Patent Grant
7065462
Contained herein is material that is subject to copyright protection. The copyright owner has no objection to the facsimile reproduction of the patent disclosure by any person as it appears in the Patent and Trademark Office patent files or records, but otherwise reserves all rights to the copyright whatsoever.
1. Field
Embodiments of the present invention generally relate to the field of computer vision and the field of measuring vehicle wheel alignment characteristics, such as camber and toe. More particularly, embodiments of the present invention relate to the use of a rotating vision sensor, such as a laser sensor, to map a portion of the vehicle tire and/or rim from which one or more alignment characteristics may be determined.
2. Description of the Related Art
Correct vehicle suspension and geometry improves the directional stability, tracking, cornering, and overall driveability of a vehicle while also increasing tire tread life and wear. Two primary vehicle wheel alignment characteristics are toe, which is generally defined as the slanting of the wheels toward the front or back of the vehicle, and camber, which is generally defined as the sloping of the wheels toward the top or bottom of the vehicle.
While several different measurement techniques are currently employed, the accurate measurement of wheel alignment is a surprisingly difficult problem to solve in a cost and time efficient manner. In a typical manufacturing process, the wheel alignment is measured in all vehicles as a part of the manufacturing process, and the wheel alignment of a relatively small percentage of vehicles, such as 4%, is measured a second time as an audit for determining the accuracy of the aligner used in the manufacturing process.
It would be desirable to audit a higher percentage of vehicles, so that the accuracy of the alignment process could be improved. However, the audit time of current alignment audit equipment is such that a significantly higher audit rate is not viable. Typical auditing devices currently in use are quite slow, and so cannot keep pace with a production line. While it may be possible to add more auditing devices to increase the audit percentage, the cost of so doing may be prohibitive.
In light of the above, it can be appreciated that an alignment system that is less expensive, quicker, and more accurate than known systems is a significant advance in the art. Manufacturers may be expected to save on warranty repairs, and vehicle owners may be relieved of the burden of purchasing a new vehicle that is not correctly aligned.
Embodiments of the present invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which like reference numerals refer to similar elements and in which:
Apparatus and methods for measuring vehicle wheel alignment characteristics are described. According to one embodiment of the present invention, two measurement cycles are performed between which the wheel being characterized is rotated. During a first measurement cycle, spatial coordinates of multiple points on the wheel are obtained by positioning a vision sensor at various angular offsets relative to the wheel, the multiple points representative of samples from each of the various angular offsets. After the first measurement cycle and before the second measurement cycle, the wheel is rotated at least a partial revolution. During the second measurement cycle, spatial coordinates of multiple points on the wheel are obtained by positioning the vision sensor at various angular offsets relative to the wheel, the multiple points representative of samples from each of the various angular offsets. Finally, one or more characteristics of the wheel are determined based upon the spatial coordinates collected during the first measurement cycle and the spatial coordinates collected during the second measurement cycle.
Other features of embodiments of the present invention will be apparent from the accompanying drawings and from the detailed description that follows.
Apparatus and methods are described for measuring vehicle wheel alignment characteristics. Broadly stated, embodiments of the present invention employ a rotating vision sensor, such as a non-contact laser sensor, to map a portion of a vehicle's wheel, which allows for the determination of the plane of the wheel (and thereby various alignment characteristics, such as the “toe” and “camber” of the wheel). According to one embodiment, two measurement cycles are performed between which the vehicle's wheels are rotated at least a partial revolution. For example, the vehicle may be left in place and the “floor” may be moved under the wheels by a known amount. Alternatively, the vehicle may be moved forward or backward to rotate the wheels. However, the forces employed to push or pull the vehicle may introduce error.
In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of embodiments of the present invention. It will be apparent, however, to one skilled in the art that embodiments of the present invention may be practiced without some of these specific details. In other instances, well-known structures and devices are shown in block diagram form.
Embodiments of the present invention include various steps, which will be described below. The steps may be performed by hardware components or may be embodied in machine-executable instructions, which may be used to cause a general-purpose or special-purpose processor programmed with the instructions to perform the steps. Alternatively, the steps may be performed by a combination of hardware and software.
