving through, detection (collection), at the image of wheel labelling present on motor vehicles, therefore can determine oscillating motion very fast.At least one correction value can be incorporated into disposed behind in the method that vehicle bridge is measured, as being such as used for determining wheelspan, camber or kingpin inclination.
Can use in ensuing assessment (customary) program for the wheel coordinate system K01 and labelling coordinate system K02 of the method, thus the computational costs reduction of the calculated example line program subsequently for apparatus for evaluating.
It is particularly advantageous according to the cost of the method for the present invention, because not having additional component to need to be incorporated in vehicle bridge measurement apparatus.At least one image unit, it is the wheel labelling on explorer motor vehicle wheels during motor-driven vehicle going, and the apparatus for evaluating being arranged on downstream the most all belongs to a vehicle bridge measurement apparatus.
The favourable expansion scheme of the present invention can be realized by the measure in following technical proposals.
Particularly advantageously, there is axle XR, the wheel coordinate system K01 of YR with ZR and initial point OR is limited by the wheel center of rotation on initial point OR and the rotary shaft of wheel accurately parallel with axle YR because employ a kind of for determine wheel rotary shaft and wheel center of rotation accurately the most accurately with simple method.
Another advantage thus obtains, and i.e. has axle XM, and the labelling coordinate system K02 of YM, ZM and initial point OM is limited by the position of at least two wheel labelling.If only two wheel labellings and previously determined wheel center of rotation are input in assessment, then the determination of labelling coordinate system K02 needs less computational costs.
If by making coordinate system K01 and K02 be linked to each other on their position, measure start time just it has been determined that angle rx, ry, rz and/or eccentric distance e x, ey, ez, then this proves favourable.These values can be stored and rapidly for appraisal procedure subsequently under the least expense.
If considering at least one angle as correction value, this angle limits wheel rotary shaft and the mutual position of reference axis accurately, then can particularly simple conversion Calculation algorithm.
A kind of image conversion by them and the simple advantageous approach that describes is to describe correction value by least one angle, this at least one angle is limited by the subtended angle δ and/or phase directional α of a cone, described subtended angle δ is described by reference axis, and described phase directional α provides reference axis position in cone.
Formula δ=arccos (cos (rx) cos (rz)) and formula α=arctan ((-cos (rx) sin (rz))/sin (rx)) is used under considering angle rx and rz) it is favourable, because it is possible to accurately and rapidly assess the oscillating motion of vehicle wheels.
Another advantage is determined by phase directional α and obtains, because oscillating motion depends on phase directional α and affects wheelspan and the camber of vehicle wheels to some extent with vehicle wheel rotation change in time.
Angle δ and α are used for corrective action and obtain by the scope measured in vehicle bridge by one particular advantage because can contactless vehicle bridge measure with as be contactless determine set up preferable relation between oscillating motion.
One similar advantage by using angle rx in the scope that vehicle bridge is measured, ry, rz and eccentric distance e x, ey, ez and obtain because by the substantial amounts of value for determining tire location, make contactless vehicle bridge measurement improve degree of accuracy.
Accompanying drawing explanation
Embodiments of the invention are shown in the drawings and explain in the following description.
Shown in accompanying drawing:
Fig. 1 is the schematic diagram of a kind of arrangement of vehicle bridge measurement apparatus,
Fig. 2 is wheel coordinate system K01 and the view of labelling coordinate system K02, and
Fig. 3 is according to wheel coordinate system K01 and the eccentric throw of the vehicle wheels of labelling coordinate system K02 and the view of wheel rim beat.
Detailed description of the invention
The arrangement of the measurement apparatus 9 that figure 1 illustrates has image unit 11, and it crosses the image (photo) of period picked-up vehicle wheels 10, and apparatus for evaluating 13 from the side at motor vehicles.Measurement apparatus 9 is typically the ingredient with the vehicle bridge measurement apparatus of running rail or melt pit.Image unit 11 can comprise a measurement video camera maybe can also comprise multiple measurement video camera.Furthermore, it is possible to realize a kind of arrangement with multiple image unit 11, these image units simultaneously absorb the image of whole four wheels of motor vehicles when motor vehicles crosses.
Image unit 11 is connected with apparatus for evaluating 13, apparatus for evaluating assessment and the image of place's reason image unit 11 shooting further.Apparatus for evaluating 13 has display or is connected with workshop computer, the result of its display assessment.If using multiple image unit 11 to shoot whole four wheels, then they or can be connected or respectively have the apparatus for evaluating of oneself with a central apparatus for evaluating, and this apparatus for evaluating can also be integrated in image unit 11.
