DE4217702A1 - Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images. - Google Patents
Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images.Info
- Publication number
- DE4217702A1 DE4217702A1 DE19924217702 DE4217702A DE4217702A1 DE 4217702 A1 DE4217702 A1 DE 4217702A1 DE 19924217702 DE19924217702 DE 19924217702 DE 4217702 A DE4217702 A DE 4217702A DE 4217702 A1 DE4217702 A1 DE 4217702A1
- Authority
- DE
- Germany
- Prior art keywords
- camera
- images
- wheel
- symmetrical
- approximately
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
- G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
- G01B2210/10—Wheel alignment
- G01B2210/14—One or more cameras or other optical devices capable of acquiring a two-dimensional image
- G01B2210/146—Two or more cameras imaging the same area
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
Die Erfindung betrifft die berührungslose Vermessung der Position der Radmitte sowie die berührungslose Vermessung von Sturz und Spur von Kraftfahrzeugen.The invention relates to the contactless measurement of Position of the wheel center as well as the contactless measurement of camber and trace of motor vehicles.
In der Kraftfahrzeug-Produktion müssen Sturz und Spur der Räder automatisch vermessen werden. Eine außerhalb des Pro duktionsbereichs (Laborbereich) verwendete Methode besteht darin, daß auf der Radmitte ein Spiegel montiert wird, durch den fest montierte Licht-Marken beobachtet werden. Aus der Position der Marken im Spiegelbild kann man auf die Win kel "Sturz" und "Spur" zurückschließen. Im Produktionsbereich ist der Aufwand für die Montage der Spiegel (meist sehr un terschiedliche Radtypen) zu hoch; hier werden bisher im we sentlichen mechanisch abtastende Verfahren eingesetzt.In motor vehicle production, the fall and trace of the Wheels are measured automatically. One outside the pro production area (laboratory area) in that a mirror is mounted on the center of the wheel the fixed light marks are observed. Out the position of the brands in the reflection can be seen on the win Close "camber" and "track". In the production area is the effort for the assembly of the mirrors (mostly very un different types of bikes) too high; so far here in the we significant mechanical scanning methods used.
Bei den mechanischen Verfahren wird zunächst die Position des Zentrums des Rades am Umfang mechanisch abgetastet, anschlie ßend werden in zentraler Position bei sich drehenden Rädern die Reifen seitlich über Walzen an mindestens drei Stellen abgetastet, um daraus Sturz und Spurwinkel abzuleiten.In the mechanical process, the position of the Center of the wheel mechanically scanned on the circumference, then be eating in a central position with the wheels turning the tires laterally over rollers in at least three places scanned to derive camber and toe angle.
Nachteil der mechanischen Verfahren sind:Disadvantages of the mechanical processes are:
- 1. Das mechanische Antasten zur Radmitten-Bestimmung erfor dert viel Zeit und führt zu einer "verbauten" Gesamtkon struktion.1. The mechanical probing for wheel center determination takes a lot of time and leads to a "built-in" overall con structure.
- 2. Unebenheiten der seitlichen Reifen-Oberfläche (eingegos sene Schriftzüge etc.) müssen rechnerisch herausgemittelt werden. Eine mechanische Abtastung der Felgen wäre in die ser Hinsicht günstiger, ist aber wegen verschiedener Fel gengeometrien i.a. nicht möglich.2. Unevenness of the side tire surface (cast in these letters, etc.) must be averaged out arithmetically will. A mechanical scanning of the rims would be in the This is cheaper, but is due to different fields gene geometries i.a. not possible.
Aufgabe der Erfindung ist es, durch ein berührungsloses Meß verfahren die genannten Nachteile zu vermeiden.The object of the invention is by a non-contact measurement proceed to avoid the disadvantages mentioned.
Aufgabe 1: Vermessen der Position der Radmitte.Task 1 : Measure the position of the wheel center.
Aufgabe 2: Vermessen von Sturz und Spur.Task 2 : Measure camber and track.
Beide Aufgaben werden erfindungsgemäß dadurch gelöst, daß eine Anordnung von Bild-Aufnahme-Einrichtungen (Kameras, nach derzeitigem Stand der Technik normalerweise CCD-Kame ras), im folgenden einfach Kameras genannt, und eine Be leuchtungseinrichtung derart mechanisch positioniert werden, daß die entstehenden Bilder entweder untereinander oder in sich selbst symmetrisch erscheinen. In dieser Stellung ste hen die Kameras (steht die Kamera) und die Beleuchtung sym metrisch zum Rad. Das Verfahren nutzt die Tatsache aus, daß jedes Rad, unabhängig vom Felgen- und Nabentyp, gewisse Symmetrien aufweist. Zumindest das Felgenhorn ist kreis förmig und damit sowohl spiegel- als auch punktsymmetrisch. According to the invention, both objects are achieved in that an arrangement of image recording devices (cameras, according to the current state of the art, CCD cameras are usually used ras), hereinafter simply called cameras, and a Be lighting device can be mechanically positioned such that the resulting pictures either with each other or in appear symmetrical to themselves. In this position the cameras (the camera is standing) and the lighting sym metric to the wheel. The method takes advantage of the fact that each wheel, regardless of the type of rims and hubs, certain Has symmetries. At least the rim flange is circular shaped and thus both mirror and point symmetrical.
