Vehicle wheel alignment apparatus and method

• US 4,745,469 A
• Filed: 02/18/1987
• Issued: 05/17/1988
• Est. Priority Date: 02/18/1987
• Status: Expired due to Term

• Current Assignee: Perceptron Incorporated (Atlas Copco AB)
• Original Assignee: Perceptron Incorporated (Atlas Copco AB)
• Inventors: Dewar, Robert, Woroniec, Richard, Waldecker, Thomas J., Wybo, David R.
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US07/015,943
• Time in Patent Office: 454 Days
• Field of Search: 358/93, 358/101, 358/107, 356/155, 33/288, 29/273
• US Class Current: 348/94
• CPC Class Codes: G01B 11/2755 using photoelectric detection means
• CPC Class Codes: G01B 2210/143 One or more cameras on each side of a vehicle in the main embodiment
• CPC Class Codes: G01B 2210/146 Two or more cameras imaging the same area
• CPC Class Codes: G01B 2210/22 Wheels in a state of motion supported on rollers, rotating platform or other structure substantially capable of only one degree of rotational freedom
• CPC Class Codes: G01B 2210/26 Algorithms, instructions, databases, computerized methods and graphical user interfaces employed by a user in conjunction with the wheel aligner
• CPC Class Codes: G01B 2210/286 Projecting a light pattern on the wheel or vehicle body
• CPC Class Codes: Y10T 29/53922 Auto wheel with auto chassis

Abstract

Noncontact sensors project fanned or structured light onto the tire, while the wheel is rotated, to illuminate at least two contour lines on the surface of the tire. The contour lines are read by video cameras, positioned offset from the optical plane of the structured light, to allow triangulation in determining the spatial position of the contour lines. Radially equivalent points are selected from each contour line by an algorithm which ignores the effects of any raised lettering on the tire sidewalls. Control of the video cameras and processing of the video data is performed by parallel processor-based computer system coordinated by sequencer circuit.

Claims

1. A noncontact wheel alignment system for measuring a predetermined alignment characteristic of the wheel of a vehicle, comprising:

light source means for projecting along an axis a structured light pattern onto the wheel of the vehicle;

optical sensor means positioned at a perspective angle relative to said axis of said projected light for receiving the reflected image of said structured light pattern off the wheel of the vehicle and converting said reflected image to corresponding electrical signals; and

processor means for processing said electrical signals and calculating therefrom said predetermined alignment characteristic of said wheel.

2. A noncontact wheel alignment system according to claim 1 wherein said light source means comprises a laser-based light source.

3. A noncontact wheel alignment system according to claim 2 wherein said laser-based light source has associated therewith an axis of projection that is substantially normal to the plane of said wheel.

4. A noncontact wheel alignment system according to claim 3 wherein said optical sensor means is positioned at a perspective angle relative to the axis of said laser light source.

5. A laser-based noncontact wheel alignment system for measuring and adjusting a predetermined alignment characteristic of the wheel of a vehicle, comprising:

laser source means for projecting along an axis a structured light pattern onto the wheel of the vehicle;

optical sensing means positioned at a perspective angle relative to said axis of said projected light for receiving the light diffusely reflected off of the wheel of the vehicle and producing electrical signals related to the intensity of the received light;

processor means for processing said electrical signals and calculating therefrom the plane of the wheel of the vehicle for determining said predetermined alignment characteristic and providing an output signal related thereto; and

adjustment means for adjusting said predetermined alignment characteristic of said wheel in accordance with said output signal.

6. A noncontact wheel alignment system for measuring a predetermined alignment characteristic of the two front steerable wheels of a vehicle, comprising:

first light source means for projecting a structured light pattern onto one of said two front wheels;

second light source means for projecting a structured light pattern onto the other of said two front wheels;

first optical sensor means for receiving the reflected image of said structured light pattern off said one front wheel and converting said reflected image to corresponding electrical signals;

second optical sensor means for receiving the reflected image of said structured light pattern off of said other front wheel and converting said reflected image to corresponding electrical signals; and

processor means for processing said electrical signals and calculating therefrom the plane of said one front wheel and the plane of said other front wheel and determining therefrom said predetermined alignment characteristic of said two front wheels.

7. A noncontact wheel alignment system according to claim 6 wherein said first and second light source means comprise first and second laser-based light sources.

8. A noncontact wheel alignment system according to claim 7 wherein said first and second laser-based light sources are adapted to project said structured light patterns along axes substantially normal to the planes of said two front wheels.