According to Fig. 1, vehicle wheels 10 is provided with at least two wheel labelling 12, on these wheel labellings or Already in vehicle wheels 10, or is placed in extraly on wheel to measure.In addition can dispose Measuring Object on vehicle wheels 10, such as, measure plate (target), arrange at least two wheel labelling 12 on plate measuring.Measuring Object fixing with vehicle wheels 10 must be connected and change its position relative to vehicle wheels 10 during rotational motion not in vehicle wheels 10.Depict the rotary shaft of wheel accurately 14, wheel center of rotation 16 and the wheel plane 15 of vehicle wheels 10 the most in FIG.
The rotary shaft of wheel accurately 14 and the wheel center of rotation 16 of vehicle wheels 10 is determined by the wheel labelling 12 that image unit 11 shoots by means of crossing period at motor vehicles.It is being used herein as known method, the method inverse wheel labelling 12 motion on a circuit orbit and determine the rotary shaft of wheel accurately 14 and the wheel center of rotation 16 of vehicle wheels 10 whereby.By wheel rotary shaft accurately 14 and vehicle wheels 10 or the intersection point of outer surface of wheel rim determine wheel center of rotation 16.It is assumed hereinafter that, wheel center of rotation 16 is positioned on the outer surface of vehicle wheels 10 or wheel rim.But can also determine that another point in wheel rotary shaft 14 accurately is as wheel center of rotation 16.The wheel plane 15 of vehicle wheels 10 is described by a face vertical with the rotary shaft 14 of wheel accurately by wheel center of rotation 16.
A Descartes wheel coordinate system K01 is determined by means of wheel rotary shaft 14 accurately and wheel center of rotation 16.This wheel coordinate system K01 is described by axle XR, axle YR, axle ZR and initial point OR.It is limited by the wheel center of rotation 16 and the rotary shaft of wheel accurately 14 parallel with axle YR being positioned at initial point OR.The position of axle XR and ZR at random can select in wheel plane 15.Wheel coordinate system K01 is space fixing (joining with space correlation) and is counted as global coordinate system (global coordinate system) following.
Additionally, in the 2D(two dimension of the wheel labelling 12 crossing period picked-up from the side) coordinate become the 3D(three-dimensional by inverse) coordinate, such that it is able to be given at motor vehicles to cross the position accurately of period wheel labelling 12 from the side.3D coordinate and wheel center of rotation 16 by least two wheel labelling 12 can limit a Descartes labelling coordinate system K02.Having axle XM, axle YM, the labelling coordinate system K02 of axle ZM and initial point OM is determined by position and the wheel center of rotation 16 of two wheel labellings 12.Can arbitrarily select the position of initial point OM in the case.But it is further suitable that and initial point OM is placed on the wheel center of rotation 16 of vehicle wheels 10.Two axle XM and ZM are positioned in a flash labelling rotational plane, and this flash labelling rotational plane is formed by least two wheel labelling 12 and center of rotation 16.Replace wheel center of rotation 16 and two wheel labellings 12, it is also possible to formed this flash labelling rotational plane by least three wheel labelling 12.Axle YM is perpendicular to flash labelling rotational plane and extends.Owing to wheel labelling 12 is motion during vehicle wheels 10 rotary motion, therefore labelling coordinate system K02 is rotated.
If the shape defect of tire or wheel rim occurs on vehicle wheels 10, then vehicle wheels 10 carries out oscillating motion (outer pendular motion (Taumelbewegung)).This is also been described as wheel rim beat in automotive engineering.The shape defect of wheel rim can produce in the case of rim flange has malalignment relative to central plane of wheel.Other shape defect can produce due to the damage after travelling on barrier.If in order to vehicle bridge measure and use the measurement plate (target) described in beginning, then can by the shape defect of this measurement plate or by by measurement plate be fixed on vehicle wheels 10 time defect formed one instrument beat (Ger teschlag).Hereinafter investigate the summation of all these factor causing oscillating motion and be referred to as wheel rim beat.
Illustrate below a kind of in the range of measuring, to determine the oscillating motion of vehicle wheels 10 and/or the method for the oscillating motion measuring plate being arranged on vehicle wheels 10 in vehicle bridge.Oscillating motion is described by the motion of reference axis 18 and by determining at least one correction value between wheel rotary shaft 14 and reference axis 18 accurately.Make described coordinate system K01 and K02 interrelated for this.
Wheel coordinate system K01 is as having axle XR, YR, the world coordinates system of ZR and initial point OR describes the wheel coordinate system K01 of vehicle wheels 10, during the wheel center of rotation 16 of wheel rotary shaft 14, wheel plane 15 and vehicle wheels 10 also is located at this wheel coordinate system accurately.
Having axle XM, the labelling coordinate system K02 of YM, ZM and initial point OM describes the labelling coordinate system K02 of the position changing it according to wheel position.
