This patent application claims priority from Italian patent application no. 102021000029027 filed on Nov. 16, 2021, the entire disclosure of which is incorporated herein by reference.
This invention relates to a vehicle measuring apparatus and the corresponding method of operation. In particular, this invention concerns the calibration and determination of the actual position of component parts, preferably image acquisition devices, of a vehicle measuring apparatus.
Vehicle measuring apparatuses are known that comprise a base unit resting on a plane, a support structure that is mounted on the base unit and is provided with a support bar that is approximately horizontal, and two side video cameras that are stably mounted on the opposite ends of the support bar to acquire images of a vehicle arranged in a service area.
The images acquired are generally provided to a control unit that processes them via the vehicle measuring algorithms to provide vehicle data regarding some vehicle devices/components/parts. For example, some vehicle measuring algorithms provide vehicle data regarding the arrangement of the vehicle wheels, and/or vehicle data that is useful for calibrating electronic devices of an electronic ADAS (Advanced Driver Assistance Systems) present on board the vehicle and/or vehicle data concerning the position of the vehicle measuring apparatus in relation to the vehicle to be measured.
To be able to operate correctly and ensure a certain precision of the measurement, the vehicle measuring apparatuses must be subject to procedures to calibrate the video cameras to compensate, on a case-by-case basis, for any variations/alterations of their position/orientation in relation to a condition established or detected previously, for example during an initial calibration or set-up step of the vehicle measuring apparatus.
In particular, during transport, and/or assembly, and/or use of the vehicle measuring apparatus, the two video cameras and the support bar are subject to collisions and/or thermal dilations that may cause not-insignificant variations of the position/orientation of the video cameras themselves in relation to the condition previously detected and stored in the vehicle measuring apparatus. These accidental alterations, if not detected with a certain precision, introduce errors that significantly affect the correctness of the vehicle data provided via the vehicle measuring methods mentioned above. To this end, the video cameras must, therefore, be subject to the above-mentioned calibration procedure. Some known calibration procedures involve: manually providing an operator with a calibration panel at a certain distance from the vehicle measuring apparatus before the video cameras themselves in different, pre-determined positions; simultaneously acquiring, via two video cameras, the image of the calibration panel in the various positions; processing the panel images to determine the relative positions of the two video cameras, one in relation to the other; and calibrating the two video cameras based on the relative positions determined.
The implementation of the calibration method for the video cameras described above has numerous technical problems. In particular, the manual intervention for calibration, as well as affecting, in a not insignificant way, the complexity, time, and, thus, cost of the calibration, significantly limits the frequency of execution and increases the risk of error in case of accidental alterations, subsequent to manual calibration.
The purpose of this invention is, thus, to provide a vehicle measuring apparatus that overcomes the above-mentioned technical issues.
In accordance with this purpose, according to this invention, a vehicle measuring apparatus is provided, as well as its method of operation, as defined in the related independent claims and, preferably, but not necessarily, in any one of the claims dependent thereon.
The claims describe preferred embodiments of this invention forming an integral part of this description.
This invention will now be described with reference to the attached drawings that illustrate a non-limiting embodiment thereof, in which:
With reference to
As will be described in more detail below, the vehicle measuring apparatus 1 may be configured so as to implement vehicle “measuring methods”.
The measuring methods may involve, as desired, the execution of one or more of the following measuring functions: functions to determine the arrangement of the vehicle 9 wheels, and/or functions to calibrate one or more electronic devices of an ADAS (acronym for Advanced Driver Assistance Systems) present on board of the vehicle 9, and/or functions to determine the position of the vehicle measuring apparatus 1 in relation to the vehicle 9, which is being measured. In the discussion that follows, “measuring method” will be understood to refer to a method that, when implemented by the vehicle measuring apparatus 1, ensures that the latter performs one or more measuring functions mentioned above.
