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1. 发明申请

US20130089233A1 METHOD FOR DETERMINING THE TUMBLING MOTION OF A VEHICLE WHEEL 有权
标题翻译：确定车轮行驶运动的方法
公开(公告)号：US20130089233A1
公开(公告)日：2013-04-11
申请号：US13637851
申请日：2011-03-02
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G06K9/46
CPC分类号： G06K9/46 , G01B11/275 , G01B2210/14 , G01M17/013
摘要： A method for determining the tumbling motion of a vehicle wheel and/or a measurement object attached to the vehicle wheel in the context of an axle measurement. The tumbling motion is executed relative to the precise wheel axis of rotation of the vehicle wheel and at least one orientation value is determined between, the precise wheel axis of rotation and a reference axis. Using at least one image recording unit, at least two wheel features that are present on the vehicle wheel or are attached for the measurement are acquired as the vehicle travels past and are evaluated by an evaluation device situated downstream. Using the wheel features recorded as the vehicle travels past, a wheel coordinate system and a feature coordinate system are determined. The wheel coordinate system and the feature coordinate system are set into relation to one another in order to determine the orientation value.
摘要翻译：一种用于在轴测量的上下文中确定车轮和/或附接到车轮的测量对象的翻滚运动的方法。相对于车轮的精确车轮旋转轴线执行翻滚运动，并且在精确的车轮旋转轴线和参考轴线之间确定至少一个取向值。使用至少一个图像记录单元，当车辆行驶过去时，获取存在于车轮上或附接用于测量的至少两个车轮特征，并且通过位于下游的评估装置进行评估。使用车辆行驶过去记录的车轮特征，确定车轮坐标系和特征坐标系。轮坐标系和特征坐标系被设置为彼此相关，以便确定取向值。

2. 发明授权

US08522609B2 Method and device for wheel suspension alignment 有权
标题翻译：车轮悬架对准的方法和装置
公开(公告)号：US08522609B2
公开(公告)日：2013-09-03
申请号：US12736368
申请日：2009-03-26
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G01M17/04
CPC分类号： G01B11/2755 , G01B2210/20
摘要： A method for wheel suspension alignment includes: providing four measuring heads each having a monocular picture recording device; recording at least three geometrical details of one wheel, respectively, of a vehicle in an initial position, using each of the four measuring heads; carrying out relative motion between the vehicle and the measuring heads from the initial position into at least one further position; recording at least three geometrical details of one wheel, respectively, of the vehicle in the further position, using each of the four measuring heads; carrying out local 3D reconstructions for determining translation vectors, rotation vectors and wheel rotational angles between the at least two positions, and wheel rotational centers and wheel rotational axes from the recorded geometrical details; determining a global scale for the measuring heads by scaling the translation vectors to have the same length; and determining camber, single toe and/or total toe of the vehicle.
摘要翻译：一种用于车轮悬架对准的方法包括：提供四个测量头，每个测量头具有单目图像记录装置; 使用四个测量头中的每一个，分别在初始位置记录车辆的一个车轮的至少三个几何细节; 将车辆和测量头之间的相对运动从初始位置执行到至少一个另外的位置; 使用所述四个测量头中的每一个，分别在所述另一位置记录所述车辆的一个车轮的至少三个几何细节; 执行用于确定所述至少两个位置之间的转换矢量，旋转矢量和轮旋转角度的局部3D重建，以及来自记录的几何细节的轮旋转中心和轮旋转轴线; 通过将平移向量缩放以具有相同的长度来确定测量头的全局尺度; 并确定车辆的弯度，单脚趾和/或总脚趾。

