Vehicle service system

Abstract

A vehicle service system for controlling a vehicle located in a vehicle service area, the vehicle service area comprising a movable plane that moves in a first sliding direction transverse to the plane between a lowered position and a raised position, the vehicle service system includes at least two optical image reader devices located on opposite sides in a vehicle service area with respect to a first longitudinal axis of the vehicle, the optical image reader device includes a rectangular housing extending along a second longitudinal axis, a target, an optical image acquisition assembly configured to capture images of the vehicle and the target, and a support slide, the support slider is slidably carried by the rectangular housing and supports the optical image acquisition assembly along the rectangular housing between a lowered position and a raised position.

Description

Cross Reference to Related Applications

[0001] This patent application claims priority from Italian patent application No. 102024000019924 filed on September 6, 2024, the entire disclosure of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present invention relates to a vehicle service system.

[0003] More in detail, the present invention relates to a vehicle service system for measuring components of a vehicle, alignment parameters of wheels of a vehicle and / or calibrating sensors of an ADAS system of a vehicle. BACKGROUND

[0004] Known vehicle service systems are provided with a service area configured to accommodate a vehicle to be measured and optical scanning devices, usually placed on opposite sides of the vehicle, configured to acquire images of the two sides of the vehicle in order to determine the position of the vehicle in the service area with respect to a predetermined reference system and / or measure characteristic parameters of the vehicle, such as alignment parameters of the wheels of the vehicle (camber and toe angles and attack angle).

[0005] For example, a known vehicle service system is described in European patent EP 4012328 B1 in the name of the present applicant. This system essentially involves the use of a series of optical reader devices arranged to face the various sides of the vehicle in order to capture images thereof.

[0006] Each optical reader device comprises an oblong housing resting on the ground, which projects upwards and supports a binocular stereovision system, usually provided with two cameras equipped with a field of view framing the side of the vehicle in order to determine the position of the vehicle in a predetermined reference system and the values of the above-mentioned characteristic parameters.

[0007] However, during traditional vehicle maintenance and wheel alignment correction operations, the vehicle is usually lifted off the ground using an automotive lift and the wheels are lifted to the height of the operator's face.

[0008] The above-mentioned optical readers have a limited field of view and cannot accurately determine the alignment of the wheels of the vehicle once lifted by the automotive lift.

[0009] Unfortunately, this does not allow the operator to verify in real time the correctness of the manual correction made to the alignment of the wheels and often forces him / her to raise and lower the automotive lift several times in order to first manually intervene on the suspension or steering system of the vehicle to adjust the alignment of the wheels and then verify the correctness of the adjustment made, with obvious drawbacks.

[0010] Therefore, the operator needs to have a three-dimensional optical reader that is able to accurately scan the various sides of the vehicle both when the vehicle is resting on the ground and when the vehicle is lifted by the car lift. SUMMARY

[0011] It is an object of the present application to provide a vehicle service system and related operating method that overcome the above mentioned technical problems and satisfy the above mentioned needs.

[0012] According to this object, the present application provides a vehicle service system.

[0013] The system can comprise at least two optical image reader devices arranged to rest on a plane in a vehicle service area on opposite sides of a first longitudinal axis of the vehicle so that the optical image reader devices face the opposite sides of the vehicle, wherein the optical image reader devices comprise:

[0014] - an oblong housing resting on the plane and extending along a second longitudinal axis transverse to the plane,

[0015] - a target placed on the plane,

[0016] - an optical image acquisition assembly configured to capture a first image of the vehicle and to provide first data / signals encoding at least the first image, and to capture a second image of the target and to provide second data / signals encoding at least the second image; and

[0017] - a support slide carried in a sliding manner by the oblong housing, supporting the optical image acquisition assembly, and movable along a second sliding direction parallel to the second longitudinal axis between a first position in which the support slide is arranged at a first distance from the plane and a second position in which the support slide is arranged at a second distance from the plane, wherein the second distance is greater than the first distance.

[0018] The system can further comprise an electronic processing and control system configured to process the first data / signals in order to determine / construct one or more three-dimensional images relating to the vehicle and / or components of the vehicle, the electronic processing and control system being configured to calibrate the optical image reader devices based on the second data / signals.