With reference to
With reference to
The vehicle measuring apparatus 1 comprises, in addition, a frame or support structure 4, which is mechanically coupled to the base unit 2. The vehicle measuring apparatus 1 comprises, in addition, a support bar 5, which is mechanically coupled to the support structure 4. The support bar 5 extends along a longitudinal axis A approximately horizontal above the base unit 2. The support bar 5 may comprise, for example, a rod or cross member, and consist of a straight section made of rigid material, preferably metal, for example aluminium or the like, having a preferably quadrangular cross-section, and is sized so as to laterally extend the vehicle measuring apparatus 1 on both opposite sides.
With reference to
According to one embodiment shown in the attached figures, the electronic vehicle measuring system 6 preferably comprises two main image acquisition devices 7, which are stably mounted (fixed) on the two corresponding opposite ends 5a of the support bar 5 according to relative “poses”. In this description, the term “pose” of an image acquisition device refers to its position and the orientation of its image acquisition visual field. The pose of an image acquisition device may be “relative”, i.e., defined in relation to the pose of another image acquisition device, or it may be “absolute”, i.e., determined in relation to a common, pre-determined reference system. The “relative” pose of an image acquisition device in relation to another image acquisition device is indicative both of its position in relation to the position of the other image acquisition device and the orientation angle of its image acquisition visual field in relation to the orientation of the other image acquisition device.
The two main image acquisition devices 7 are stably fixed to the support bar 5 and are positioned on the same (one to the right and one to the left in
With reference to
The electronic control system 10 is, in addition, configured so as to process the vehicle images via one or more measuring functions (algorithms) provided for by the measuring method implemented by the vehicle measuring apparatus 1.
One measuring method implemented by the electronic vehicle measuring system 6 may comprise, for example, an ADAS calibration method for one or more electronic sensor devices comprised in an advanced driver assistance system (ADAS) 100 of the vehicle 9 (
Alternatively, and/or additionally, the electronic vehicle measuring system 6 may be configured so as to implement a measuring method that is designed to determine the position of the vehicle measuring apparatus 1 in relation to the vehicle 9 (or vice versa). Alternatively, and/or additionally, the electronic vehicle measuring system 6 may also be configured so as to carry out/implement a measuring method to determine the arrangement of the wheels of the vehicle 9. The method to determine the arrangement of the wheels of the vehicle 9, the ADAS calibration method and the method to determine the position of the vehicle 9 are known measuring methods and, as a result, will not be described further.
The electronic vehicle measuring system 6 is provided, in addition, with two auxiliary image acquisition devices 11, which are mounted on the support bar 5 at a predetermined distance from each other and in predetermined positions in relation to the two main image acquisition devices 7. In the example illustrated in the attached figures, each of the auxiliary image acquisition devices 11 is arranged stably/rigidly on one end 5a of the support bar 5 in a position immediately adjacent (close) to a main image acquisition devices 7 (one to the right and one to the left in
The memory unit may also contain information concerning the position and/or distance of each end 5a of the support bar 5 in relation to the position of the adjacent main image acquisition device 7 present on the support bar 5 itself.
It is appropriate to specify that the relative and/or absolute “pose” of an image acquisition device (main 7 and/or auxiliary 11) may be determined by the electronic control system 10 via the implementation of one or more resolving computer vision algorithms, which are configured so as to resolve PnP (Perspective-n-Point) and/or EPnP (Efficient PnP), and/or SQPnP (described by Terzakis and Lourakis in the European conference publication on artificial vision (ECCV) 2020, 478-494), and/or RANSAC equation systems, or the like.
The auxiliary image acquisition devices 11 are arranged on the support bar 5 so that the corresponding visual fields (indicated with the arrows H in
The electronic control system 10 is operationally connected to the auxiliary image acquisition devices 11 to receive the target images. The electronic control system 10 is also configured so as to determine, based on the target images received, the actual pose of each auxiliary image acquisition device 11 in relation to the target 3.
The electronic control system 10 is also configured so as to determine the relative pose of each auxiliary image acquisition device 11 in relation to the other auxiliary image acquisition device 11 and/or the absolute pose, on the basis of the poses of the auxiliary image acquisition devices 11 determined in relation to the target 3.
