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WO2009043811A2 - Système de mesure de composant de véhicule automobile, application et procédé - Google Patents

Système de mesure de composant de véhicule automobile, application et procédé Download PDF

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Publication number
WO2009043811A2
WO2009043811A2 PCT/EP2008/062892 EP2008062892W WO2009043811A2 WO 2009043811 A2 WO2009043811 A2 WO 2009043811A2 EP 2008062892 W EP2008062892 W EP 2008062892W WO 2009043811 A2 WO2009043811 A2 WO 2009043811A2
Authority
WO
WIPO (PCT)
Prior art keywords
coordinate system
surveying
orientation
reference signal
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2008/062892
Other languages
German (de)
English (en)
Other versions
WO2009043811A3 (fr
Inventor
Andreas Gruetzmann
Steffen Abraham
Daniel Muhle
Matthias Gebhard
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Robert Bosch GmbH
Original Assignee
Robert Bosch GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2009043811A2 publication Critical patent/WO2009043811A2/fr
Publication of WO2009043811A3 publication Critical patent/WO2009043811A3/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/26—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B11/275—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G01B11/2755—Measuring arrangements characterised by the use of optical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment using photoelectric detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/0025—Measuring of vehicle parts

Definitions

  • the invention relates to a system having at least one, at least one image sensor, in particular a video camera having, measuring device and means for determining the position and / or orientation of a surveying coordinate system according to the preamble of claim 1, the use of at least one receiving unit and at least A transmitting unit having means for determining the position and / or orientation of an object according to claim 12 and a method for determining the position and / or the orientation of a surveying coordinate system according to the preamble of claim 13.
  • a disadvantage of all known methods is that either a control point body must be optically detectable from all surveying devices or that the measuring devices must be able to detect each other optically.
  • the positioning and dimensioning of the measurement object, here a motor vehicle, the shape of the Measuring station with generally retractable or column lifts and the field of view, which can be viewed by the individual measuring devices, are in conflict with these requirements.
  • the stated restrictions often also prevent predetermined relationships between the individual measuring devices from being monitored or tracked during the measuring process.
  • the invention is therefore based on the object of proposing an improved system for transforming at least one surveying coordinate system, preferably several surveying coordinate systems, into a common reference coordinate system. Furthermore, the object is to propose suitable means for determining the position and / or the orientation of the surveying coordinate system. Furthermore, the object is to propose an optimized method for determining the position and / or the orientation of a surveying coordinate system in a reference coordinate system.
  • the invention is based on the idea of having the position, ie the coordinates, in particular of the origin, and / or the orientation, ie the spatial orientation of the coordinate axes of a surveying coordinate system of at least one measuring device comprising at least one image sensor for optically measuring at least one motor vehicle component in a reference coordinate system Help at least one reference signal, preferably by means of several reference signals to determine.
  • the means for determining the position and / or the orientation of the surveying coordinate system in a reference coordinate system comprise at least one transmitting unit for transmitting the at least one reference signal and at least one receiving unit for receiving the reference signal directly or indirectly.
  • indirect reception is understood as meaning the reception of a reference signal, which is reflected, for example, at the measuring device.
  • the transmitting unit and / or the receiving unit is assigned an evaluation unit which, on the basis of the at least one reference signal, in particular by evaluating parameters of the reference signal, the position and / or orientation of the surveying coordinate system, in particular the position of the origin of the surveying coordinate system, in a higher reference frame determined.
  • the reference signal is a directed or non-directional electromagnetic signal. It is possible to form the reference signal in the visible light spectrum or, for example, in the near infrared spectrum.
  • the system is based on a single measuring device, whereby different measuring coordinate systems are justified by the displacement of the measuring device into different measuring positions (one measuring coordinate system for each measuring position) be transformed into a common reference coordinate system using the system.
  • a plurality of surveying devices may be provided, each defining at least one survey coordinate system.
  • the determination of the position and / or orientation of the surveying coordinate system in the reference coordinate system is based on a distance measurement between the transmitting unit and the receiving unit. It is conceivable to realize the distance measurement on the basis of a transit time measurement of the reference signal between the transmitting unit and the receiving unit. Additionally or alternatively, a phase shift measurement is possible.
  • the exact position determination and the determination of the orientation of the surveying coordinate system in the reference system can be realized , wherein preferably either the transmitting units or the receiving units occupy a known, preferably fixed, relative position to the first survey coordinate system.
  • the evaluation unit can take account of angle information for determining the position and / or orientation of the measurement coordinate system.
  • the transmission means can be designed such that they emit a rotating reference signal, wherein the respective radiation angles relative to the reference coordinate system are determined by means of a suitable angle sensor. If the reference signal arrives at the transmitting unit, then the associated emission angle information is available for this time.
  • This can be the Evaluation unit, for example, be supplied via a cable connection as a coordinate. Particularly preferred is an embodiment in which the reference signal, the respective Abstrahlwinkelinformation is modulated.
  • a distance measurement between the transmission unit and the reception unit can be carried out on the basis of the reference signal, for example by a transit time measurement, so that not only the angular position but also a distance with only one transmission and reception unit combination can be determined ,
  • the transmitting unit and the receiving unit are combined to form a combined transmitting and receiving unit.
  • this combined transmitting and receiving unit interacts with a reflector, which identifies a known relative position to the survey coordinate system.
  • the combined transmission u receives the combined transmission u.
  • Receiving unit has a known relative position to the Verressskoordinatensystem and the at least one reflector defines the reference coordinate system.