9. A noncontact wheel alignment system according to claim 7 wherein said structured light patterns are adapted to illuminate at least two radially equivalent points on each said two front tires.

10. A noncontact wheel alignment system according to claim 9 wherein said two radially equivalent points on each of said two front wheels define chords having a horizontal component, and said processor means is adapted to identify the position of said two radially equivalent points in three-dimensional space and determined therefrom the toe-in of said two front wheels.

11. A noncontact wheel alignment system according to claim 9 wherein said two radially equivalent points on each of said two front wheels define chords having a vertical component, and said processor means in adapted to identify the position of said radially equivalent points in three-dimensional space and determine therefrom the camber of said two front wheels.

12. A noncontact wheel alignment system for measuring a predetermined alignment characteristic of the wheel of a vehicle, comprising:

light source means for projecting a structured light pattern onto the wheel of the vehicle so that at least two radially equivalent points on said wheel are illuminated thereby;

optical sensing means positioned at a perspective angle relative to said light source means for receiving the light reflected off the wheel of the vehicle and producing electrical signals related to the intensity of the receiving light; and

processor means for processing said electrical signals and identifying the position of said two radially equivalent points in three-dimensional space and determining therefrom said predetermined alignment characteristic of said wheel.

13. A noncontact wheel alignment system according to claim 12 wherein said two radially equivalent points define a chord having a horizontal component and said predetermined alignment characteristic comprises the toe-in of the wheel.

14. A noncontact wheel alignment system according to claim 12 wherein said two radially equivalent points define a chord having a vertical component and said predetrmined alignment characteristic comprises the camber of the wheel.

15. A noncontact wheel alignment system according to claim 12 wherein said light source means has associated therewith a projection axis that is substantially normal to the plane of said wheel.

16. A noncontact wheel alignment system according to claim 12 wherein said processor means in adapted to produce an output signal related to said measured predetermined alignment characteristic;

and further including adjustment means for adjusting said predetermined alignment characteristic of said wheel in accordance with said output signal.

17. A noncontact laser-based wheel alignment system for measuring a predetermined alignment characteristic of the wheel of a vehicle having a tire mounted thereon, comprising:

a first laser source for projecting a plane of light so that a first line image appears on the sidewall of said tire;

a first optical sensor for receiving the reflected light from said first line image off said tire sidewall and producing electrical signals in response thereto corresponding to the intensity of the received light;

a second laser source for projecting a second plane of light so that a second line image appears on the sidewall of said tire;

a second optical sensor for receiving the reflected light from said second line image off said tire sidewall and producing electrical signals in response thereto corresponding to the intensity of the received light; and

processor means for processing said electrical signals, identifying the location in three-dimensional space of a first point from said first line image, identifying the location in three-dimensional space of a second point from said second line image radially equivalent to said first point, calculating therefrom the plane of said tire, and determining therefrom said predetermined alignment characteristic of said wheel.

18. A noncontact wheel alignment system according to claim 17 wherein said tire has a raised radial rib or raised letters on said sidewall and said processor means is further adapted to identify radially equivalent points from said first and second line images that are not reflected off of said raised radial rib or raised letters.

19. A noncontact wheel alignment system according to claim 17 wherein said processor means is further adapted to determine the chord defined by said first and second points.

20. A noncontact wheel alignment system according to claim 19 wherein said chord has a horizontal component and said processor means is adapted to determine the toe-in of said wheel.

21. A noncontact wheel alignment system according to claim 19 wherein said chord has a vertical component and said processor means is adapted to determine the camber of said wheel.

22. A noncontact wheel alignment system according to claim 17 wherein said first and second optical sensor means include optical means for providing a focused field of view of sufficient depth and magnification to accommodate variations in the wheel track of different types of vehicles.

23. A noncontact wheel alignment system according to claim 22 wherein said optical means are further adapted to provide a focused field of view of sufficient width and magnification to accommodate variations in the dimension of different tire sidewalls.

24. A noncontact wheel alignment system according to claim 23 wherein said optical means includes an anamorphic lens.

25. A noncontact wheel alignment system according to claim 17 wherein said processor means is adapted to produce an output signal related to said measured predetermined alignment characteristic;

and further including adjustment means for adjusting said predetermined alignment characteristic of said wheel in accordance with said output signal.

26. The noncontact wheel alignment system of claim 17 further including means for rotating said tire at a predetermined speed.

27. The noncontact wheel alignment system of claim 26 wherein said first and second optical sensors are adapted to produce electrical signals relating to the cumulative amount of light received over a predetermined period of time.