Embodiments of the present invention may be provided as a computer program product which may include a machine-readable medium having stored thereon instructions which may be used to program a computer (or other electronic devices) to perform a process. The machine-readable medium may include, but is not limited to, floppy diskettes, optical disks, CD-ROMs, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, magnetic or optical cards, flash memory, or other type of media/machine-readable medium suitable for storing electronic instructions. Moreover, embodiments of the present invention may also be downloaded as a computer program product, wherein the program may be transferred from a remote computer to a requesting computer by way of data signals embodied in a carrier wave or other propagation medium via a communication link (e.g., a modem or network connection).
While, for convenience, embodiments of the present invention are described with reference to a particular type of non-contact sensor (i.e., a Digital TriCam manufactured by Perceptron of Plymouth, Mich.) and a particular mechanism for rotating the non-contact sensor (i.e., a rotary blade), embodiments of the present invention are equally applicable to various other non-contact sensors and positioning mechanisms. For example, with respect to alternative non-contact sensors, the Diffracto brand sensor manufactured by LMI Technologies Inc. may be employed to perform the distance measurement functions described herein. With respect to alternative positioning mechanisms, robotic arms, circular tracks and the like may be employed to position the non-contact sensor relative to the target object. Furthermore, in addition to wheel alignment, measurement and audit, it is contemplated that embodiments of the present invention will be applicable to various other usage models.
Terminology
Brief definitions of terms used throughout this application are given below.
The term “camber” generally refers to a wheel alignment characteristic representing the sloping of a wheel toward the top or bottom of the vehicle. The terms “connected”, “coupled” or “joined” and related terms are used in an operational sense and are not necessarily limited to a direct connection or coupling.
The phrases “in one embodiment,” “according to one embodiment,” and the like generally mean the particular feature, structure, or characteristic following the phrase is included in at least one embodiment of the present invention, and may be included in more than one embodiment of the present invention. Importantly, such phases do not necessarily refer to the same embodiment.
If the specification states a component or feature “may”, “can”, “could”, or “might” be included or have a characteristic, that particular component or feature is not required to be included or have the characteristic.
The term “responsive” includes completely or partially responsive.
The term “rim” generally refers to the circular outer part of a wheel typically furthest from the axle. A rim is typically a metal or alloy structure around which a tire is fitted.
The term “toe” generally refers to a wheel alignment characteristic representing the slanting of a wheel toward the front or back of the vehicle.
The term “wheel” typically refers to a circular frame of hard material that may be solid, partly solid, or spoked and that is capable of turning on an axle. However, because embodiments of the present invention have utility with respect to characterizing a wheel, a tire, a rim individually and/or in combination, the term “wheel” is used herein to refer broadly to a wheel, a tire, a rim or any combination of these.
Conceptual Overview
When a rotating measurement device measures distance to a plane that is not perpendicular to the axis of rotation, the distance measurements to the plane yield a sinusoidal output. Further, if the plane itself is not perfectly flat but has an error in its plane—in the form of a wheel with “wobble,” then the distance output is the sum of two sinusoids—one for the plane itself and one for the wobble.
In the case of measuring wheel alignment, taking a second measurement after rotating the wheel yields another sum of the two sinusoids with the exception that the wheel's wobble has changed in the phase corresponding to the wheel's rotation, whereas the basic plane of the wheel (due to its axis of rotation) has not changed.
It is by recognizing this interrelation that the assignee of the present invention developed algorithms to separate the two sinusoids (e.g., remove the error or wobble) by capturing a first sum of the two sinusoids while the wheel is in a first position, rotating the wheel at least a partial revolution to a second position, capturing a second sum of the two sinusoids, and then keeping the portion that remains the same between measurements (the basic plane of the wheel) and discarding the portion that changes in phase between measurements (the error or wobble).
Consequently, a vision sensor, such as a laser camera, may be used to determine toe and camber of a vehicle wheel. During a first measurement cycle, the laser camera may be rotated along a circle that lies in a plane that is generally parallel to the plane of the wheel. The field of vision of the rotated sensor scribes at least a portion of a torus in Euclidean space that is “seen” by the camera. According to one embodiment, the wheel and sensor are positioned so that the rim of the vehicle wheel is within the torus so that the rim is seen by the camera. In this context, the camera sees the rim (or other object within the torus) as a collection of pixels, defined by the camera resolution, that each have an x-y-z coordinate or other coordinate system position such as polar coordinates. In an embodiment, the non-contact sensor projects fanned or structured light onto the wheel to illuminate at a contour lines on the surface of the wheel. The contour line is then read by a light sensor, such as a video camera. The sensor is positioned so as to be offset from the optical plane of the projected light thereby to allowing triangulation in determining the spatial position of pixels within the contour line. As the contour line is rotated around the wheel, the camera captures “slices,” each slice including the coordinates in space of a number of points both radially and in the approximate plane of the wheel are sampled along the contour line.