In einer ersten Ausführung (Fig. 1) zur Vermessung der Höhe der Radmitte wird eine im wesentlichen horizontal montierte Kamera (1) vertikal bewegt. Eine Beleuchtungseinrichtung (2) ist in vertikaler Richtung im wesentlichen symmetrisch zur Kameraachse angeordnet. Kamera (und ggf. auch die Beleuchtung) werden vertikal so bewegt, daß im Bild die horizontale Sym metrieachse an einer vorbestimmten Stelle (z. B. Bildmitte) zu liegen kommt. Bei genau horizontal ausgerichteter Kamera steht die Kamera dann genau auf der Höhe der Radmitte.In a first embodiment ( FIG. 1) for measuring the height of the wheel center, an essentially horizontally mounted camera ( 1 ) is moved vertically. An illumination device ( 2 ) is arranged in the vertical direction essentially symmetrically to the camera axis. The camera (and possibly also the lighting) are moved vertically so that the horizontal symmetry axis comes to lie in a predetermined position (e.g. center of the image) in the image. If the camera is aligned exactly horizontally, the camera is then exactly at the level of the center of the wheel.
Eine zweite Ausführung zur Vermessung von Sturz und Spur ist in Fig. 2 vereinfachend lediglich für einen der beiden Winkel dargestellt. Zur Vermessung des Spurwinkels sind nach Fig. 2 zwei Kameras (1) und eine Beleuchtungseinrichtung symmetrisch angeordnet. Die gesamte Kamera-Anordnung kann gegen das Rad in Richtung des Spurwinkels verkippt werden ("Verstellwinkel" in Fig. 2) und in der angegebenen "Verstellrichtung" verschoben werden. Nach der vorläufigen Radmittensuche (s. o.) wird die gesamte Anordnung so verdreht und verschoben, daß die beiden Kamerabilder optimale Symmetrieeigenschaften aufweisen. Der dann eingestellte Drehwinkel entspricht direkt dem Spurwinkel. Die Symmetrieeigenschaft kann wie folgt berechnet und bewertet werden: man spiegelt rechnerisch eines der Bilder und führt dann einen direkten Bildvergleich durch (z. B. Aufsummieren der Grauwerte eines Differenz-Betrags-Bildes), wobei zur Bestimmung der Symmetrieachse eines der Bilder senkrecht zur Spiegelachse schrittweise verschoben werden kann.A second embodiment for measuring camber and toe is shown in FIG. 2 in a simplified manner only for one of the two angles. In order to measure the toe angle 2 two cameras (1) and an illumination device of FIG. Symmetrically arranged. The entire camera arrangement can be tilted against the wheel in the direction of the toe angle (“adjustment angle” in FIG. 2) and shifted in the “adjustment direction” specified. After the preliminary wheel center search (see above), the entire arrangement is rotated and shifted so that the two camera images have optimal symmetry properties. The angle of rotation then set corresponds directly to the track angle. The symmetry property can be calculated and evaluated as follows: one arithmetically mirrors one of the images and then performs a direct image comparison (e.g. adding up the gray values of a difference-magnitude image), with one of the images determining the axis of symmetry perpendicular to the mirror axis can be shifted gradually.
Die Kombination für Sturz- und Spurwinkel ergibt sich in naheliegender Weise aus der nochmaligen Montage der glei chen, um 90 Grad gedrehten Anordnung, also einer Anordnung mit insgesamt 4 Kameras. Grundsätzlich sind in der Praxis auch drei Kameras ausreichend (theoretisch sind zwei Kameras ausreichend, aus Gründen der geometrischen Genauigkeit sind jedoch mindestens drei Kameras erforderlich). Bei Einsatz von drei Kameras erfolgt die Berechnung der Symmetrie wie oben beschrieben, es sind lediglich die Spiegelachsen entsprechend zu drehen.The combination for camber and toe angles results in obvious way from the repeated assembly of the same Chen arrangement rotated by 90 degrees, i.e. an arrangement with a total of 4 cameras. Basically are in practice three cameras are also sufficient (theoretically two cameras are are sufficient for reasons of geometric accuracy however at least three cameras required). When using three cameras calculate the symmetry as above described, only the mirror axes are corresponding to turn.