Show wheel coordinate system K01 and labelling coordinate system K02 in figs. 2 and 3.Initial point OM is not placed on wheel center of rotation 16 when defined label coordinate system K02, so that eccentric distance e x, eccentric distance e y and the position of eccentric distance e z to be described.In addition by the position learning angle rx, angle ry and angle rz in figure.
Eccentric distance e x, ey and ez and angle rx can be passed through in two positions mutual for coordinate system K01 and K02, and ry, rz describe.Skew if there is two coordinate system K01 and K02, then eccentric distance e x provides the amount of the skew along axle XR, eccentric distance e y provides the amount of the skew along axle YR and eccentric distance e z provides the amount of the skew along axle ZR.
If two coordinate system K01 and K02 are consequentially rotated on their position, then, in the case of hypothesis does not exist translation and YM is projected in plane YRZR, angle rx is given at the angle between axle YR and YM.In the case of hypothesis does not exist translation and XM is projected in plane XRZR, angle ry is given at the angle between axle XR and XM.In the case of hypothesis does not exist translation and ZM is projected in plane XRYR, angle rz is given at the angle between axle YR and YM.
If there is wheel rim beat, if OM with OR is consistent, then the axle YM of labelling coordinate system K02 depicts a cone 17 around the axle YR of wheel coordinate system K01.In the case, axle YR forms the axle of cone 17.If two initial point OR and OM are not overlapped, then the axle YM of labelling coordinate system K02 depicts a cone 17 around axle YR', this axle YR' is parallel to axle YR and is offset by eccentric distance e x, ey and ez (Fig. 3).
If there is no wheel rim beat, then the axle YR of the axle YM of labelling coordinate system K02 and wheel coordinate system K01 is parallel and angle rx and rz are zero (rx=0, rz=0).
In order to determine the oscillating motion of vehicle wheels 10, axle YM is selected as reference axis 18 and determines that at least one is at reference axis 18 and correction value between wheel rotary shaft 14 accurately.Correction value is given by a fixing amount and/or phase directional α (Phasenrichtung), and this fixing amount is equal with the subtended angle δ of cone 17, and this phase directional α describes the reference axis 18 position on cone 17.Subtended angle δ and phase directional α can calculate by means of the formula that angle rx and rz are given by the following.Subtended angle δ passes through formula
δ= arccos(cos(rx)cos(rz))
Calculate.Phase directional α passes through formula
α= arctan((-cos(rx)sin(rz))/sin(rx)))
Calculate.Owing to phase directional α depends on wheel position, therefore can also depend on the time and/or wheel position provides the reference axis 18 time changing curve on cone 17 or position.
Wheel rim beat can be accurately determined in the range of vehicle bridge is measured by means of method presented above.The accurate value of subtended angle δ and/or phase directional α may be used for determining and calculate other relevant parameter in vehicle bridge is measured, such as such as wheelspan, camber and kingpin inclination.
If image unit 11 is arranged in the starting point of vehicle bridge measurement apparatus or sails in region, so during sailing into measurement place, it is assured that subtended angle δ and/or phase directional α and/or other parameter ex, ey, ez, rx, ry, rz and be incorporated into following in the method that vehicle bridge is measured and/or in the method for wheel alignment (Wheel alignment).
Claims (8)
- null1. for the oscillating motion determining vehicle wheels (10) in the scope that vehicle bridge is measured and/or the method for the oscillating motion of Measuring Object being placed on vehicle wheels (10)，Wherein，Described oscillating motion is implemented relative to the rotary shaft of the wheel accurately (14) of vehicle wheels (10)，Wherein，Determined at least one correction value between wheel rotary shaft (14) and reference axis (18) accurately by apparatus for evaluating (13)，It is characterized in that，During motor-driven vehicle going, at least two is detected present on vehicle wheels (10) or in order to measure the wheel labelling (12) being placed and be utilized the wheel labelling (12) of picked-up during travelling to determine wheel coordinate system K01 and labelling coordinate system K02 by the apparatus for evaluating (13) being arranged in image unit (11) downstream by means of at least one image unit (11)，And in order to determine described correction value，Make described wheel coordinate system K01 and described labelling coordinate system K02 interrelated，Wherein there is axle XR，The described wheel coordinate system K01 of YR with ZR and initial point OR by wheel center of rotation (16) on initial point OR and parallel with axle YR described in accurately wheel rotary shaft (14) limit，Wherein there is axle XM，The described labelling coordinate system K02 of YM and ZM and initial point OM is limited by the position of at least two wheel labelling (12)，Wherein said wheel coordinate system K01 and described labelling coordinate system K02 is linked to each other on their position by angle rx and/or angle ry and/or angle rz and/or eccentric distance e x and/or eccentric distance e y and/or eccentric distance e z，Wherein in the case of the skew that there are two coordinate system K01 and K02，Eccentric distance e x provides the amount of the skew along axle XR，Eccentric distance e y provides the amount of the skew along axle YR and eccentric distance e z provides the amount of the skew along axle ZR；And wherein in the case of two coordinate system K01 and K02 are consequentially rotated on their position: in the case of hypothesis does not exist translation and YM is projected in plane YRZR, angle rx is given at the angle between axle YR and YM, in the case of there is not translation in hypothesis and XM is projected in plane XRZR, angle ry is given at the angle between axle XR and XM, in the case of there is not translation in hypothesis and ZM is projected in plane XRYR, angle rz is given at the angle between axle YR and YM, wherein said axle YM is selected as described reference axis (18).
