Method and device for optically aligning the axels of motor vehicles

• US 9,001,189 B2
• Filed: 08/26/2009
• Issued: 04/07/2015
• Est. Priority Date: 09/12/2008
• Status: Active Grant

• Current Assignee: Beissbarth GmbH (Robert Bosch GmbH)
• Original Assignee: Robert Bosch GmbH
• Inventors: Nobis, Guenter, Schommer, Stefan, Uffenkamp, Volker, Macchia, Adriano, Wagmann, Christian, Backes, Jochen
• Primary Examiner(s): Anyikire, Chikaodili E
• Application Number:
  US13/063,142
• Publication Number:
  US 20110221867A1
• Time in Patent Office: 2,050 Days
• US Class Current: 348/46
• CPC Class Codes: G01B 11/275 for testing wheel alignment
• CPC Class Codes: G01B 2210/12 Method or fixture for calibrating the wheel aligner
• CPC Class Codes: G01B 2210/146 Two or more cameras imaging the same area
• CPC Class Codes: G01B 2210/30 Reference markings, reflector, scale or other passive device

Abstract

A method and a device are provided for the optical axle alignment of wheels of a motor vehicle. At the wheels that are to be aligned, targets are mounted, having optically recordable marks, the targets being recordable by measuring units that have stereo camera devices. In a referencing process, using a referencing device that is integrated into the measuring units, a measuring position reference system is established for the measuring units. In a calibration process, in which a local 3D coordinate system is established using at least three marks of the target, the determination of a reference plane is carried out, using a significant mark of the target. Finally, using the reference plane, a vehicle longitudinal center plane is ascertained, while taking into account the measuring location reference system. In a subsequent measuring process, an image is recorded of at least three indeterminate marks taken during the calibration process, and their spatial position is ascertained in the local 3D coordinate system by the evaluation unit.

Claims

1. A method for providing optical axle alignment of the wheels of a motor vehicle, the method comprising:

using a measuring unit, in a measurement process, to take at least one stereoscopic image of at least three marks of a planar target mounted on a wheel, wherein a plane defined by the planar target is perpendicular to a plane defined by a side wall of the wheel;

ascertaining, using an evaluation unit, a spatial position of a rotational axis of the wheel in a previously determined local 3D coordinate system using image processing, and in which, in a referencing process, a measuring location reference system is established for the measuring unit, a calibration process being carried out before the measuring process, in which the targets rotate about the rotational axis of the wheel, and in the calibration process, using at least three marks of the target, the local 3D coordinate system is established and the spatial position of the rotational axis of the wheel is ascertained; and

during a subsequent measuring process, while the wheel is standing still and the target is unmoved, the spatial position of at least the at least three marks of the target drawn upon during the calibration process is ascertained, in the local 3D coordinate system, wherein, during the calibration process, a determination of a reference plane is carried out using a significant mark of the target, the significant mark on the targets of the wheels of the same axle having an identical distance from a common reference area.

2. The method of claim 1, wherein, using the reference plane, a vehicle longitudinal center plane is ascertained, while taking into account the measuring location reference system.

3. The method of claim 1, wherein a wheel center plane is drawn upon as reference plane, and wherein the significant mark is at a distance (a), known to the evaluation unit, from the wheel center plane.

4. The method of claim 1, wherein during the calibration process the motor vehicle is moved from an initial position to an end position, the targets mounted on the wheels being moved through a rotational angle of 50°

to 70°

about the rotational axis of the wheel.

5. The method of claim 1, wherein during the rolling off of the wheels an image sequence of 20 to 30 images/sec is taken respectively of the indeterminate marks and of the significant mark of the target.

6. The method of claim 1, wherein the referencing process takes place before the measuring process or continuously during each image-taking of the measuring process.

7. The method of claim 1, wherein the referencing process takes place before the calibration process.

8. A device for providing optical axle alignment of the wheels of a motor vehicle, comprising:

planar targets mounted on the wheels that are to be aligned, which are furnished with optically recordable marks, wherein a plane defined by each respective planar target is perpendicular to a plane defined by a side wall of the corresponding wheel;

measuring units, which have at least one stereo camera device as the image taking device for recording the marks, in a measuring process of at least three marks of the target, at least one stereoscopic image being taken, and from this, the spatial position of the rotational axis of the wheel is ascertained by an evaluation unit, in a local 3D coordinate system, using image processing,

wherein the measuring units, besides the stereo camera devices, include a referencing device, by which the position of the measuring units in a measuring location reference system is able to be determined, and wherein on the target, in addition to at least two indeterminate marks, an additional significant mark is positioned which, at least at the targets of the wheels of the same axle, is at an equal distance (d) from a common reference area, and wherein the evaluation unit is configured to determine a reference plane using the significant mark of the target.

9. The device of claim 8, wherein the distance (d) of the significant mark from the reference area is known to the evaluation unit.

10. The device of claim 8, wherein a distance (a) of the significant mark from a wheel center plane is known to the evaluation unit, the wheel center plane being used as the reference plane.

11. The device of claim 10, wherein the distance (a) is made up of the known distance (d) of the significant mark from the reference area, a known distance (s) of the reference area from a spanning plane on a target mounting support and a known distance of the spanning plane from the wheel center plane.

12. The device of claim 8, wherein the measuring units are situated laterally on the travel rails, in such a way that the field of vision of the respective stereo camera device records the marks of the respective target.