  • a combined transmission u receives the transmission u.
  • Receiving unit in conjunction with an evaluation, for example, a distance measurement or time measurement can be performed.
  • the transmission u Form receiving unit in the manner of a 3D scanner.
  • the position and the orientation of the surveying coordinate system in the reference coordinate system are to be determined with a laser scanner, this does not necessarily have to interact with a reflector, but it is conceivable that the surveying coordinate system or the surveying device can be automated by means of suitable image processing software. to detect the table. In particular, in this embodiment, neither the relative position of the transmitting unit, nor that of the receiving unit to the surveying device must be known.
  • the means for determining the position and / or the orientation of the surveying coordinate system in the reference coordinate system are designed to work in analogy to a per se known indoor GPS navigation system.
  • the means for this purpose comprise two spatially spaced-apart transmitting units, the relative orientation of which must be known to one another.
  • Each transmitting unit transmits a reference signal, wherein the transmitted reference signals of the different transmitting units are distinguishable from each other, for example by the choice of different wavelengths and / or by a pulse width modulation.
  • the measuring device is associated with a receiving unit, wherein the evaluation unit determines the distance of the one receiving unit from the two transmitting units, for example via transit time measurements.
  • the measuring device is associated with three receivers spaced relative to one another, wherein the relative orientation of the three receiving units relative to one another is known.
  • both the translation and rotation of the survey coordinate system in the reference coordinate system can be determined.
  • an embodiment can be implemented in which the means are designed in analogy to an RFID tag tracking system.
  • two spatially spaced receiving units are provided whose relative orientation to each other is known.
  • the measuring device is associated with an RFID tag.
  • the translation, but not the rotation, of the at least one surveying coordinate system can be determined.
  • at least three RFID tags are assigned to the optical measuring device as transmitting units, wherein the relative orientation of the transmitting units to one another must be known.
  • the means for determining the position and / or the alignment are formed as a laser tracking system, wherein the means comprise a combined transmitting / receiving unit.
  • a reflector is preferably arranged. With such a design of the means for determining the position and / or orientation, only the translation, but not the rotation, of the at least one survey coordinate system can be determined. On the other hand, if the surveying device is assigned three reflectors or fixed points, their relative orientation to one another As well as being known to the associated surveying coordinate system, both the translation and the rotation of the surveying coordinate system can be determined by the means for determining the position and / or the orientation of the surveying coordinate system.
  • the invention also leads to the use of means known per se for determining the position and / or orientation of an object for determining the position and / or orientation of a surveying coordinate system of at least one measuring device having at least one image sensor for measuring at least one vehicle component in a reference coordinate system ,
  • the means can be designed, for example, as or in analogy to a GPS navigation system, as or in analogy to an RFID tag tracking system, and as or in analogy to a laser tracking system.
  • the invention leads to a method for determining the position and / or the alignment of at least one surveying coordinate system, at least one measuring device having at least one image sensor for measuring at least one motor vehicle component in a reference coordinate system. According to the invention, it is provided that the position and / or the orientation of the surveying coordinate system or of individual measured values is / are determined with the aid of at least one reference signal.
  • FIG. 1 shows a system comprising two transmitting units determining a reference coordinate system and measuring devices each having a single receiving unit and
  • each measuring device is assigned to three receiving units.
  • FIG. 1 shows a system 1 comprising a first measuring device 2 and a second measuring device 3.
  • each measuring device 2, 3 comprises an image sensor 4, 5 designed as a video camera, by means of which a respective wheel 6, 7 of a motor vehicle 8 shown schematically can be measured.
  • the two measuring devices 2, 3 respectively span a measurement coordinate system 9, 10 with the perpendicular to each other disposed coordinate axes X and Y, Li L i Z Li and L2 and X, Z and YL2 L2.
  • Vermes ⁇ sungs owned by means of the Vermes ⁇ sungs wornen 2
  • 3 measurements within the measurement time jewei- coordinate system 9, 10 can be carried out, wherein the measured values in the corresponding measurement coordinate system 9, 10 lie.
  • Each measuring device 2, 3 is assigned a receiving unit 11, 12, wherein the relative position of the respective receiving unit 11, 12 for receiving reference signals to the associated surveying coordinate system 9, 10 is known. This is described in Fig. 1 by the vector T EL .
  • the system 1 further comprises two spatially separate transmission units 13, 14, which define a common reference coordinate system 15.
  • Each transmitting unit 13, 14 emits an electromagnetic reference signal, wherein the reference signals of the two transmitting units 13, 14, for example, by the choice of different frequencies, differ from each other.
  • the transmitting units 13, 14 and the receiving units 11, 12 is associated with a common evaluation unit 16, which is signal-conducting connected to the transmitting and receiving units 13, 14, 15, 16.
  • a common evaluation unit 16 which is signal-conducting connected to the transmitting and receiving units 13, 14, 15, 16.
  • FIG. 2 an alternative system 1 is shown.
  • each of the two measuring devices 2, 3 are each assigned three receiving units IIa, IIb, 11c or 12a, 12b, 12c.
  • the relative position of the transmitter units 13, 14 to each other is known.
  • the relative position of the receiving units IIa-11c and of the receiving units 12a-12c must be known to each other. The position and orientation determination takes place for example via transit time measurements of the reference signals to the individual receiving units IIa-11c and 12a-12c.
  • FIGS. 1 and 2 can be supplemented by any number of measuring devices. It is also conceivable to design the systems only with a measuring device, in which case preferably the measuring device 2, 3 is designed to be mobile, so that sequential measurements can be carried out at different positions of the motor vehicle 8.
  • coordinate systems 17, 18 of the receiving units IIa-11c and 12a-12c are shown. These coordinate systems 17, 18 are auxiliary coordinate systems in the transformation of the surveying coordinate systems 9, 10 or the measured values placed in this measuring coordinate systems 9, 10 into the reference coordinate system 15.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