28. The noncontact wheel alignment system of claim 27 wherein said predetermined period of time corresponds to the period of one revolution of said tire.

29. A noncontact wheel alignment system for measuring the caster of a steerable wheel of a vehicle, said steerable wheel having associated therewith a steering axis, comprising:

light source means for projecting a structured light pattern onto said wheel so as to illuminate at least two radially equivalent points on said wheel on either side of said steering axis;

optical sensor means for receiving the reflected image of said structured light pattern off of said wheel and converting said reflected light image to corresponding electrical signals;

means for turning said steerable wheel about said steering axis from a first position to a second position; and

processor means for processing said electrical signals, identifying the positions in three-dimensional space of said two radially equivalent points when said wheel is in both of said first and second positions, calculating therefrom the plane of said wheel in each of said first and second positions and the line of intersection between said two planes, and determining therefrom the caster of said wheel.

30. A noncontact wheel alignment system according to claim 29 wherein said light source means has associated therewith a projection axis that is substantially normal to a steered position of said wheel intermediate said first and second positions.

31. A noncontact wheel alignment system according to claim 30 wherein said optical sensor means is positioned at a perspective angle relative to the axis of said light source.

32. A noncontact wheel alignment system according to claim 29 wherein said light source means comprises a laser based light source.

33. A noncontact wheel alignment system according to claim 32 wherein said projected structured light pattern comprises two planes of light so that a pair of line images appear on said wheel.

34. A noncontact wheel alignment system according to claim 33 wherein said wheel has a tire mounted thereon and said two planes of light are projected so that said pair of line images appear substantially radially across the sidewall of said tire on opposite sides of said steering axis.

35. A method of measuring a predetermined alignment characteristic of the wheel of a vehicle comprising the steps of:

projecting a structured light pattern onto the wheel of the vehicle;

sensing the reflected image of said structured light pattern from the light diffusely reflected off of said wheel and converting said sensed light image to corresponding electrical signals in accordance with the intensity of the reflected light; and

determining in accordance with said electrical signals the location in three-dimensional space of selected points in said light pattern and calculating therefrom said predetermined alignment characteristic.

36. The method of claim 35 further including the step of adjusting said predetermined alignment characteristic of said wheel in accordance with said calculated measurement.

37. The method of claim 35 further including the step of calculating the plane of said wheel in three-dimensional space.

38. The method of claim 37 wherein said selected points correspond to radially equivalent points on said wheel.

39. A method of measuring a predetermined alignment characteristic of the two front steerable wheels of a vehicle, comprising the steps of:

projecting a first structured light pattern onto one of said two front wheels;

projecting a second structured light pattern onto the other of said two front wheels;

sensing the reflected light images of said first and second structured light patterns off of said two front wheels and producing corresponding electrical signals in accordance with the intensity of said sensed light;

determining in accordance with said electrical signals the location in three-dimensional space of selected points in the reflected light images of said first and second structured light patterns and calculating therefrom said predetermined alignment characteristic.

40. The method of claim 39 further including the step of calculating the planes of said two front wheels in three-dimensional space.

41. The method of claim 40 wherein said selected points in each of said reflected images correspond to radially equivalent points on said front wheels.

42. A method of measuring a predetermined alignment characteristic of the wheel of a vehicle having a tire mounted thereon, comprising the steps of:

projecting a structured light pattern onto the sidewall of the tire;

sensing the reflected image of said structured light pattern from the light diffusely reflected off of said tire sidewall and producing electrical signals in accordance with the inteisity of said sensed light;

identifying the location in three-dimensional space of at least two points in said reflected image corresponding to radially equivalent points on said tire sidewall;

calculating from said two points the plane of said tire sidewall and determining therefrom said predetermined alignment characteristic of said wheel.

43. The method of claim 42 wherein said structured light pattern comprising planes of light for producing line images on the sidewall of the tire.

44. The method of claim 42 further including the step of adjusting said predetermined alignment characteristic of said wheel in accordance with said calculated measurement.

45. The method of claim 42 further including the step of rotating said tire at a predetermined speed.

46. The method of claim 45 wherein the step of sensing the reflected light image further includes accumulating the total amount of light received over a predetermined period of time and producing electrical signals related to the intensity of said accumulated total.

47. The method of claim 46 wherein said predetermined period of time corresponds to the period of one revolution of said tire.

