WO2001011313A1 - Zeitaufgelöste photogrammetrische messung von radstellungswerten - Google Patents
Zeitaufgelöste photogrammetrische messung von radstellungswerten Download PDFInfo
- Publication number
- WO2001011313A1 WO2001011313A1 PCT/DE2000/002539 DE0002539W WO0111313A1 WO 2001011313 A1 WO2001011313 A1 WO 2001011313A1 DE 0002539 W DE0002539 W DE 0002539W WO 0111313 A1 WO0111313 A1 WO 0111313A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- auxiliary
- auxiliary structure
- camera
- attached
- vehicle
- Prior art date
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
- G01B2210/16—Active or passive device attached to the chassis of a vehicle
-
- 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
- G01B2210/30—Reference markings, reflector, scale or other passive device
Definitions
- the present invention relates generally to a method and a device for three-dimensional time-resolved photogrammetric detection of an object, and in particular to a method and a device for time-resolved photogrammetric measurement of the three-dimensional wheel position of a vehicle while driving.
- a device for determining the wheel and / or axle geometry of motor vehicles with an optical measuring device is known.
- the optical measuring device is equipped with image recorders which record the wheel or the axis to be recorded from at least two different perspectives.
- the known device further comprises an arrangement for carrying reference markings and additional wheel markings, which arrangement is arranged between the measuring device and the wheel. It is therefore an object of the present invention to provide an apparatus and a method with which the location and the orientation of an object in space can be determined in a highly precise and time-resolved manner.
- the device according to the invention and the method according to the invention are characterized in that the position of the object to be determined is determined relative to the position of a reference object, both the reference object to be determined and the reference object being identified by marks of any shape and size.
- the determination is carried out at a specific point in time by simultaneous recording of the two objects by only one camera with only one image, the camera not having to have a fixed reference to the object to be determined or to the reference object.
- the natural surface texture of the objects to be determined or the reference object can serve as a mark.
- photogrammetric marks that are provided on the object to be determined and / or also on the reference object are used.
- 1a shows a side view of the first embodiment of the device according to the invention for three-dimensional time-resolved photogrammetric detection of an object
- 1b shows a top view of the first embodiment
- 1c shows a perspective view of the device of FIGS. 1a and 1b.
- FIG. 2a shows a side view of the second embodiment of the device according to the invention for three-dimensional time-resolved photogrammetric detection of an object
- a first auxiliary structure 2 is attached to the wheel 1 to be measured in such a way that it remains stationary with the wheel axis (not shown) during the measurement (for example by mounting on the wheel hub).
- the first auxiliary construction 2 is particularly advantageously made of a light, dimensionally stable material.
- the first auxiliary construction 2 fulfills the function of a rigid support on which an appropriate number of photo-grammage marks 3 are attached if such marks are to be used.
- the marks 3 can be seen as white dots in FIG. 1 b.
- the first auxiliary construction 2 is - as can also be seen from FIG. 1 b - advantageously semicircular.
- a second auxiliary structure 5 is attached to the body of the vehicle 4 shown in a fraction so that it remains stationary with the body of the vehicle 4 during the measurement.
- the second auxiliary construction 5 can preferably also be made of a light, dimensionally stable material
- the second auxiliary construction 5 takes the
- first and second auxiliary structures can, as shown, be comprised essentially in a single plane; however, an offset arrangement is also possible.
- the above structure advantageously allows the wheel to rotate freely while driving.
- the second auxiliary construction 5 also serves as a carrier of an appropriate number of photogrammetric marks 3 'if such marks are to be used.
- the auxiliary constructions 2 and 5 are positioned relative to one another in such a way that they can be recorded over the full area of a camera 6 mounted above the vehicle 4 in any driving situation.
- the camera 6 is flexibly suspended on the body. Tests by the applicant have shown that particularly good results can be achieved with a high-speed camera which has a resolution of 512 * 512 pixels. A stroboscopic illumination, not shown in the figures, can be provided for the camera.
- the camera 6 only has to be arranged in order to be able to "see” both auxiliary structures 2 and 5 at the same time.
- a fixed reference to either of the two auxiliary structures is not necessary. It is therefore not absolutely necessary to attach the camera to the vehicle body, as shown in the figures of the present application, as long as it is ensured that the camera follows the movement of the vehicle or the object to be detected.
- the auxiliary structures 2 and 5 attached to the wheel 1 and body and provided with the marks 3 and 3 ' are first recorded from different camera positions and using a standard procedure - such as at http://www.geodetic.com/Basics .htm described - a simultaneous calibration of the camera 6 and a position determination of the marks 3 and 3 'is carried out. Then the actual time begins resolved photogrammetric recording, for which only shots from a camera position are required.
- the images recorded by the camera 6 are recorded on a storage medium (not shown) suitable for the amount of data produced and, after the measurement is completed, evaluated offline using standard methods of photogrammetry (single-camera system). An online evaluation is also conceivable if suitable computing means are available.