3. 发明申请

US20110052041A1 METHOD FOR DETERMINING THE ROTATIONAL AXIS AND THE CENTER OF ROTATION OF A VEHICLE WHEEL 有权
标题翻译：确定旋转轴的方法和车轮转动中心
公开(公告)号：US20110052041A1
公开(公告)日：2011-03-03
申请号：US12160354
申请日：2007-07-02
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G06K9/00
CPC分类号： G01B11/2755 , G01B2210/14 , G01B2210/20 , G01B2210/30
摘要： The invention relates to a method for determining the rotational axis and the rotating center of a vehicle wheel by means of at least two image capture units assigned to each other in position and situation during the journey of the vehicle, and by means of an analysis unit arranged downstream of said units, processing the recorded image information, taking into account multiple wheel features (10) present on the wheel or attached for the measurement, and by means of at least one bodywork feature present on the bodywork or attached for the measurement, wherein 2D-coordinates of the wheel features (10) and of the at least one bodywork feature are synchronously detected, and from these the 3D-coordinates of the features are calculated at certain time intervals and counted back to a previously established reference time point or corresponding reference position of the vehicle wheel, taking into account the distance traveled by the at least one bodywork feature relative to the reference position. To achieve measurement results that are as error free as possible, especially also when traveling on a real driving surface, it is provided that the paths of the wheel features (10) and of the at least one bodywork feature in the evaluation undergo an analysis with respect to the effects of at least one of the influencing variables, steering lock angle, steering motion, driving surface unevenness, and change of speed, and that from the analysis, correction factors or compensation functions are obtained for correcting the effects.
摘要翻译：本发明涉及一种用于通过在车辆行驶期间的位置和状况下彼此分配的至少两个图像捕获单元以及通过分析单元确定车轮的旋转轴线和旋转中心的方法布置在所述单元的下游，处理所记录的图像信息，考虑到存在于车轮上或附接用于测量的多个车轮特征（10），并且借助于车身上存在的或连接用于测量的至少一个车身特征，其中车轮特征（10）和所述至少一个车身特征的2D坐标被同步地检测，并且从这些特征的3D坐标以特定时间间隔被计算并计数回到先前建立的参考时间点考虑到至少一个车身特征相对于参考点行驶的距离，车轮的相应参考位置的意思为了实现尽可能无误差的测量结果，特别是当在真正的驾驶表面上行驶时，提供了轮胎特征（10）和评估中的至少一个车身特征的路径进行分析，对于至少一个影响变量，转向锁定角度，转向运动，驱动表面不均匀性和速度变化的影响，以及从分析中获得校正因子或补偿函数来校正效果。

4. 发明授权

US09127937B2 Method for measuring a chassis and device for measuring the chassis geometry of a motor vehicle 有权
标题翻译：用于测量机动车辆的底盘几何形状的底盘和装置的方法
公开(公告)号：US09127937B2
公开(公告)日：2015-09-08
申请号：US13142392
申请日：2009-10-29
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G01B11/00 , G01B11/275
CPC分类号： G01B11/2755 , G01B2210/143
摘要： A method and device are described for measuring a chassis and for measuring the chassis geometry of a vehicle, which includes providing a chassis measurement system having four measurement heads situated in known positions relative to one another, of which each has a monocular image recording device, the position of the measurement heads relative to one another being known, and the distance of the front measurement heads from one another differing from the distance of the rear measurement heads from one another.
摘要翻译：描述了一种用于测量底盘和用于测量车辆的底盘几何形状的方法和装置，其包括提供具有位于相对于彼此的已知位置的四个测量头的底盘测量系统，其中每个具有单眼图像记录装置，测量头相对于彼此的位置是已知的，并且前测量头彼此的距离与后测量头彼此的距离不同。

5. 发明授权

US08948444B2 Method for determining the tumbling motion of a vehicle wheel 有权
标题翻译：用于确定车轮的翻滚运动的方法
公开(公告)号：US08948444B2
公开(公告)日：2015-02-03
申请号：US13637851
申请日：2011-03-02
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G06K9/00 , G06K9/46 , G01B11/275 , G01M17/013
CPC分类号： G06K9/46 , G01B11/275 , G01B2210/14 , G01M17/013
摘要： A method for determining the tumbling motion of a vehicle wheel and/or a measurement object attached to the vehicle wheel in the context of an axle measurement. The tumbling motion is executed relative to the precise wheel axis of rotation of the vehicle wheel and at least one orientation value is determined between the precise wheel axis of rotation and a reference axis. Using at least one image recording unit, at least two wheel features that are present on the vehicle wheel or are attached for the measurement are acquired as the vehicle travels past and are evaluated by an evaluation device situated downstream. Using the wheel features recorded as the vehicle travels past, a wheel coordinate system and a feature coordinate system are determined. The wheel coordinate system and the feature coordinate system are set into relation to one another in order to determine the orientation value.
摘要翻译：一种用于在轴测量的上下文中确定车轮和/或附接到车轮的测量对象的翻滚运动的方法。相对于车轮的精确车轮旋转轴线执行翻滚运动，并且在精确的车轮旋转轴线和参考轴线之间确定至少一个取向值。使用至少一个图像记录单元，当车辆行驶过去时，获取存在于车轮上或附接用于测量的至少两个车轮特征，并且通过位于下游的评估装置进行评估。使用车辆行驶过去记录的车轮特征，确定车轮坐标系和特征坐标系。轮坐标系和特征坐标系被设置为彼此相关，以便确定取向值。