48. A method of measuring a predetermined alignment characteristic of the wheel of a vehicle having a tire mounted thereon comprising the steps of:

rotating the tire of the vehicle at a predetermined speed;

projecting a structured light pattern onto the sidewall of the rotating tire;

sensing the reflected image of said structured light pattern off of said tire sidewall over a period of time corresponding substantially to the period of one revolution of said tire and producing electrical signals in accordance with the intensity of the accumulated total of light received over said period of time; and

determining from said electrical signals the location in three-dimensional space of selected points in said light pattern and calculating therefrom said predetermined alignment characteristics.

49. The method of claim 48 wherein said selected points comprise radially equivalent points on said tire sidewall.

50. The method of claim 49 further including the step of adjusting said predetermined alignment characteristic of said wheel in accordance with said calculated measurement.

51. The method of claim 49 wherein said last-mentioned step further includes the sub-step of calculating from said radially equivalent points the plane of said tire.

52. The method of measuring the caster of a steerable wheel of a vehicle, said steerable wheel having associated therewith a steering axis, comprising the steps of:

positioning said steerable wheel in a first position;

projecting a structured light pattern onto said wheel so as to illuminate at least two radially equivalent points on either side of said steering axis;

sensing the reflected light image of said structured light pattern off of said wheel in said first position and producing first electrical signals corresponding the intensity of the received light;

turning said steerable wheel about said steering axis from said first position to a second position;

projecting said structured light pattern onto said wheel so as to illuminate at least two radially equivalent points on either side of said steering axis;

sensing the reflected image of said structured light pattern off of said wheel in said second position and producing second electrical signals corresponding to the intensity of the received light;

identifying in accordance with said first electrical signals the positions in three-dimensional space of said two radially equivalent points and calculating therefrom the plane of the wheel in said first position;

identifying in accordance with said second electrical signals the positions in three-dimensional space of said two radially equivalent points and calculating therefrom the plane of said wheel in said second position; and

determining the line of intersection between said two planes and determining therefrom the caster of said wheel.

53. A method of aligning a vehicle wheel comprising:

projecting structured light in at least one plane onto the surface of a member integral with said wheel to illuminate at least two contour lines on different portions of said member integral with said wheel;

optically reading each of said contour lines using an optical sensor disposed at a viewing angle offset from the plane of said structured light and collecting data points indicative of the position of said contour lines;

locating at least one datum point associated with each of said contour lines which corresponds to a radially equivalent portion of the surface of said wheel;

using said datum points to determine the position of said wheel and providing an indication to an operator of said wheel position relative to a desired position; and

adjusting the position of said wheel based on said indication in order to bring said wheel into alignment with said desired position.

54. The method of claim 53 wherein said member integral with said wheel is a tire.

55. The method of claim 53 wherein said step of projecting structured light comprises using a laser to project an optically fanned light plane.

56. The method of claim 53 wherein said vehicle wheel is rotatable about an axis and further comprising the step of rotating said vehicle wheel about said axis.

57. The method of claim 53 wherein said step of optically reading is performed using at least one video camera.

58. The method of claim 53 wherein the step of using said datum points to determine the position of said wheel comprises determining the rotational plane of said wheel.

59. The method of claim 53 wherein said vehicle wheel is rotatable about an axis and further comprising the step of continually rotating said vehicle wheel about said axis while performing the step of optically reading each of said contour lines.

60. The method of claim 59 wherein said step of optically reading each of said contour lines is continually performed while rotating said vehicle wheel approximately one revolution.

61. The method of claim 53 wherein said vehicle wheel has a central axis and wherein said two contour lines are projected on opposite sides of a reference line through said axis.

62. The method of claim 61 wherein said member integral with said wheel defines a ground line tangent to the lowermost portion of said member and wherein said reference line is generally perpendicular to said ground line.

63. The method of claim 61 wherein said member integral with said wheel defines a ground line tangent to the lowermost portion of said member and wherein said reference line is generally parallel to said ground line.

65. The method of claim 53 wherein said accumulated signal is measured relative to the unilluminated state of said video camera and comprising the further step of returning said accumulated signal to said unilluminated state after periodically reading said electrical data.

64. A method of sensing the position of a wheel comprising:

reflecting structured light from at least two points on said wheel while rotating said wheel;

using at least one video camera to gather light reflected from said two points while said wheel is rotated to accumulate a signal indicative of the quantity of light gathered;

from said video camera periodically reading electrical data indicative of said accumulated signal; and

using said electrical data to determine the spatial position of said two points and to thereby determine the position of said wheel.

66. The method of claim 64 wherein said light gathering step is performed for substantially one revolution of said wheel.

67. The method of claim 64 wherein said light gathering step is performed continuously for substantially one revolution of said wheel.