Das beschriebene Verfahren hat die folgenden Vorteile:The described method has the following advantages:
- - Es hat die bekannten Vorteile einer berührungslosen Messung gegenüber einer tastenden Messung.- It has the known advantages of a contactless measurement compared to a probing measurement.
- - Es wertet Felge und Radnabe aus, störende Muster auf der Reifen-Außenseite haben keinen Einfluß. Felge und Radnabe sind per se sehr genau positioniert.- It evaluates rim and wheel hub, disruptive patterns on the The outside of the tire has no influence. Rim and wheel hub are very precisely positioned per se.
- - Es funktioniert völlig unabhängig vom vorliegenden Rad-Typ, dem Felgentyp (Stahlfelgen, Aluminiumfelgen, Felgendesign) und der vorliegenden Radgröße.- It works completely regardless of the type of bike, the rim type (steel rims, aluminum rims, rim design) and the present wheel size.
- - Da in der Endstellung die gesamte Anordnung "Rad-Beleuchtung- Kamera(s)" symmetrisch ist, treten nicht vorhersehbare Licht reflexe auch in symmetrischer Weise auf und stören also nicht das Meßergebnis. Bei sehr genauer Vorab-Justage der Symmetrie der Anordnung "Beleuchtung-Kamera(s)" erhöhen spiegelnde, punk tuelle Reflexe sogar die Genauigkeit des Ergebnisses!- Since in the end position the entire arrangement "wheel lighting- Camera (s) "is symmetrical, unpredictable light occurs reflect in a symmetrical way and therefore do not interfere the measurement result. With very precise advance adjustment of the symmetry the arrangement "lighting camera (s)" increase reflective, punk tual reflexes even the accuracy of the result!
Claims (5)
- 1. Eine oder mehrere Kameras werden mechanisch beweglich ange ordnet.
- 2. Die Kamera(s) wird (werden) derart mechanisch positioniert
und/oder orientiert, daß
das von der Kamera aufgenommene Bild in sich selbst symme trisch erscheint bzw.
die von den Kameras aufgenommenen Bilder untereinander symmetrisch erscheinen.
- 1. One or more cameras are arranged mechanically movable.
- 2. The camera (s) is (are) mechanically positioned and / or oriented such that
the picture taken by the camera appears symmetrical in itself or
the images recorded by the cameras appear symmetrical to each other.
- 1. Eine Kamera wird mechanisch beweglich angeordnet, mit Blickrichtung näherungsweise der Radachse entsprechend.
- 2. Eine Beleuchtung wird zumindest näherungsweise symmetrisch zur Kamera angeordnet.
- 3. Die Kamera wird so mechanisch positioniert und ggf. auch orientiert, daß das von der Kamera aufgenommene Bild, bezüglich einer Symmetrieachse oder eines Symmetriepunktes im Bild, zumindest näherungsweise symmetrisch erscheint.
- 4. Aus der in Maßnahme 3 erreichten Kamerastellung wird die Position der Radmitte berechnet.
- 1. A camera is arranged to be mechanically movable, with a direction of view approximately corresponding to the wheel axis.
- 2. An illumination is arranged at least approximately symmetrically to the camera.
- 3. The camera is positioned mechanically and possibly also oriented so that the image recorded by the camera appears at least approximately symmetrical with respect to an axis of symmetry or a point of symmetry in the image.
- 4. The position of the wheel center is calculated from the camera position reached in measure 3.
- 1. Eine Kamera wird vertikal mechanisch beweglich angeordnet, mit Blickrichtung näherungsweise der Radachse entsprechend.
- 2. Eine Beleuchtung wird zumindest näherungsweise spiegelsym metrisch zur horizontalen Symmetrieachse Kamera angeordnet.
- 3. Die Kamera wird vertikal so positioniert und ggf. auch orientiert, daß das von der Kamera aufgenommene Bild, bezüglich einer Symmetrieachse oder eines Symmetriepunktes im Bild, zumindest näherungsweise symmetrisch erscheint.
- 4. Aus der in Maßnahme 3 erreichten Kamerastellung wird die Höhenposition der Radmitte berechnet.
- 6. Verfahren und Gerät nach Anspruch 4 oder 5, dadurch gekenn zeichnet, daß die Beleuchtung mit der Kamera mitbewegt wird.
- 1. A camera is arranged to be vertically mechanically movable, with a direction of view approximately corresponding to the wheel axis.
- 2. An illumination is arranged at least approximately mirror-symmetrically to the horizontal axis of symmetry camera.