6. 发明授权

US08578765B2 Method for wheel suspension measurement and a device for measuring the wheel suspension geometry of a vehicle 有权
标题翻译：用于车轮悬架测量的方法和用于测量车辆的车轮悬架几何形状的装置
公开(公告)号：US08578765B2
公开(公告)日：2013-11-12
申请号：US13140191
申请日：2009-10-20
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G01M15/00
CPC分类号： G01B11/2755 , G01B2210/143
摘要： The following features may be carried out: providing a wheel suspension alignment system having four measuring heads situated in a known position with respect to one another; recording a wheel or a measuring target mounted on it in an initial position of the vehicle; shifting the vehicle from the initial position to at least one further position; recording a wheel, or a measuring target mounted on it, of the vehicle standing in the further position; recording a reference target in at least one of the initial position and the further position of the vehicle, and determining from this an absolute scale; carrying out local 3D reconstructions for determining the translation vectors, the rotation vectors and the wheel rotational angles as well as the wheel rotational centers and the wheel rotational axes of the wheels; and determining the wheel suspension alignment parameters of the vehicle.
摘要翻译：可以执行以下特征：提供具有位于相对于彼此的已知位置的四个测量头的车轮悬架对准系统; 在车辆的初始位置记录安装在其上的车轮或测量目标; 将车辆从初始位置移动到至少一个另外的位置; 记录安装在其上的车轮或测量目标; 在所述车辆的初始位置和所述另外的位置中的至少一个中记录参考目标，并且从该绝对标度确定; 执行局部3D重建以确定平移矢量，旋转矢量和车轮旋转角度以及车轮旋转中心和车轮旋转轴线; 以及确定车辆的车轮悬架对准参数。

7. 发明申请

US20120007958A1 METHOD FOR MEASURING A CHASSIS AND DEVICE FOR MEASURING THE CHASSIS GEOMETRY OF A MOTOR VEHICLE 有权
标题翻译：用于测量电机的底盘几何测量的方法和设备
公开(公告)号：US20120007958A1
公开(公告)日：2012-01-12
申请号：US13142392
申请日：2009-10-29
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： H04N13/02
CPC分类号： G01B11/2755 , G01B2210/143
摘要： A method and device are described for measuring a chassis and for measuring the chassis geometry of a vehicle, which includes providing a chassis measurement system having four measurement heads situated in known positions relative to one another, of which each has a monocular image recording device, the position of the measurement heads relative to one another being known, and the distance of the front measurement heads from one another differing from the distance of the rear measurement heads from one another; recording a respective front wheel, or a measurement target attached thereto, in at least one first run-in position of the vehicle using the rear measurement heads; recording the four wheels, or the measurement targets attached thereto, using each of the four measurement heads, in a first main measurement position and in a second main measurement position of the vehicle; carrying out local 3D reconstructions in order to determine the translation vectors, the rotation vectors, and the wheel angles of rotation between these positions, and the centers of rotation and axes of rotation of the wheels, from the recorded images of the wheels or the measurement targets attached thereto; adapting the local scales to a common, global scale via the vehicle movement; transferring the global scale from the main measurement to the run-in measurement; determining an absolute scale for the measurement heads from the measurements of the front wheels, or the measurement targets attached thereto, in the run-in positions and in the main measurement positions; and determining the chassis measurement parameters of the vehicle, including camber, partial toe, and/or total toe.
摘要翻译：描述了一种用于测量底盘和用于测量车辆的底盘几何形状的方法和装置，其包括提供具有位于相对于彼此的已知位置的四个测量头的底盘测量系统，其中每个具有单眼图像记录装置，测量头相对于彼此的位置是已知的，并且前测量头彼此的距离与后测量头彼此的距离不同; 使用后测量头在车辆的至少一个第一入挡位置中记录附着于其上的相应的前轮或测量对象; 使用四个测量头中的每一个在车辆的第一主测量位置和第二主测量位置记录四个轮或其附接的测量对象; 进行局部3D重建，以便确定这些位置之间的平移矢量，旋转矢量和车轮转动角度以及车轮旋转中心和车轮旋转轴与车轮的记录图像或测量值附着于其上的目标; 通过车辆运动将当地的规模调整到共同的全球规模; 将全球尺度从主要测量转移到磨合测量; 在前进位置和主要测量位置中根据前轮的测量值或其附着的测量目标确定测量头的绝对刻度; 以及确定所述车辆的底盘测量参数，包括弧度，部分趾部和/或总趾部。