The technical effect obtained thanks to the combined use of the auxiliary image acquisition devices 11 and the target 3 present in the base unit 2, is represented by the fact that the electronic control system 10 is designed to determine, with high precision, and completely automatically, the actual poses of the auxiliary image acquisition devices 11 in relation to the target 3. The Applicant found that by positioning the target 3 on the base unit 2, you obtain/define a convenient fixed reference in the vehicle measuring apparatus 1 that can be used to determine, with great precision, the actual poses of the two auxiliary image acquisition devices 11.
The control system 10 is also, conveniently, configured in order to determine the pose of each main image acquisition device 7 based on the poses of the auxiliary image acquisition devices 11. The pose of each main image acquisition device 7 in relation to the target 3 can be conveniently determined by the control system 10 by combining the information relating to its pose in relation to the corresponding auxiliary image acquisition device 11, with the information relating to the pose of the auxiliary image acquisition device 11 itself, determined in relation to the target 3.
The relative pose of each main image acquisition device 7 in relation to the other main image acquisition device 7 may be conveniently determined by the control system 10 by combining the information relating to the poses of the main image acquisition devices 7 determined in relation to the poses of the corresponding, adjacent auxiliary image acquisition devices 11.
The technical effect obtained is that of being able to determine, completely automatically and in real time, the actual pose of the main image acquisition devices 7 as well.
The control system 10 is also configured so as to calibrate the main image acquisition devices 7 based on the related determined poses. The calibration of the main image acquisition devices 7 may involve the electronic control system 10 determining an offset between the actual poses of the main image acquisition devices 7 and the poses of the same stored during a previous calibration. The control system 10 may be configured so as to regulate or adjust, during calibration, one or more control parameters connected to the main image acquisition devices 7 based on the determined offset.
The technical effect obtained is that of ensuring that the vehicle measuring apparatus 1 carries out, completely automatically, the calibration (self-calibration) of the main image acquisition devices 7.
It remains understood that the control system 10 may be configured so as to carry out, in addition to or alternatively to, a calibration of the auxiliary image acquisition devices 11 of the whole that is similar to that described above implemented in the main image acquisition devices 7.
The electronic control system 10 may also be configured so as to conveniently determine the position of each of the two ends 5a of the support bar 5 based on the (relative or absolute) poses of the two main image acquisition devices 7, and/or based on the (relative or absolute) poses of the two auxiliary image acquisition devices 11.
The electronic control system 10 may also be conveniently configured to conveniently detect/determine a deformation of the support bar 5 based on the poses of the auxiliary image acquisition devices 11 and/or based on the position of each of the two ends 5a of the support bar 5.
The technical effect obtained is that of detecting, in real time, deformation of the support bar 5 caused by collisions and/or thermal expansions. The deformation may be determined based on offsets of the ends 5a in relation to a predetermined condition. Having determined the deformation of the support bar 5 and, thus, the relative offsets, the electronic control system 10 may, conveniently, be designed to selectively carry out an automatic calibration of the devices of the vehicle measuring apparatus 1 such as: the main image acquisition devices 7, and/or the auxiliary image acquisition devices 11, and/or the calibration devices 15 and 16.
The electronic control system 10 may also be configured so as to conveniently determine the position of the support bar 5 in relation to the target 3 or to the base unit 2, based on the positions of its two ends 5a.
An additional technical effect obtained is that of being designed to determine, completely automatically, any variations in size or shape of the support bar 5a.
An additional technical effect obtained is that of being able to determine, moment by moment, the position of the support bar 5 in relation to the target 3, i.e., the base unit 2. As will be explained in detail in the discussion that follows, the determination of the position of the support bar 5, in real time, makes it possible to automatically determine, indirectly, the position of other devices present in the vehicle measuring apparatus 1 too and used in the measuring methods.