[0019] The vehicle service area can comprise a movable plane arranged to rest on a plane, adapted to carry vehicles, and movable along a first sliding direction transverse to the plane between a lowered position in which the movable plane is arranged adjacent to the plane and a raised position in which the movable plane is arranged spaced apart from the plane, in a first position the support slide is adapted to place the optical image acquisition assembly at the height of a vehicle temporarily resting on the movable plane when the movable plane is in the lowered position, and in a second position the support slide is adapted to place the optical image acquisition assembly at the height of a vehicle temporarily resting on the movable plane when the movable plane is in the raised position.

[0020] The optical image reader device can further comprise an actuation mechanism adapted to move the support slide along the oblong housing between the first position and the second position.

[0021] The electronic processing and control system can be configured to drive the actuation mechanism in order to control the position of the support slide based on the position of the movable plane.

[0022] The support slide can be coupled to a side of the oblong housing facing the vehicle service area in order to face a vehicle temporarily placed in the vehicle service area.

[0023] The optical image reader device can comprise a plate-like element fixed to the plane and having an upper surface on which the target is arranged, the oblong housing being adapted to be selectively and removably coupled to the plate-like element.

[0024] The optical image acquisition assembly can comprise a first optical image acquisition device and a second optical image acquisition device, the second optical image acquisition device being separate and distinct from the first optical image acquisition device, the first optical image acquisition device being placed on the optical image reader device so that a field of view of the first optical image acquisition device comprises the vehicle temporarily positioned on the vehicle service area and does not comprise the target, the second optical image acquisition device being placed on the optical image reader device so that a field of view of the second optical image acquisition device comprises the target and does not comprise the vehicle temporarily positioned on the vehicle service area.

[0025] The first optical image acquisition device can comprise at least a first camera.

[0026] The first optical image acquisition device can comprise a second camera configured to cooperate with the first camera in order to define, together with the first camera, a binocular stereovision system.

[0027] The second optical image acquisition device can comprise a third camera configured to capture images of the target, the target being arranged directly adjacent to the oblong housing and an optical axis of the third camera being substantially aligned with the second longitudinal axis.

[0028] The second optical image acquisition device can extend cantilevered from the rectangular housing so that it can be positioned above the target.

[0029] The electronic processing and control system can be configured to process first data / signals to construct one or more three-dimensional images related to vehicle components corresponding to the wheels of the vehicle, and to process the images to determine geometric parameters characterizing the wheels relative to a predetermined reference frame.

[0030] The electronic processing and control system can be configured to process first data / signals to construct one or more three-dimensional images related to the components of the vehicle, and process the images to determine the position and / or orientation of the vehicle relative to a predetermined reference frame in the vehicle's service area.

[0031] The electronic processing and control system can be configured to communicate signals / data indicating the vehicle’s position and / or orientation relative to a predetermined reference frame within the vehicle service area to at least one ADAS calibration system.

[0032] The present invention also provides an operating method for operating the vehicle service system, the method comprising the following steps:

[0033] a) Arranging at least two optical image reader devices on opposite sides of the vehicle's first longitudinal axis within the vehicle service area, such that at least two optical image reader devices face opposite sides of the vehicle.

[0034] b) Process the first data / signal to determine / construct one or more three-dimensional images related to the vehicle and / or its components.

[0035] c) Position the target on the plane directly adjacent to the optical image acquisition component of the corresponding optical image reader device.

[0036] d) Acquire one or more images of adjacent targets using optical image acquisition components, thereby providing a second data / signal that encodes the image of the target itself.

[0037] e) The optical image reader device is calibrated based on the second data / signal.

[0038] The method may also include the following steps: controlling the position of the support slider based on the position of the vehicle relative to the plane. Attached Figure Description

[0039] The invention will now be described with reference to the accompanying drawings, which illustrate non-limiting embodiments of the invention, in which:

[0040] - Figure 1 and Figure 2These are two perspective views of the vehicle service system according to the present invention, showing many operating positions, with some components removed for clarity;

[0041] - Figure 3 yes Figure 1 and Figure 2 The vehicle service system shown is a top view, with some components removed for clarity.