- the storage medium must have sufficient capacity to accommodate the data quantities customary for such applications.
- the recorded image data can be evaluated using special hardware or a suitable PC.
- the method according to the invention consists in that during the measurement the relative position (location and orientation) of the two auxiliary structures 2 and 5 relative to one another is determined by the camera 6 and the subsequent evaluation can be. It is not necessary for the camera 6 to be rigid with one of the auxiliary structures 2 or 5. The possible vibrations are irrelevant here.
- the wheel position can be determined exactly at any time of the measurement, provided that the fixed relationship of the second auxiliary structure 5 to the body can be guaranteed.
- the reference reference to the body is a fundamental problem with any measuring arrangement. This problem is solved in a particularly advantageous manner by the invention in that the second auxiliary construction 5 is manufactured with an extremely low mass and high rigidity (that is to say as little self-movement as possible).
- a carbon fiber reinforced plastic (CFRP) which meets the above requirements, is preferably used for both auxiliary structures.
- CFRP carbon fiber reinforced plastic
- the second auxiliary construction 5 1 is formed from a multiplicity of individual components which are attached to the body in one or more planes. 2a, two of the individual components are arranged in a plane which corresponds approximately to the plane of the first auxiliary construction 2, whereas the other two individual components lie in a plane above the wheel circumference.
- the second embodiment additionally offers the possibility of monitoring the position of these individual components relative to one another — which ideally should not change — and thus of obtaining information about any natural vibrations.
Abstract
Description
Claims
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP00962188A EP1206677B1 (de) | 1999-08-05 | 2000-08-01 | Zeitaufgelöste photogrammetrische messung von radstellungswerten |
DE50009597T DE50009597D1 (de) | 1999-08-05 | 2000-08-01 | Zeitaufgelöste photogrammetrische messung von radstellungswerten |
CA002381181A CA2381181C (en) | 1999-08-05 | 2000-08-01 | Time-resolved photogrammetric measurement of wheel position values |
AT00962188T ATE289677T1 (de) | 1999-08-05 | 2000-08-01 | Zeitaufgelöste photogrammetrische messung von radstellungswerten |
US10/048,605 US7236240B1 (en) | 1999-08-05 | 2000-08-01 | Time-resolved photogrammetric measurement of wheel position values |
JP2001515923A JP4528474B2 (ja) | 1999-08-05 | 2000-08-01 | 時間分解による写真測量式のホイール位置値の測定装置 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE19937035A DE19937035B4 (de) | 1999-08-05 | 1999-08-05 | Vorrichtung und Verfahren zur dreidimensionalen zeitaufgelösten photogrammetrischen Erfassung eines Objekts |
DE19937035.4 | 1999-08-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2001011313A1 true WO2001011313A1 (de) | 2001-02-15 |
Family
ID=7917367
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2000/002539 WO2001011313A1 (de) | 1999-08-05 | 2000-08-01 | Zeitaufgelöste photogrammetrische messung von radstellungswerten |
Country Status (8)
Country | Link |
---|---|
US (1) | US7236240B1 (de) |
EP (1) | EP1206677B1 (de) |
JP (1) | JP4528474B2 (de) |
AT (1) | ATE289677T1 (de) |
CA (1) | CA2381181C (de) |
DE (2) | DE19937035B4 (de) |
ES (1) | ES2235942T3 (de) |
WO (1) | WO2001011313A1 (de) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003067546A2 (en) | 2002-02-05 | 2003-08-14 | Krypton Electronic Engineering N.V. | Method for dynamic measuring the position and the orientation of a wheel |
WO2004061390A1 (de) * | 2002-12-20 | 2004-07-22 | Robert Bosch Gmbh | Vorrichtung zur bestimmung der rad- und/oder achsgeometrie von kraftfahrzeugen |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5387202B2 (ja) * | 2009-07-23 | 2014-01-15 | 横浜ゴム株式会社 | タイヤ解析システムおよびタイヤ解析方法 |
DE102010016205B4 (de) * | 2010-03-30 | 2012-01-12 | Dürr Assembly Products GmbH | Vorrichtung und Verfahren zum Vermessen von Fahrzeugen mit einer Anhängerkupplung |
