EP2147278A1 - Procédé et dispositif de mesure optique du châssis - Google Patents

Procédé et dispositif de mesure optique du châssis

Info

Publication number
EP2147278A1
EP2147278A1 EP08736176A EP08736176A EP2147278A1 EP 2147278 A1 EP2147278 A1 EP 2147278A1 EP 08736176 A EP08736176 A EP 08736176A EP 08736176 A EP08736176 A EP 08736176A EP 2147278 A1 EP2147278 A1 EP 2147278A1
Authority
EP
European Patent Office
Prior art keywords
light
narrow
wheel
pattern
imaging
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.)
Ceased
Application number
EP08736176A
Other languages
German (de)
English (en)
Inventor
Guenter Nobis
Steffen Abraham
Bernd Schmidtke
Christian Knoll
Ulrich Kallmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of EP2147278A1 publication Critical patent/EP2147278A1/fr
Ceased legal-status Critical Current

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
    • 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
    • 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
    • G01B2210/20—Vehicle in a state of translatory motion
    • 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
    • G01B2210/28—Beam projector and related sensors, camera, inclinometer or other active sensing or projecting device
    • G01B2210/283—Beam projectors and related sensors
    • G01B2210/286—Projecting a light pattern on the wheel or vehicle body

Definitions

  • the invention relates to a method for chassis measurement and / or for the dynamic testing of suspension components on a motor vehicle, in which at least one wheel and / or at least a portion of the vehicle is illuminated by means of a lighting device with a light pattern of structured light and the reflected back light by means of a imaging sensor device is recorded and evaluated in an evaluation, as well as to an apparatus for performing the method.
  • a method and a device of this kind are disclosed in DE 103 35 829 A1 and the parallel EP 1 505 367 A2.
  • this known method for determining the axle geometry is a light pattern, such.
  • a fringe pattern of varying periodicity or monochrome grating structures or area coded by color coding projected on the front of the wheel and the reflected light from the front of the wheel from a direction other than the projection direction by an image converter while the wheel is rotated to to determine the normal vector of the wheel or a reference plane as accurate and robust as possible, in spite of unevenness present on conventional wheels.
  • a method is specified, with the optical non-contact on the basis of a determined axis of rotation a wheel alignment is performed.
  • the vehicle is on a chassis dynamometer.
  • a projection system laser lines or other patterns are projected onto the wheel or tire.
  • the patterns are displayed, and a triangulation of the camera coordinates and the known Arrangement of the cameras with respect to the projector reconstructs the 3D coordinates on the surface and determines from this the position of the wheel, from which ultimately track and camber are determined.
  • DE 10 2005 063 082 A1 and DE 10 2005 063 083 A1 also disclose methods for optical chassis measurement, in which structured light is projected onto the wheel and also onto surrounding body regions and recorded by means of imaging sensors.
  • the vehicle is observed with a mono or a stereo camera system, such.
  • a mono or a stereo camera system such.
  • EP 0 895 056 A2 and DE 29 48 573 Al In the gray value image of the camera image striking features such. B. the edge of the rim, located. From the geometric position of the edge of the rim or other features in the image, their position in the space and from it trace or fall is calculated.
  • Such a measuring method is also embodied in DE 10 2004 013 441 A1, wherein a 3D model is fitted for determining the axis of rotation of the wheel.
  • When measuring z. B. also recorded stereo images of the wheel rim and determined the angular position of the valve.
  • DE 10 2005 017 624 is designed to gain wheel features and / or body features on the determination of a 3D point cloud to determine therefrom the wheel and / or axle geometry of vehicles, with recordings of the rotating wheel, in particular during a passage of the Vehicle done.
  • the invention has for its object to provide a method for suspension measurement and / or dynamic testing of suspension components of a motor vehicle when using a structured lighting that is as robust as possible against external interference, and also to provide a corresponding device.
  • the structured light is emitted by the illumination device narrowband in a certain narrow emission wavelength range and that by means of the sensor device, the light is also detected narrow band in a matched to the emission wavelength range receiving wavelength range and evaluated in the evaluation, wherein Extraneous light influences are eliminated.
  • the object is achieved in that the illumination device is designed to generate narrow-band light of a specific wavelength range and that the sensor device for detecting the light in the narrow wavelength range has imaging optics with at least one spectrally selective optical element. With these measures, the structured light pattern is reliably detectable and evaluable even under unfavorable ambient light conditions, especially in strong ambient light.
  • a reliable mode of operation can be achieved in that the narrow-band light is generated by the projection optics by means of spectrally selective optical elements.
  • a reliable function can also be assisted by generating the narrow-band light by means of a laser and a refractive and / or diffractive projection optics or a laser projection system with dynamically moving mirrors, and furthermore by the narrow-band light being emitted by means of a narrow-band emitting light emitting diode arrangement a customized projection optics is generated.
  • a regular or irregular dot pattern, a line or stripe pattern, a random pattern or a combination of at least two of these light patterns is generated as a light pattern.
  • the measurements also contribute to a reliable measurement in that the reflected light in the imaging sensor device is supplied to a detector unit via imaging optics in which the imaging parameters are predetermined or influenced by means of a lens system and by means of at least one spectrally selective optical element the spectral Adaptation to the output from the lighting device narrow-band light is made.
  • advantageous measures consist in that the at least one spectrally selective optical element is also used to influence the imaging parameters and / or that spectral matching is assisted by means of the beam guidance in the imaging optics, with undesirable properties of the spectral selectivity being reduced to a minimum become.
  • the measurement accuracy in particular when using imaging optics with a large aperture angle of the objective, is improved by reducing the angle in the imaging optics of light entering obliquely with respect to the optical axis before it enters the at least one spectrally selective optical element or by the at least one spectrally selective optical element (43) is arranged within the imaging optics at a position at which the angle of light entering obliquely with respect to the optical axis into the imaging optics is reduced.
  • a similar influence on the light input Occurrence angle in the spectrally selective optical element can be effected alone or additionally by a curvature of the optical element.
  • An advantageous procedure in the measurement is that in the evaluation on the basis of the light pattern, in particular a dot pattern, from the reflected light, a radiated 3D point cloud determined and adapted to this parametric surface model of the wheel is that the wheel axis on the calculations is determined by Radnormalenvektoren for different rotational positions of the wheel and that from the spatial movement of Radnormalenvektors the Drehachsvektor is calculated as the axis of rotation.
  • FIG. 1 is a schematic view of a measuring device in a measurement environment for a wheel alignment
  • Fig. 2 is a schematic representation of a lighting device and a sensor device
  • Fig. 3 projected light pattern from the perspective of a left and a right image pickup unit of the sensor device.
  • the measuring device 10 has a projection device 11 for light patterns 15, for example spot light patterns (see FIG.
