IPC분류정보
국가/구분 |
United States(US) Patent
등록
|
국제특허분류(IPC7판) |
|
출원번호 |
UP-0563746
(2005-03-18)
|
등록번호 |
US-7860295
(2011-02-24)
|
우선권정보 |
DE-10 2004 013 441(2004-03-18) |
국제출원번호 |
PCT/EP2005/002940
(2005-03-18)
|
§371/§102 date |
20070402
(20070402)
|
국제공개번호 |
WO05/090906
(2005-09-29)
|
발명자
/ 주소 |
- Donner, Karin
- Bux, Hermann
- Schommer, Stefan
- Engl, Rudolf
|
출원인 / 주소 |
|
대리인 / 주소 |
Blakely, Sokoloff, Taylor & Zafman LLP.
|
인용정보 |
피인용 횟수 :
7 인용 특허 :
4 |
초록
▼
A method and a unit for determining the spatial position of a wheel rim with respect to a measuring unit having at least one camera, wherein the wheel rim lies in the viewing field of the camera, including making available of a model, that describes a model body of a localizable wheel rim geometry d
A method and a unit for determining the spatial position of a wheel rim with respect to a measuring unit having at least one camera, wherein the wheel rim lies in the viewing field of the camera, including making available of a model, that describes a model body of a localizable wheel rim geometry detail as well as the spatial position of the model body with respect to the measuring unit, through model parameters, capturing of a picture of the wheel rim geometry detail of the wheel rim with the camera, fitting the image of the model body resulting from the model parameters to the picture of the wheel rim geometry detail through changing the model parameters of the model, and tracking the changes of the model parameters upon the fitting, whereby the data related to the position of the model body of the wheel rim geometry detail reflect the spatial position of the wheel rim-geometry detail and, thereby, the wheel rim itself, when the image resulting from the model parameters, of the wheel rim-geometry detail fits to the captured picture of the wheel rim geometry detail within the asserted tolerance limits. The invention also relates to a wheel alignment measuring method and to a wheel alignment measuring system that uses said method and said unit.
대표청구항
▼
What is claimed: 1. A computer-implemented method for determining the spatial position of wheel rim to a measuring unit, that includes at least one camera, wherein the wheel rim lies in the viewing field of the camera, the method comprising: making available of a model that describes a model body o
What is claimed: 1. A computer-implemented method for determining the spatial position of wheel rim to a measuring unit, that includes at least one camera, wherein the wheel rim lies in the viewing field of the camera, the method comprising: making available of a model that describes a model body of a localizable wheel rim geometry detail as well as the spatial position of the model body to the measuring unit through model parameters, capturing of a picture of the wheel rim geometry detail of the wheel rim with the camera, fitting, by the computer, of the picture of the model body resulting from the model parameters to the picture of the rim geometry detail through changing the model parameters of the model, and tracking, by the computer, the changes of the model parameters of the model upon the fitting, wherein the data related to the position of the model body of the wheel rim geometry detail reflect the spatial position of the wheel rim geometry detail and, thereby, of the wheel rim itself, when the image resulting from the model parameters of the model body of the wheel rim geometry detail matches to the captured picture of the wheel rim geometry detail within the asserted tolerance limits. 2. The method according to claim 1, wherein the model body is a so-called osculating torus or a 3D-CAD representation. 3. The method according to claim 2, wherein, in case of the osculating torus, model parameters of the model are a primary radius R and a secondary radius r of the torus, a position c of the torus center, a normal vector n of the plane of rotation of the torus and a position z of the projection center of an aperture camera, with which the osculating torus is viewed. 4. The method according to claim 1, wherein the wheel rim geometry detail is the shadow border line of the rim edge contour. 5. The method according to claim 4, wherein the position of the wheel rim in space is determined by capturing the shadow border line by at least one camera; calculating from the shadow border line an extreme shadow border line curve; calculating from the extreme shadow border line curve an axes through an orthogonal projection, which axes is perpendicular to a plane spread out by the wheel rim. 6. The method according to claim 1, wherein the wheel rim contour is captured with two cameras which are directed to the wheel at different angles. 7. The method according to claim 1, wherein the picture of the wheel rim is used for determining an angular rotation reference point on the rim. 8. The method according to claim 7, wherein, for determination of the rotation angle-reference point on the rim, the position of a characteristic feature on the wheel is used. 9. The method according to claim 8, wherein a characteristic feature on the rim is used as a characteristic feature for determination of the rotation angle-reference point. 