JP6004754B2 (ja) * | 2011-06-27 | 2016-10-12 | 新明和工業株式会社 | 貨物自動車寸法測定装置、及び貨物自動車寸法測定方法 |
EP3051807B1 (de) * | 2013-09-27 | 2017-09-06 | Nissan Motor Co., Ltd | Vorrichtung zur anzeige einer vordefinierten route und verfahren zur anzeige einer vordefinierten route |
ES2902132T3 (es) | 2017-07-07 | 2022-03-25 | Car O Liner Group Ab | Un método para determinar ángulos de mangueta |
DE102019131863A1 (de) * | 2019-11-25 | 2021-05-27 | Dürr Assembly Products GmbH | Verwendung einer Vorrichtung zur photogrammetrischen Vermessung von Objekten zur Bestimmung von Position und/oder Orientierung von Teilen eines Fahrzeugs |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP0880009A2 (de) * | 1997-05-22 | 1998-11-25 | SAMUELSSON, Jonas | Verfahren und Vorrichtung zum Messen von Radsatzwinkeln |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3144593B2 (ja) * | 1992-04-30 | 2001-03-12 | 株式会社応用計測研究所 | 汎用角度・位置計測装置 |
JPH06344942A (ja) * | 1993-06-02 | 1994-12-20 | Nissan Motor Co Ltd | ホイールアライメント計測方法およびその装置 |
JPH0772930A (ja) * | 1993-09-07 | 1995-03-17 | Fujitsu Ltd | 位置決め装置 |
JPH08285526A (ja) * | 1995-04-19 | 1996-11-01 | Fanuc Ltd | 画像認識方式 |
US5600435A (en) * | 1995-05-24 | 1997-02-04 | Fori Automation, Inc. | Intelligent sensor method and apparatus for an optical wheel alignment machine |
DE19618434C1 (de) * | 1996-05-08 | 1997-11-20 | Briese Hans Werner | Reflektor |
DE19757763A1 (de) * | 1997-12-23 | 1999-07-01 | Bosch Gmbh Robert | Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen |
DE19757760A1 (de) * | 1997-12-23 | 1999-07-01 | Bosch Gmbh Robert | Vorrichtung zum Bestimmen der Rad- und/oder Achsgeometrie von Kraftfahrzeugen |
US6134792A (en) * | 1998-11-19 | 2000-10-24 | Hunter Engineering Company | Method and apparatus for determining wheel alignment optical target orientation parameters |
-
1999
- 1999-08-05 DE DE19937035A patent/DE19937035B4/de not_active Expired - Fee Related
-
2000
- 2000-08-01 DE DE50009597T patent/DE50009597D1/de not_active Expired - Lifetime
- 2000-08-01 ES ES00962188T patent/ES2235942T3/es not_active Expired - Lifetime
- 2000-08-01 WO PCT/DE2000/002539 patent/WO2001011313A1/de active IP Right Grant
- 2000-08-01 JP JP2001515923A patent/JP4528474B2/ja not_active Expired - Fee Related
- 2000-08-01 AT AT00962188T patent/ATE289677T1/de not_active IP Right Cessation
- 2000-08-01 US US10/048,605 patent/US7236240B1/en not_active Expired - Fee Related
- 2000-08-01 CA CA002381181A patent/CA2381181C/en not_active Expired - Fee Related
- 2000-08-01 EP EP00962188A patent/EP1206677B1/de not_active Expired - Lifetime
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
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 |
EP0880009A2 (de) * | 1997-05-22 | 1998-11-25 | SAMUELSSON, Jonas | Verfahren und Vorrichtung zum Messen von Radsatzwinkeln |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2003067546A2 (en) | 2002-02-05 | 2003-08-14 | Krypton Electronic Engineering N.V. | Method for dynamic measuring the position and the orientation of a wheel |
BE1014606A3 (nl) * | 2002-02-05 | 2004-01-13 | Krypton Electronic Eng Nv | Werkwijze voor het dynamisch meten van de positie en orientatie van een wiel. |
WO2003067546A3 (en) * | 2002-02-05 | 2005-04-14 | Krypton Electronic Eng Nv | Method for dynamic measuring the position and the orientation of a wheel |
WO2004061390A1 (de) * | 2002-12-20 | 2004-07-22 | Robert Bosch Gmbh | Vorrichtung zur bestimmung der rad- und/oder achsgeometrie von kraftfahrzeugen |
CN100347518C (zh) * | 2002-12-20 | 2007-11-07 | 罗伯特·博世有限公司 | 用于测定汽车的轮几何学和/或轴线几何学的装置 |
US7380344B2 (en) | 2002-12-20 | 2008-06-03 | Robert Bosch Gmbh | Device for determining the wheel and/or axle geometry of motor vehicles |
Also Published As
Publication number | Publication date |
---|---|
EP1206677A1 (de) | 2002-05-22 |
DE19937035A1 (de) | 2001-03-15 |
CA2381181C (en) | 2008-10-14 |
DE50009597D1 (de) | 2005-03-31 |
EP1206677B1 (de) | 2005-02-23 |
CA2381181A1 (en) | 2001-02-15 |
ATE289677T1 (de) | 2005-03-15 |
ES2235942T3 (es) | 2005-07-16 |
DE19937035B4 (de) | 2004-09-16 |
JP4528474B2 (ja) | 2010-08-18 |
US7236240B1 (en) | 2007-06-26 |
JP2003506699A (ja) | 2003-02-18 |
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