- 3. The camera is positioned vertically and possibly also oriented so that the image recorded by the camera appears at least approximately symmetrical with respect to an axis of symmetry or a point of symmetry in the image.
- 4. The height position of the center of the wheel is calculated from the camera position reached in measure 3.
- 6. The method and device according to claim 4 or 5, characterized in that the lighting is moved with the camera.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19924217702 DE4217702A1 (en) | 1992-05-24 | 1992-05-24 | Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images. |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19924217702 DE4217702A1 (en) | 1992-05-24 | 1992-05-24 | Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images. |
Publications (1)
Publication Number | Publication Date |
---|---|
DE4217702A1 true DE4217702A1 (en) | 1993-11-25 |
Family
ID=6459937
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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DE19924217702 Withdrawn DE4217702A1 (en) | 1992-05-24 | 1992-05-24 | Vehicle contactless wheel centre, camber and tracking measurement - using mobile CCD cameras and illumination to produce symmetrical image or images. |
Country Status (1)
Country | Link |
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DE (1) | DE4217702A1 (en) |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0895056A2 (en) * | 1997-08-01 | 1999-02-03 | CORGHI S.p.A. | Method and device for regulating the attitude of a motor vehicle. |
EP0996868A1 (en) * | 1997-07-10 | 2000-05-03 | Snap-on Technologies, Inc. | Apparatus and method for adjusting wheel alignment camera height |
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 |
WO2006074026A1 (en) * | 2004-12-30 | 2006-07-13 | Snap-On Incorporated | Non-contact vehicle measurement method and system |
WO2015014565A1 (en) * | 2013-08-01 | 2015-02-05 | Avl List Gmbh | Driving dynamics evaluation |
Citations (7)
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---|---|---|---|---|
DE2353965A1 (en) * | 1973-10-27 | 1975-05-07 | Fraunhofer Ges Forschung | Non-contact measurement of camber and track of vehicle wheels - with auxiliary point reflected on wheel and detected by T.V. recorder |
US3888592A (en) * | 1972-09-13 | 1975-06-10 | Sun Electric Corp | Apparatus for measuring wheel angles of vehicles, particularly motor vehicles |
DE2458559A1 (en) * | 1973-12-27 | 1975-07-10 | Magneti Marelli Spa | INDEPENDENT DEVICE FOR CHECKING THE ALIGNMENT OF VEHICLE WHEELS |
DE2948573A1 (en) * | 1979-12-03 | 1981-06-04 | Siemens AG, 1000 Berlin und 8000 München | Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels |
EP0280941A1 (en) * | 1987-02-18 | 1988-09-07 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
US4899218A (en) * | 1987-02-18 | 1990-02-06 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
SU1626084A1 (en) * | 1988-06-02 | 1991-02-07 | Е.А.Доброхотов | Stand for adjusting wheel camber and toe-in of a vehicle |
-
1992
- 1992-05-24 DE DE19924217702 patent/DE4217702A1/en not_active Withdrawn
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3888592A (en) * | 1972-09-13 | 1975-06-10 | Sun Electric Corp | Apparatus for measuring wheel angles of vehicles, particularly motor vehicles |
DE2353965A1 (en) * | 1973-10-27 | 1975-05-07 | Fraunhofer Ges Forschung | Non-contact measurement of camber and track of vehicle wheels - with auxiliary point reflected on wheel and detected by T.V. recorder |
DE2458559A1 (en) * | 1973-12-27 | 1975-07-10 | Magneti Marelli Spa | INDEPENDENT DEVICE FOR CHECKING THE ALIGNMENT OF VEHICLE WHEELS |
DE2948573A1 (en) * | 1979-12-03 | 1981-06-04 | Siemens AG, 1000 Berlin und 8000 München | Contactless measurement of vehicle wheel and steering geometry - uses electronic evaluation of elliptical video images of wheels |
EP0280941A1 (en) * | 1987-02-18 | 1988-09-07 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
US4899218A (en) * | 1987-02-18 | 1990-02-06 | Perceptron, Inc. | Vehicle wheel alignment apparatus and method |
SU1626084A1 (en) * | 1988-06-02 | 1991-02-07 | Е.А.Доброхотов | Stand for adjusting wheel camber and toe-in of a vehicle |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP0895056A2 (en) * | 1997-08-01 | 1999-02-03 | CORGHI S.p.A. | Method and device for regulating the attitude of a motor vehicle. |
EP0895056A3 (en) * | 1997-08-01 | 2000-08-23 | 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 |
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 |
WO2006074026A1 (en) * | 2004-12-30 | 2006-07-13 | Snap-On Incorporated | Non-contact vehicle measurement method and system |
WO2015014565A1 (en) * | 2013-08-01 | 2015-02-05 | Avl List Gmbh | Driving dynamics evaluation |
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