8. 发明申请

US20110308309A1 METHOD FOR WHEEL SUSPENSION MEASUREMENT AND A DEVICE FOR MEASURING THE WHEEL SUSPENSION GEOMETRY OF A VEHICLE 有权
标题翻译：车轮悬挂测量方法及测量车辆轮胎悬挂几何的装置
公开(公告)号：US20110308309A1
公开(公告)日：2011-12-22
申请号：US13140191
申请日：2009-10-20
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G01M15/00
CPC分类号： G01B11/2755 , G01B2210/143
摘要： In a method for wheel suspension alignment, the following steps are carried out: providing a wheel suspension alignment system having four measuring heads situated in a known position with respect to one another, of which each has a monocular picture recording device, the relative position of the measuring heads with respect to one another being known; recording in each case one wheel or a measuring target mounted on it in an initial position of the vehicle, using each of the four measuring heads; shifting the vehicle from the initial position to at least one further position; recording in each case one wheel, or a measuring target mounted on it, of the vehicle standing in the further position, using each of the four measuring heads; recording a reference target having a known pattern mounted on the vehicle, using one of the four measuring heads in at least one of the initial position and the further position of the vehicle, and determining from this an absolute scale for the measuring heads; carrying out local 3D reconstructions for determining the translation vectors, the rotation vectors and the wheel rotational angles between the at least two positions, as well as the wheel rotational centers and the wheel rotational axes of the wheels; and determining the wheel suspension alignment parameters of the vehicle, especially the camber, the single toe and/or the total toe, the wheelbase and the tread width.
摘要翻译：在车轮悬架对准的方法中，执行以下步骤：提供具有四个测量头的车轮悬架对准系统，所述测量头位于相对于彼此的已知位置，其中每个具有单目图像记录装置，相对位置测量头相对于彼此是已知的; 使用四个测量头中的每一个在每个情况下记录安装在其上的车轮的初始位置的一个车轮或测量目标; 将车辆从初始位置移动到至少一个另外的位置; 使用四个测量头中的每一个在每个情况下记录安装在其上的一个车轮或其中的测量目标; 使用所述车辆的初始位置和所述另外的位置中的至少一个中的所述四个测量头中的一个记录具有安装在所述车辆上的已知图案的参考目标，并从其确定所述测量头的绝对刻度; 执行局部3D重建以确定所述至少两个位置之间的平移向量，旋转矢量和车轮旋转角度以及车轮旋转中心和车轮旋转轴线; 并且确定车辆的车轮悬架对准参数，特别是弯度，单个脚趾和/或总趾，轴距和胎面宽度。