The angular position of the sensor is measured and recorded along with the x-y-z coordinate data. The sensor is engaged with a computer that stores the position and coordinate data associated with the first measurement cycle.
According to one embodiment, before initiating a second measurement cycle, the sensor returns to its original angular position relative to the wheel and the wheel is rotated at least a partial revolution. The second measurement cycle is similar to the first, in that the laser camera is again rotated and captures coordinates associated with a number of pixels in the contour line for each of multiple angular positions during the rotation.
At this point, the computer calculates the plane of the wheel (or other desired wheel alignment characteristic or wheel feature) based upon the two different sets of observed data. The attitude of the plane of the wheel corresponds to an identifiable toe and camber. Thus, according to one embodiment of the present invention very accurate measurement of toe and camber may be accomplished using two measurement cycles of a single vision sensor with a partial revolution of the wheel between measurement cycles.
Exemplary Measurement Device
A vision sensor 30 is positioned toward one end of the blade 16. A counterweight 24 is positioned toward the other end of the blade 16 so that the blade 16 is balanced during rotation. According to alternative embodiments, various other mechanisms may be employed to rotate or otherwise position the vision sensor 30 relative to the wheel. For example, the vision sensor 30 may be mounted on a circular track, and slid around the track; or the vision sensor may be positioned on the end of a rod that is rotated in a circle.
Exemplary Vision Sensor
According to the embodiment depicted, the vision sensor 30 has a laser window 34 through which a beam of coherent light is emitted to intersect a target, and a camera window 36 engaged with a camera (not shown) offset from the laser window 34. The laser window 34 and camera window 36 each have a field of vision, which intersect with one another to form a resulting field of view (F) for the vision sensor 30.
In alternative embodiments, various other devices capable of measuring distance, such as radar, acoustic, ultrasonic range sensing devices or other machine vision devices capable of imaging a volume of space and determining coordinates of a set of pixels within the space may be employed.
Vehicle Wheel Alignment Characteristic Determination
With reference again to
At block 510, a first measurement cycle is commenced during which information is captured regarding the coordinates of points on the wheel at various angular positions of the vision sensor. Such a measurement cycle, among other information, provides information regarding the distance of the surface of the wheel from the sensor which can be represented as a sum of sines and cosines. For example, for the first sweep with the wheel in its initial position, angle a, the distance, Z, from the sensor to the wheel may be represented in the form:
Z=A sin(α)+B cos(α)+C sin(α)+D cos(α) Equation #1
where, the first sine and cosine sum represents the pure toe and camber plane and the second sine and cosine sum represents the wobble or error (e.g., due to runout). Further description of measurement cycle processing is provided below with reference to FIG. 5B.
At decision block 515, a test is made to determine whether a sufficient number of measurement cycles have been performed. Empirical analysis performed by the assignee of the present invention indicates two measurement cycles are sufficient to produce toe and camber error in the estimated plane on the order of thousandths of a degree, which is well within the range of acceptable alignment setting capability. However, more than two measurement cycles may be performed if desired. At any rate, once the desired number of measurement cycles have been performed, processing continues with block 520. However, until the desired number of measurement cycles have been performed, processing branches to block 512.
At block 512, the wheel is rotated by β degrees. According to one embodiment, β is between 90 and 30 degrees. According to another embodiment, β is selected based on the sweep of the vision sensor 30 to create an overlap between the first and second measurement cycles. For example, assuming the sweep of the vision sensor 30 were 315 degrees, it might be desirable to rotate the wheel at least 45 degrees between measurement cycles.
The wheel may be rotated by keeping the vehicle stationary and sliding the plate upon which the wheel rests as discussed further below. Alternatively, the vehicle may be rolled forward or backward and the measuring devices moved to follow the vehicle movement.