10. The method according to claim 8, wherein, an air valve of the wheel is used as the characteristic feature for determination of the rotation angle-reference point. 11. The method according to claim 7, wherein, for segmentation of the perimeter of the rim, a pre-segmentation and a fine segmentation is carried out. 12. The method according to claim 11, wherein, in addition to the pre-segmentation and fine segmentation, a sub-pixel segmentation is carried out. 13. The method according to claim 1, wherein the fitting of the image of the model body of the wheel rim geometry detail to the picture of the wheel rim geometry detail through alteration of model parameters of the model includes, at first, an approximation of a rim edge plane, then an angle argument calculation and lastly a final torus model fitting on the final rim edge plane is carried out. 14. The method according to claim 1, further comprising: outputting or displaying data with respect to the model parameters of the model which define the spatial position of the wheel rim when the image of the model body of the wheel rim geometry detail fits to the captured picture of the wheel rim geometry detail. 15. The method according to claim 1, further comprising: starting the picture shooting; segmenting the rim wherein a segmentation of the air vent of the motor vehicle is carried out; segmenting the rim edge in order to measure the asserted angle range of the rim edge; reconstructing the 3-D position of the rim edge; and displaying the results of the calculation, namely of the normal vector and of the central point of the rim edge plane and/or storing of the same for the further calculation. 16. The method according to claim 15, wherein the position of a characteristic feature is reconstructed while considering the outer camera parameters in order to obtain a parameter set axis of rotation, that is the true axis of rotation with respect to the normal vector. 17. The method according to claim 15, wherein, after the start of the picture shooting, it is examined at first whether the illumination is sufficient for the measurement, and that the illumination is adjusted accordingly. 18. The method according to claim 15, wherein the adjustment includes a larger or smaller intensity of the light for the illumination. 19. A measuring unit for determining the spatial position of a wheel rim with respect to a measuring device wherein said measuring device includes at least one camera arranged with respect to the wheel rim such that the wheel rim lies in the viewing field of the camera for capturing of a picture of the wheel rim geometry detail of the wheel rim with the camera, and wherein said measuring unit further comprises computer means configured to making available of a model that describes a model body of a localizable wheel rim geometry detail as well as the spatial position of the model body to the measuring device through model parameters, and further configured to fitting of the picture of the model body resulting from the model parameters to the picture of the rim geometry detail through changing the model parameters of the model, and tracking the changes of the model parameters of the model upon the fitting, wherein the data related to the position of the model body of the wheel rim geometry detail reflect the spatial position of the wheel rim geometry detail and, thereby, of the wheel rim itself, when the image resulting from the model parameters of the model body of the wheel rim geometry detail matches to the captured picture of the wheel rim geometry detail within the asserted tolerance limits. 20. The measuring unit according to claim 19, wherein two cameras are provided which capture the perspective picture of the wheel rim contour and are directed to the wheel under different angles. 21. The measuring unit according to claim 20 wherein, in case of Zoom-objectives, furthermore the set focal length is pre-adjusted. 22. The measuring unit according to claim 19, wherein each camera includes an optical sensor, an objective, an aperture setting unit and a focus setting unit, and that the mounting position of the sensors and of the objective, the aperture setting and focus setting are pre-adjusted. 23. The measuring unit according to claim 22, wherein an output or display system, respectively, is provided for outputting or displaying, respectively, the data with respect to the model parameters, which define the spatial position of the wheel rim, when the image of the model body of the wheel rim-geometry detail fits to the captured picture of the wheel rim geometry detail. 