L'invention concerne un système (1) qui comprend au moins un dispositif de mesure (2, 3) équipé d'au moins un capteur d'image, permettant de mesurer au moins un composant d'automobile, de préférence un châssis, dans un système de coordonnées de mesure (9, 10) prédéterminé, ce système étant doté de moyens permettant de déterminer la position et/ou de l'orientation du système de coordonnées de mesure (9, 10) dans un système de coordonnées de référence (15). Selon l'invention, ces moyens comprennent au moins une unité émettrice (13, 14) qui émet au moins un signal de référence, au moins une unité réceptrice (11, 11a - 11c, 12, 12a - 12c) qui reçoit le signal de référence, et au moins une unité d'évaluation (16) qui détermine la position et/ou l'orientation du système de coordonnées de mesure (9, 10) à partir du signal de référence. L'invention porte également sur une application et sur un procédé.
PCT/EP2008/062892 2007-10-04 2008-09-26 Système de mesure de composant de véhicule automobile, application et procédé Ceased WO2009043811A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102007047424.7 2007-10-04
DE200710047424 DE102007047424A1 (de) 2007-10-04 2007-10-04 Kraftfahrzeugbauteil-Vermessungssystem, Verwendung sowie Verfahren

Publications (2)

Publication Number Publication Date
WO2009043811A2 true WO2009043811A2 (fr) 2009-04-09
WO2009043811A3 WO2009043811A3 (fr) 2009-07-09

Family

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Application Number Title Priority Date Filing Date
PCT/EP2008/062892 Ceased WO2009043811A2 (fr) 2007-10-04 2008-09-26 Système de mesure de composant de véhicule automobile, application et procédé

Country Status (2)

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DE (1) DE102007047424A1 (fr)
WO (1) WO2009043811A2 (fr)

Cited By (1)

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DE102019120233A1 (de) 2019-07-26 2019-10-02 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Überprüfen einer Platine für ein Bauteil sowie Platinenbearbeitungsvorrichtung

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Publication number Priority date Publication date Assignee Title
EP2365278A1 (fr) * 2010-02-22 2011-09-14 Snap-on Equipment Srl a unico socio Scannersystem
DE102018133562B4 (de) * 2018-12-21 2020-08-06 Vaireco Gmbh Fotogrammetrieverfahren zum Erstellen eines Modells eines Objekts
CN109724554A (zh) * 2019-01-11 2019-05-07 日照职业技术学院 多功能机械制造用三坐标测量机

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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Also Published As

Publication number Publication date
DE102007047424A1 (de) 2009-04-09
WO2009043811A3 (fr) 2009-07-09

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