After rotating the wheel has been rotated at least a partial revolution, a second measurement cycle is commenced at block 510 during which information is again captured regarding the coordinates of points on the wheel at various angular positions of the vision sensor. During the second measurement cycle, the distance of the surface of the wheel from the sensor can be represented as:
Z=A sin(α)+Bcos(α)+Csin(α+β)+Dcos(α+β) Equation #2
where, the first sine and cosine sum remains unchanged as the pure toe and camber plane is dependent upon the vehicle's attitude and geometry and is therefore a constant for purposes of this example; and where the second sine and cosine sum again represents the wobble or error, but shifted in phase by β degrees.
Assuming two measurement cycles are all that is desired, processing will proceed from decision block 515 to block 520. At block 520, the error in the wheel plane representation is identified based on the two sets of measurement data gathered during the separate measurement cycles. For example, the difference between the two sweeps can be determined to distinguish the wobble or error from the true toe and camber. According to one embodiment a Fourier decomposition method is employed.
At block 525, the wobble or error identified in block 520 may be eliminated to arrive at an estimated wheel plane. Additionally, other perturbations on the wheel, such as “bumps,” may be eliminated by filtering out higher Fourier Series components.
Finally, at block 530, the estimated wheel plane may be used to determine one or more alignment characteristics of the wheel, such as toe and camber. For example, the computer 40 may calculate the plane of the wheel (W) from data stored during the measurement cycles which has been error corrected and filtered in accordance with the method described above.
Measurement Cycle
At block 545, coordinates of multiple points on the surface of the wheel (W) corresponding to the current position of the vision sensor 30 are determined. According to one embodiment, this involves the vision sensor 30 acquiring the image data within its field of view (F).
At block 550, the position information and coordinate information are stored. According to one embodiment, the data is provided to computer 40 for post processing and storage in RAM or on mass storage device. Thus, the computer 40 stores a set of image data which is a collection of spatial coordinates for each acquisition, that is referenced by the angular position of the vision sensor 30.
At decision block 555, a determination is made whether the measurement cycle is complete. Completeness of the measurement cycle may be determined with reference to a predetermined desired sweep coverage by the vision sensor 30 or by data sufficient to achieve a certain level of accuracy having been gathered, for example. According to one embodiment, the vision sensor 30 is swept at least 270 degrees. However, in alternative embodiments, the sweep of the vision sensor 30 may be in the range of 180 to 360 degrees. As mentioned earlier, according to one embodiment, a relationship may be established between the sweep of the vision sensor 30 and the rotation of the wheel. For example, to achieve the desired level of wheel plan accuracy certain implementations may call for, it may be useful to have the sum of the sweep of the vision sensor 30 and the rotation of the wheel between measurement cycles total 360 degrees or more. According to one embodiment, such sum is 317 degrees, representing a 270 degree sweep by the vision sensor and a 47 degree rotation of the wheel.
Multiple revolutions may also be statistically averaged together. During the revolution, the vision sensor 30 collects data at a number of different angular positions (i.e., it takes a number of “shots” or “slices” of the wheel). For example, the surface of the wheel may be sampled every 10 degrees. At any rate, if the measurement cycle is complete, the processing continues with block 560; otherwise, processing branches back to block 535 where the vision sensor 30 continues rotating and the sampling and storage of position and coordinate data continue.
After the measurement cycle is complete, at block 565, the vision sensor 30 is returned to its initial position in anticipation of performing subsequent measurement cycles. However, in alternative embodiments, the vision sensor 30 may commence subsequent measurement cycles from the position where it completed the prior measurement cycle.
Vehicle Wheel Alignment System
In
While the above embodiment illustrates only one vision sensor 30 per wheel being measured, more than one vision sensor 30 may be employed. For example, counterweight 24 could be replaced with another vision sensor 30 and the results obtained by the two vision sensors 30 could be averaged.
According to alternative embodiments, the wheel could be rotated during measurement cycles (e.g., as the vision sensor 30 revolves), provided that the wheel and sensor do not rotate in resonance with one another, so that sensor can “see” an adequate number of points on the wheel (W).
In the foregoing specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
This application claims the benefit of U.S. Provisional Application No. 60/373,455, filed Apr. 18, 2002 and is a continuation-in-part of U.S. application Ser. No. 09/591,434, filed on Jun. 9, 2000, now abandoned, which is a continuation of U.S. application Ser. No. 09/122,503, filed on Jul. 24, 1998, now U.S. Pat. No. 6,151,562, all of which are hereby incorporated by reference in their entirety.
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