According to this invention, the electronic control system 10 may be configured so as to determine and store, completely automatically, in the memory unit, repeatedly, for example at predetermined intervals, the poses and/or calibration of the auxiliary image acquisition devices 11, and/or the poses and/or the calibration of the main image acquisition devices 7, and/or the positions of the ends 5a, and/or the position of the support bar 5.
The technical effect is that of strongly reducing the risk of error caused by any alterations of the poses of the main image acquisition devices 7 and/or the auxiliary 11 ones, and/or by alterations in the size or shape of the support bar 5.
With reference to the embodiment shown in
In the example illustrated in
With reference to
According to the preferred embodiment shown in
The technical effect of the integration of the main image acquisition devices 7 and the auxiliary 11 ones in a single module is that of ensuring the maintenance of the relative pose between the same and to thus increase the robustness of the precision both during the calibration and during the determination of the positions.
According to a possible embodiment illustrated in
According to the embodiment illustrated in
According to a preferred embodiment shown in
With reference to
The support structure 4 is also mechanically coupled to the support column 14 so that the rotation of the latter around the axis B determines a corresponding rotation of the support structure 4 around the axis B itself. In the example illustrated, the above-mentioned vertical and/or rotary movement of the support structure 4 determines the same vertical, and respectively rotary, movement of the support bar 5 in relation to the base unit 2, and, thus, in relation to the target 3 (along and around the axis B).
The support bar 5 may also be coupled to the support structure 4 so as to axially translate along the axis A, staying horizontal, so as to vary the position of the related ends 5a in relation to the base unit 2 and, thus, to the target 3. The support bar 5 may be moved along the axis A via an electromechanical assembly (actuators, and/or electric motors) (not illustrated) based on controls imparted by the electronic control system 10.
According to one embodiment shown in
According to the preferred embodiment shown in
The control system 10 may be conveniently configured so as to control/determine, moment by moment, or in real time, the position of the calibration device 15 based on the positions of the ends 5a of the support bar 5 determined in relation to the target 3. The support bar 5 and the calibration device 15 are, in fact, mechanically coupled to the support structure 4 so as to carry out the same movements. Therefore, determining moment by moment the position of the ends 5a of the support bar 5, it is possible to conveniently determine the position of the calibration device 15 in relation to the target 3.
The technical effect is that of being able to control, automatically, and moment by moment, the position of the calibration device 15 without the aid of sensors and/or complex and costly mechanisms, such as encoders, resolvers, or the like, but just using the above-mentioned auxiliary image acquisition devices 11.
An additional technical effect consists in the fact of being able to know/immediately obtain, upon the start-up/switching-on of the vehicle measuring apparatus 1, the position of the calibration device 15 based on the target images provided by the auxiliary image acquisition devices 11 (auto-zero).
One of the calibration devices, identified with 16 in the
The control system 10 may be conveniently configured so as to control/determine, moment by moment, or in real time, the position of the calibration device 16 based on the positions of the ends 5a of the support bar 5.
The technical effect is that of being designed to control, automatically and moment by moment, the horizontal position of the calibration device 16 as well, without the aid of sensors and/or mechanisms, such as encoders, resolvers, or the like, but just using the auxiliary image acquisition devices 11.
An additional technical effect consists in the fact of being able to know/immediately obtain, upon the start-up/switching-on of the vehicle measuring apparatus 1, the position of the calibration device 16 as well, based on the target images provided by the auxiliary image acquisition devices 11.
According to the preferred embodiment shown in
With reference to
It is understood that this invention is not limited to the use of the main image acquisition devices 7, but may also involve a vehicle measuring apparatus 1 that, alternatively, may not have the main image acquisition devices 7 mentioned above.
With reference to
Initially, a step is provided for positioning the vehicle measuring apparatus 1 before the vehicle 9 and for rotating (when the vehicle measuring apparatus is provided with the mechanisms 18) the two side portions of the support bar 5 downwards from the rest position (
Following the action of the vehicle measuring apparatus 1, the method of operation involves implementing the following steps: capturing the target images via the auxiliary image acquisition devices 11, and processing the target images to determine and store at least the actual poses of the auxiliary image acquisition devices 11 in relation to the target 3 (base unit 2).