- The most in accordance with the method for claim 1, it is characterised in that by the position that correction value described at least one angle-determining, at least one angle described described reference axis of restriction (18) and the described rotary shaft of wheel accurately (14) are mutual.
- The most in accordance with the method for claim 2, it is characterized in that, a cone (17) around the axle YR of wheel coordinate system K01 is depicted by the axle YM of labelling coordinate system K02, by the subtended angle δ of described cone (17) and/or limit described angle by a phase directional α, described subtended angle δ is limited by described reference axis (18), and described phase directional α describes the described reference axis (18) position on described cone (17).
- The most in accordance with the method for claim 3, it is characterised in that under considering angle rx and rz, calculate described subtended angle δ by means of formula δ=arccos (cos (rx) cos (rz)).
- The most in accordance with the method for claim 3, it is characterised in that under considering angle rx and rz by means of formula α= Arctan ((-cos (rx) sin (rz))/sin (rx)) calculates described phase directional α.
- The most in accordance with the method for claim 5, it is characterised in that determine described phase directional α change on wheel rotation is gone around in time.
- The most in accordance with the method for claim 3, it is characterised in that described subtended angle δ and/or described angle [alpha] are used to correct for measure in the scope of the vehicle bridge measurement of vehicle wheels (10).
- The most in accordance with the method for claim 1, it is characterised in that at least one angle rx, ry, rz and/or at least one eccentric distance e x, ey, ez are used to correct for measure in the scope of the vehicle bridge measurement of vehicle wheels (10).
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010003461A DE102010003461A1 (en) | 2010-03-30 | 2010-03-30 | Method for determining the tumbling motion of a vehicle wheel |
| DE102010003461.4 | 2010-03-30 | ||
| PCT/EP2011/053064 WO2011120749A1 (en) | 2010-03-30 | 2011-03-02 | Method for determining the tumbling motion of a vehicle wheel |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102893123A CN102893123A (en) | 2013-01-23 |
| CN102893123B true CN102893123B (en) | 2016-12-14 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1415392A (en) * | 1972-03-17 | 1975-11-26 | Hunter Eng Co | Electronic run-out compensator and amethod of electronically compensating for wobble runout in a rotating body |
| CN1227629A (en) * | 1996-07-04 | 1999-09-01 | 太阳电英国有限公司 | Apparatus and method for tire condition assessment |
| CN1283265A (en) * | 1997-12-23 | 2001-02-07 | 罗伯特·博施有限公司 | Device for determining geometry of wheel and/or exle in motor vehicles |
| CN1283266A (en) * | 1997-12-23 | 2001-02-07 | 罗伯特·博施有限公司 | Device for determining wheel and/or axle geometry of motor vehicles |
| US6341013B1 (en) * | 1997-08-01 | 2002-01-22 | Corghi S.P.A. | Method and device for regulating the attitude of a motor vehicle |
| EP1857774A1 (en) * | 2006-05-15 | 2007-11-21 | Otto Nussbaum GmbH & Co. KG | Method and device for wheel run-out compensation in axis measurement |
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1415392A (en) * | 1972-03-17 | 1975-11-26 | Hunter Eng Co | Electronic run-out compensator and amethod of electronically compensating for wobble runout in a rotating body |
| CN1227629A (en) * | 1996-07-04 | 1999-09-01 | 太阳电英国有限公司 | Apparatus and method for tire condition assessment |
| US6341013B1 (en) * | 1997-08-01 | 2002-01-22 | Corghi S.P.A. | Method and device for regulating the attitude of a motor vehicle |
| CN1283265A (en) * | 1997-12-23 | 2001-02-07 | 罗伯特·博施有限公司 | Device for determining geometry of wheel and/or exle in motor vehicles |
| CN1283266A (en) * | 1997-12-23 | 2001-02-07 | 罗伯特·博施有限公司 | Device for determining wheel and/or axle geometry of motor vehicles |
| EP1857774A1 (en) * | 2006-05-15 | 2007-11-21 | Otto Nussbaum GmbH & Co. KG | Method and device for wheel run-out compensation in axis measurement |
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