  • imaging sensor units 12, 13 arranged in a predetermined spatial position and direction and a control unit 14 for data transmission with the projection device 11 and the imaging sensor units 12, 13 positioned in stereo arrangement and has electronic devices for controlling the projection device 11, the imaging sensor units 12, 13 and optionally further connected components and for evaluating the data and displaying the measurement results, such as an evaluation device 16.
  • FIG. 2 shows the projection device 11 and an imaging sensor unit 12 closer.
  • a light source 30 emits light 4 via an illumination optical system 31, the illumination optical system 31 having at least one refractive beam shaping unit 32 and / or one or more diffractive beam shaping units 33.
  • a second refractive unit can be used, such. B. a microlens array.
  • the emitted light 4 is structured and has the said light pattern 15.
  • the emitted light 4 leaving the illumination optical unit 31 has a narrow band and only comprises a narrow wavelength range of, for example, one or more nanometers, eg. B. 30 nm (measured at 50% of the maximum radiant power).
  • For visual inspection is a wavelength range within the visible spectral range, z. As the red spectral range, an advantage.
  • the light 4 'reflected back from the wheel 2 and / or the body 3 is picked up by means of receiver optics in the form of imaging optics 40 and fed to a detector unit 41 in order to subsequently evaluate the received signals.
  • the imaging optics 40 has a lens system with imaging optical elements 42, 44 and at least one spectrally selective optical element in the form of a spectral filter unit 43 which is tuned in its spectral transmission range to the bandwidth of the emitted light 4 and reflected light 4 ', so that in particular This light to be used is transmitted to the detector unit 41 and the influence of extraneous light from the surroundings is suppressed.
  • the passband width of the spectral filter unit 43 is therefore at most slight, z. B.
  • a few nanometers larger than the bandwidth of the reflected light to be used 4 'and is z. B. up to 30 nm or at most 50 nm (at 50% of the maximum power), the average wavelength of the useful light and the spectral filter being approximately equal.
  • the light 4 emitted by the illumination device via the projection device 11 contains the light pattern, wherein the structure of the light pattern may be a regular or irregular dot pattern, a line or stripe pattern, a random pattern or a combination of these structures.
  • Possible technical variants for the illumination or projection of the light pattern are laser illumination and special projection optics, in particular refractive and / or diffractive optics, laser projection systems with dynamically moving mirrors, narrow-band emitting light-emitting diodes (LEDs) with special adapted projection optics or spectrally narrowed ones broadband emitting light sources, eg. B. thermal radiator, with special projection optics.
  • the illumination device has refractive and / or diffractive optical elements or a projection system with dynamically moved mirrors for producing a projected illumination structure.
  • the emitted light can be timed, z. B. with a period in the range 1 ms to 10 ms.
  • the lens system of the receiver optics or imaging optics 40 is designed to achieve or set optimal imaging parameters.
  • color glass or interference filter are spectrally matched to the spectrum of the emitted light 4 and the back-reflected light 4 ', wherein the spectrally selective elements at the same time by suitable expression, for. B. curvature and / or position in the imaging beam path, the imaging and filter function can serve.
  • suitable beam guidance in the imaging optics 40 the properties of the spectrally selective elements can be supported.
  • suitable beam guidance in the imaging optics 40 possible undesirable properties of the spectrally selective elements, such. B.
  • the spectral narrowband of the light forming the light pattern 15 and the receiver optics allows a reliable measurement even in strong ambient light, eg. B. strong sunlight, since the reflected back light 4 'with the light pattern safely distinguishable from the ambient light bar. On this basis, a reliable, unambiguous evaluation of the light pattern 15 ', 15 "reflected by the wheel results.
  • FIG. 3 shows, in addition to the light pattern 15, the light pattern 15 'or 15 "resulting from the view of the two imaging sensor units 12, 13 in the form of a left and right stereo camera and reflected by the wheel, the linear arrangement of the light spots in the two images
  • the light pattern is, for example, a laser dot pattern.
  • the measuring device 10 is designed to perform an exact, robust suspension measurement and / or dynamic testing of suspension components.
  • the method is independent of reference points which are firmly linked to the wheel surface or wheel texture and / or, where appropriate, the body surface and which move along with it when moving. Therefore, structures on the wheel or body surface also need not be recognized. Rather, the structured illumination by means of the light pattern 15 produces stable features which are not fixedly connected to the wheel or body surface and therefore do not migrate during movement. For example, in the method presented here, the position of the axis of rotation of the wheel 2, in particular in the passage of the vehicle relative to the measuring device 10, can be carried out with increased robustness.
  • the need for a fixed rotation of the wheel can be omitted. From the known position of the axes of rotation z. B. can then the axle geometry, such as track and Fall, be calculated. In this case, a rim impact compensation can be performed.
  • the 3D measurement on the basis of the structured illumination with the light pattern 15 can also be carried out with a mono- or multi-camera system as an alternative to the sensor units 12, 13 provided in stereo arrangement, wherein, as in the stereo arrangement, an algorithmic evaluation of the measurement data on the determination of a 3D point cloud takes place.
  • a projection of the pattern and from this a calculation of a 3D point cloud takes place during the passage or rotation of the wheel 2 at each time step, a projection of the pattern and from this a calculation of a 3D point cloud.
  • the 3D point cloud is used for the evaluation z. B. a parametric surface model of the wheel 2 and the body fitted, as also specified in said R.315415 also closer.
  • the depth is calculated from the shift vectors (disparity) of the stereo images of the camera array to increase the accuracy or robustness, wherein the narrow-band illumination light and received via the narrow-band receiver array receiving light contribute to the safe detection and increase the measurement accuracy.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un procédé de mesure du châssis et/ou de contrôle dynamique de composants du châssis sur un véhicule (1). Selon ledit procédé, au moins une roue (2) et/ou au moins une partie du véhicule (1) sont éclairées au moyen d'un dispositif d'éclairage (11) avec un motif lumineux (15) composé de lumière structurée, et la lumière réfléchie (4') est enregistrée au moyen d'un dispositif de détection d'imagerie (12, 13) et évaluée dans un dispositif d'évaluation (16). L'invention concerne également un dispositif de mise en oeuvre de ce procédé. Une mesure fiable est obtenue même en cas de conditions d'éclairage ambiant défavorables, du fait que la lumière structurée du dispositif d'éclairage est émise en bande étroite dans une certaine gamme de longueurs d'ondes d'émission étroite, et la lumière est également détectée en bande étroite au moyen du dispositif de détection (12, 13) dans une gamme de longueurs d'ondes de réception adaptée à la gamme de longueurs d'ondes d'émission et évaluée dans le dispositif d'évaluation (16), des influences de lumière étrangère étant éliminées.
EP08736176A 2007-05-07 2008-04-14 Procédé et dispositif de mesure optique du châssis Ceased EP2147278A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007021328A DE102007021328A1 (de) 2007-05-07 2007-05-07 Verfahren und Vorrichtung zur Fahrwerksvermessung
PCT/EP2008/054473 WO2008135341A1 (fr) 2007-05-07 2008-04-14 Procédé et dispositif de mesure optique du châssis