The method of operation may also comprise the step of processing the target images to determine and store the actual poses of the main image acquisition devices 7 based on the actual poses of the auxiliary image acquisition devices 11 determined in relation to the target 3.
The method of operation may also comprise the step of determining the offset/error between the actual pose determined of each main image acquisition device 7 and its pose previously stored in the memory unit. In this step, the method of operation may comprise the step of implementing the procedures for correcting the position/orientation of the main image acquisition devices 7 based on the determined offset. In other words, the method of operation may comprise the step of calibrating the main image acquisition devices 7 based on the actual poses determined by the processing of the target images.
The method of operation may also comprise, alternatively and/or additionally, the step of automatically calibrating the auxiliary image acquisition devices 11 based on the related poses actually determined. For example, this step may be included when the vehicle measuring apparatus 1 does not have the main image acquisition devices 7.
In this step, the method of operation may comprise the step of determining the offset/error between the actual, determined pose of the auxiliary acquisition device 11 and its pose previously stored in the memory unit. In this step, the method of operation may comprise the step of implementing procedures for correcting the position/orientation of the auxiliary image acquisition devices 11 based on the determined offset.
The method of operation may also comprise the step of determining, in response to control signals provided by the electronic control system 10, the position of the ends 5a of the support bar 5 based on the actual poses of the auxiliary image acquisition devices 11. Conveniently, the position of the ends 5a of the support bar 5 may be determined during the handling of the support bar 5 itself, so as to selectively control its vertical movement (along the axis B), the rotary movement (around the axis B), and the axial movement (along the axis A).
The method of operation may also be conveniently configured so as to conveniently detect/determine a deformation of the support bar 5 based on the poses of the auxiliary image acquisition devices 11 and/or based on the position of each of the two ends 5a of the support bar 5.
The method is designed to selectively carry out automatic calibration of the devices of the vehicle measuring apparatus 1 based on the deformation of the support bar 5. The automatic calibration may, preferably, be carried out on at least the following devices: the main image acquisition devices 7, and/or the auxiliary image acquisition devices 11, and/or the calibration devices 15 and 16.
The method of operation may also comprise the step of determining, in response to control signals provided by the electronic control system 10, the position of the calibration devices 15 and/or 16 based on the positions of the ends 5a of the support bar 5. Conveniently, the position of the calibration devices 15 and/or 16 may be determined during the handling of the same so as to selectively control its movements.
The vehicle measuring apparatus 1 makes it possible to maintain control of the relative pose and/or the absolute pose of the two main image acquisition devices 7 and/or auxiliary 11 ones used by the measuring methods described above. Therefore, any time the position and/or orientation of the two main image acquisition devices 7 is subject to a change, for example an accidental one or following the re-positioning of the side portions hinged to the support bar 5 in the operating position, the vehicle measuring apparatus is designed to measure this change with great precision without requiring operator interventions.
In addition, the vehicle measuring apparatus is designed to determine, with precision, the positions of the other devices mounted on the support structure too, such as, for example the calibration devices 15 and 16 used for ADAS calibration, eliminating, in this method, the need to use other position sensors, thus reducing the complexity and costs of the vehicle measuring apparatus itself.
In addition, the vehicle measuring apparatus is designed to determine, with precision, the position of the support bar 5 too and of its two ends 5a during the direct and/or indirect movement of the same.
Finally, it is clear that the apparatus and method described above may be altered, or variations may be produced thereof, without, as a result, departing from the scope of this invention.
The embodiment shown in
The embodiment shown in
The embodiment shown in
It remains understood that according to a possible embodiment the body of the base unit 2 can be shaped so as to form a two-dimensional or three-dimensional target 3. In other words, the base unit 2 can directly form the target 3 defining the reference point that can be observed from the auxiliary image acquisition devices 11.
Number | Date | Country | Kind |
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102021000029027 | Nov 2021 | IT | national |