[0042] - Figure 4 and Figure 5 yes Figures 1 to 3 Two perspective views of the optical image reader device of the vehicle service system shown, with some parts removed for clarity;

[0043] - Figure 6 yes Figure 4 and Figure 5 The image shows a bottom view of the optical image reader device, with some parts removed for clarity. Detailed Implementation

[0044] See Figure 1 , Figure 2 and Figure 3 The digit 1 generally indicates a vehicle service system advantageously configured to measure / inspect vehicle 100 and / or its components / workpieces. The vehicle service system 1 may include an optical scanning system.

[0045] The vehicle service system 1 can be configured to measure / control characteristic parameters of the vehicle 100 (e.g., alignment parameters of its wheels 102) and / or calibrate / align sensors of the vehicle 100's advanced driver assistance system or ADAS (Advanced Driver Assistance System).

[0046] exist Figure 1 , Figure 2 and Figure 3 In the example shown, vehicle 100 is parked in a control station or vehicle service area 2, which includes a plane / ground F on which the wheels 102 of vehicle 100 rest during use.

[0047] Plane F may include, for example, a horizontally supporting surface, such as a workshop floor.

[0048] More specifically, the vehicle service area 2 preferably includes a movable plane PK, which rests on plane F, supports vehicle 100, and extends along axis K. The movable plane PK is configured to be in a stationary / lowered position according to a command (e.g., Figure 1 (as shown) and operation / elevation position (e.g.) Figure 2The movable plane PK moves between the two planes (as shown). In the stationary / lowered position, the movable plane PK is approximately coplanar with the plane F. In the operating / raising position, the movable plane PK is raised by a height H1 relative to the plane F.

[0049] Preferably, the movable plane PK can move between the operating position and the stationary position along the direction s1, which is orthogonal (i.e. perpendicular) to the plane F.

[0050] The movable plane PK may include, for example, a movable platform of a lift 3 for a vehicle 100 resting on the plane F. The lift 3 shown herein is known and will not be described further.

[0051] exist Figure 1 , Figure 2 and Figure 3 In the example shown, the vehicle 100 is preferably an automobile with a longitudinal reference axis A at its center and four wheels 102 arranged in pairs on opposite sides of axis A and coupled to two corresponding axles (i.e., front axle V1 and rear axle V2), which are orthogonal to axis A and spaced apart from each other by a wheelbase p.

[0052] In the following description, the term wheel 102 refers to a general wheel of a motor vehicle that includes at least a rim and a tire. Furthermore, the invention is not limited to automobiles, but can be applied to any type of motor vehicle equipped with any number of wheels and axles Vi (where i is variable and ≥2), such as trucks, vans, or buses having two or more axles and four or more wheels 102.

[0053] The vehicle service system 1 is configured to determine a series of geometric parameters characterizing the vehicle 100 and / or its parts / components.

[0054] According to a preferred embodiment of the invention, the geometric parameters of the vehicle's components / assemblies may, for example, relate to: wheels 102 and / or axles V1, V2 and / or the steering system (not shown herein). The geometric parameters of wheel 102 may include alignment parameters of wheel 102, such as: the wheel's angle of attack or plane of attack, the wheel's camber angle, and the wheel's toe angle or plane. Preferably, these angles or planes can be determined relative to at least one predetermined three-dimensional reference frame SR. The geometric parameters of wheel 102 used by the vehicle service system 1 to control, for example, the wheel alignment of vehicle 100 are known and will not be discussed further.

[0055] The reference frame SR comprises three Cartesian axes x, y, and z that are orthogonal to each other. The reference frame SR is oriented such that the z-axis is vertical, i.e., aligned with the gravitational vector g.

[0056] Preferably, the movable plane PK is orthogonal to the axis z of the reference frame SR. Furthermore, the sliding direction s1 of the movable plane PK is preferably parallel to the axis z of the reference frame SR.