24. A computer-implemented method for the wheel alignment measurement on motor vehicles, comprising: determining the spatial position of wheel rim with respect to a measuring device, that includes at least one camera, wherein the wheel rim lies in the viewing field of the camera, wherein the determining the spatial position of the wheel rim includes: making available of a model that describes a model body of a localizable wheel rim geometry detail as well as the spatial position of the model body with respect to a measuring device in a measuring unit through model parameters, capturing of a picture of the wheel rim geometry detail of the wheel rim with the camera, fitting, by the computer, of the picture of the model body resulting from the model parameters to the picture of the rim geometry detail through changing the model parameters of the model, and tracking, by the computer, the changes of the model parameters of the model upon the fitting, wherein the data related to the position of the model body of the wheel rim geometry detail reflect the spatial position of the wheel rim geometry detail and, thereby, of the wheel rim itself, when the image resulting from the model parameters of the model body of the wheel rim geometry detail matches to the captured picture of the wheel rim geometry detail within the asserted tolerance limits, and determining the relative positions of the measuring units for execution of the measurements, and expressing the measuring results of the measurements on the wheels of the motor vehicle in terms of wheel position values taking into account the relative positions of the measuring units, and outputting or displaying the wheel position values. 25. The method according to claim 24 wherein the relative positions of the measuring units for the execution of the measurements are fixed through an adjustable mounting of the measuring units on a measuring site. 26. The method according to claim 25, wherein the relative positions of the measuring units for execution of the measurements are determined through a reference system that is arranged between the measuring units. 27. The method according to claim 24, further comprising: measuring the individual measuring units; entering the measuring results into a computer; calculating the transformation matrix from the results of the reference system measurement; transforming the result vectors of the measuring units into the arithmetic coordinates system through offset angles and distances from the reference measuring system; determining the wheel position values in the arithmetic coordinates system through evaluation of the position of the result vectors to each other for calculation of the corresponding wheel alignment measurement values; and presenting the results to the wheel position angle values to a display system and/or storing of the same for further use. 28. A wheel alignment measuring system for motor vehicles, comprising: measuring units for determining the spatial position of a wheel rim with respect to a measuring device wherein said measuring device includes at least one camera arranged with respect to the wheel rim such that the wheel rim lies in the viewing field of the camera for capturing of a picture of the wheel rim geometry detail of the wheel rim with the camera, and wherein said measuring units are positioned on a measuring site in such a manner that a measuring unit each is associated with one of the wheels of the motor vehicle whereby the relative positions of the measuring units are determined during the execution of the measurements, said system further comprising computer means configured to making available of a model that describes a model body of a localizable wheel rim geometry detail as well as the spatial position of the model body to the measuring device through model parameters, and further configured to fitting of the picture of the model body resulting from the model parameters to the picture of the rim geometry detail through changing the model parameters of the model, and tracking the changes of the model parameters of the model upon the fitting, wherein the data related to the position of the model body of the wheel rim geometry detail reflect the spatial position of the wheel rim geometry detail and, thereby, of the wheel rim itself, when the image resulting from the model parameters of the model body of the wheel rim geometry detail matches to the captured picture of the wheel rim geometry detail within the asserted tolerance limits said computer means furthermore processing the measurement results of the measurements on the wheels of the motor vehicle to wheel position values taking into account the relative positions of the measuring units, and an output or display device which outputs or displays the wheel position values. 29. The wheel alignment measuring system according to claim 28, wherein the relative positions of the measuring units for execution of the measurements are fixed through an adjustable mounting of the measuring units at a measuring site. 30. The wheel alignment measuring system according to claim 28, wherein the relative positions of the measuring units for execution of the measurement are determined through a reference system, that is arranged on the measuring units. 31. The wheel alignment measuring system according to claim 28, wherein, upon combined assembly of two cameras in a measuring unit for a stereo-measuring system, the cameras are calibrated with respect to the coordinates system of the measuring unit.
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