9. 发明申请

US20110187851A1 CHASSIS-MEASURING SYSTEM AS WELL AS METHOD FOR DETERMINING THE POSITION PARAMETERS OF MEASURING HEADS OF A CHASSIS-MEASURING SYSTEM 审中-公开
标题翻译：底盘测量系统作为确定基座测量系统测量头位置参数的方法
公开(公告)号：US20110187851A1
公开(公告)日：2011-08-04
申请号：US12736013
申请日：2009-02-02
申请人： Guenter Nobis , Steffen Abraham , Daniel Muhle , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Daniel Muhle , Volker Uffenkamp
IPC分类号： H04N7/18
CPC分类号： G01B11/2755 , G01B2210/143
摘要： A chassis measuring system according to the invention includes at least one pair of first and second measuring heads (2, 21), which are situated diametrically opposed in the transverse vehicle direction, each measuring head (2, 21) having at least one measuring camera (4, 8; 14, 18) and an illumination device (6, 10; 16, 20) pointing in the same direction as the measuring camera (4, 8; 14, 18), as well as a data processing unit, which is connected to the measuring heads (2, 12) and designed in such a way that it determines the position parameters of the measuring heads (2, 12) relative to each other by comparing the image of the illumination device (16, 20) of the second measuring head (12) recorded by the measuring camera (4, 8) of the first measuring head (2) with stored reference images.
摘要翻译：根据本发明的底盘测量系统包括至少一对在横向车辆方向上沿径向相对的第一和第二测量头（2,21），每个测量头（2,21）具有至少一个测量相机（4,8; 14,18）以及指向与测量相机（4,8; 14,18）相同方向的照明装置（6,10; 16,20）以及数据处理单元，其中连接到测量头（2,12），并且被设计成使得它们通过将照明装置（16,20）的图像进行比较来确定测量头（2,12）相对于彼此的位置参数由第一测量头（2）的测量相机（4,8）记录的具有存储的参考图像的第二测量头（12）。

10. 发明授权

US08150144B2 Method for determining the rotational axis and the center of rotation of a vehicle wheel 有权
标题翻译：用于确定车轮的旋转轴线和旋转中心的方法
公开(公告)号：US08150144B2
公开(公告)日：2012-04-03
申请号：US12160354
申请日：2007-07-02
申请人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
发明人： Guenter Nobis , Steffen Abraham , Volker Uffenkamp
IPC分类号： G06K9/00
CPC分类号： G01B11/2755 , G01B2210/14 , G01B2210/20 , G01B2210/30
摘要： The invention relates to a method for determining the rotational axis and the rotating center of a vehicle wheel by means of at least two image capture units assigned to each other in position and situation during the journey of the vehicle, and by means of an analysis unit arranged downstream of said units, processing the recorded image information, taking into account multiple wheel features (10) present on the wheel or attached for the measurement, and by means of at least one bodywork feature present on the bodywork or attached for the measurement, wherein 2D-coordinates of the wheel features (10) and of the at least one bodywork feature are synchronously detected, and from these the 3D-coordinates of the features are calculated at certain time intervals and counted back to a previously established reference time point or corresponding reference position of the vehicle wheel, taking into account the distance traveled by the at least one bodywork feature relative to the reference position. To achieve measurement results that are as error free as possible, especially also when traveling on a real driving surface, it is provided that the paths of the wheel features (10) and of the at least one bodywork feature in the evaluation undergo an analysis with respect to the effects of at least one of the influencing variables, steering lock angle, steering motion, driving surface unevenness, and change of speed, and that from the analysis, correction factors or compensation functions are obtained for correcting the effects.
摘要翻译：本发明涉及一种用于通过在车辆行驶期间的位置和状况下彼此分配的至少两个图像捕获单元以及通过分析单元确定车轮的旋转轴线和旋转中心的方法布置在所述单元的下游，处理所记录的图像信息，考虑到存在于车轮上或附接用于测量的多个车轮特征（10），并且借助于车身上存在的或连接用于测量的至少一个车身特征，其中车轮特征（10）和所述至少一个车身特征的2D坐标被同步地检测，并且从这些特征的3D坐标以特定时间间隔被计算并计数回到先前建立的参考时间点考虑到至少一个车身特征相对于参考点行驶的距离，车轮的相应参考位置的意思为了实现尽可能无误差的测量结果，特别是当在真正的驾驶表面上行驶时，提供了轮胎特征（10）和评估中的至少一个车身特征的路径进行分析，对于至少一个影响变量，转向锁定角度，转向运动，驱动表面不均匀性和速度变化的影响，以及从分析中获得校正因子或补偿函数来校正效果。

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