Publications (1)

Publication Number Publication Date
EP2147278A1 true EP2147278A1 (fr) 2010-01-27

Family

ID=39639566

Family Applications (1)

Application Number Title Priority Date Filing Date
EP08736176A Ceased EP2147278A1 (fr) 2007-05-07 2008-04-14 Procédé et dispositif de mesure optique du châssis

Country Status (5)

Country Link
US (1) US20100060885A1 (fr)
EP (1) EP2147278A1 (fr)
CN (1) CN101680751A (fr)
DE (1) DE102007021328A1 (fr)
WO (1) WO2008135341A1 (fr)

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US11781860B2 (en) 2018-04-30 2023-10-10 BPG Sales and Technology Investments, LLC Mobile vehicular alignment for sensor calibration
US11597091B2 (en) 2018-04-30 2023-03-07 BPG Sales and Technology Investments, LLC Robotic target alignment for vehicle sensor calibration
US12385766B2 (en) 2018-04-30 2025-08-12 BPG Sales and Technology Investments, LLC Vehicular alignment for sensor calibration
US11835646B2 (en) 2018-04-30 2023-12-05 BPG Sales and Technology Investments, LLC Target alignment for vehicle sensor calibration
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Also Published As

Publication number Publication date
CN101680751A (zh) 2010-03-24
US20100060885A1 (en) 2010-03-11
WO2008135341A1 (fr) 2008-11-13
DE102007021328A1 (de) 2008-11-13

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