[0057] Clearly, the vehicle service system 1 is not limited to determining the aforementioned geometric parameters for controlling the wheel alignment of the vehicle 100, but may also involve determining other information relating to the vehicle 100. This information may include, for example, the position of the vehicle 100 relative to a reference frame SR within the vehicle service area 2. More specifically, the vehicle service system 1 is capable of determining the position of the vehicle 100 relative to a predetermined reference frame SR based on images of axles V1 and / or V2 and / or images of wheels 102. The vehicle service system 1 may be configured to communicate (e.g., wirelessly) data / signals indicating the position of the vehicle 100 relative to the predetermined reference frame SR to one or more vehicle analysis / diagnostic systems (not shown herein). Conveniently, the vehicle service system 1 may include an ADAS control and / or calibration device 5, described in more detail below, which is configured to calibrate electronic sensor devices (hereinafter referred to as ADAS sensor 104) included in the advanced driver assistance systems or ADAS of the vehicle 100.

[0058] ADAS sensor 104 may include any sensor from an advanced driver assistance system. For example, ADAS sensor 104 may include: radar sensor, optical sensor, camera, LIDAR sensor, ultrasonic sensor, infrared (IR) sensor, or any other similar sensor. ADAS control and / or calibration device 5 is preferably arranged in the vehicle service area 2, advantageously in front of the vehicle 100 and aligned along axis A. Furthermore, ADAS control and / or calibration device 5 is capable of receiving data / signals indicating the position of the vehicle 100 in a predetermined reference frame SR, and determining its position relative to the vehicle 100 based on its own position relative to the predetermined reference frame SR of the vehicle service system 1 and the position of the vehicle 100 relative to the reference frame SR.

[0059] See Figures 1 to 6 As illustrated, the vehicle service system 1 includes optical image reader devices 8. The vehicle service system 1 includes at least two optical image reader devices 8 arranged opposite each other on opposite sides of the vehicle 100, on the periphery of the vehicle 100, and on opposite sides of axis A. More specifically, the vehicle service system 1 preferably includes a plurality of optical image reader devices 8 arranged in pairs on opposite sides of the vehicle 100 and on axis A, thus facing a corresponding pair of wheels 102.

[0060] In the example shown here, the optical image reader device 8 is preferably arranged on plane F.

[0061] The optical image reader device 8 is arranged to face the vehicle 100 on two corresponding sides (flanks) that are parallel to and opposite to axis A.

[0062] In the example shown, the optical image reader devices 8 are arranged facing the two sides of the vehicle 100, and each optical image reader device 8 is generally located in the region of the wheel 102 of the vehicle 100. However, the optical image reader devices 8 may face both sides of the vehicle 100, and each optical image reader device 8 may be generally located in the center of gravity region of the vehicle 100.

[0063] The optical image reader device 8 is provided with an optical image acquisition component 9 (described in detail below), which is configured to provide corresponding data / signals that encode one or more images, which fully or at least partially represent two opposite sides of the vehicle 100 relative to axis A.

[0064] The vehicle service system 1 also includes an electronic processing and control system 10, which is operatively connected to the optical image reader device 8 and configured to process data / signals provided by the optical image acquisition component 9 in order to determine / construct 3D (three-dimensional) images of the vehicle 100 and / or its various components based on the data / signals using artificial vision algorithms. The aforementioned artificial vision algorithms are known and will therefore not be described further.

[0065] Furthermore, each optical image reader device 8 includes a target 12 (or calibration target) located on plane K and positioned at a predetermined distance D1 from the associated optical image reader device 8. The distance D1 is advantageously less than 10 cm, and more conveniently less than 5 cm.

[0066] In other words, target 12 is arranged on plane F and is directly adjacent to the associated optical image acquisition component 9, so that target 12 can be observed by the associated optical image acquisition component 9.

[0067] Furthermore, target 12 is preferably arranged on plane F at a known position relative to reference frame SR.

[0068] Target 12 can be conveniently arranged between the optical image acquisition component 9 and the side of the vehicle 100 facing the optical image acquisition component 9. Clearly, according to the invention, target 12 can be placed at any surface position around and directly adjacent to the plane F of the optical image acquisition component 9, so that it can be observed by the optical image acquisition component 9.

[0069] The electronic processing and control system 10 is configured to calibrate the optical image reader device 8 based on the image of the corresponding target 12.

[0070] See Figure 4 , Figure 5 and Figure 6 Specifically, each optical image reader device 8 also includes a plate-like element 14 having a longitudinal axis C. The plate-like element 14 is arranged on a plane F and has a target 12 on its upper surface. Obviously, the plate-like element 14 is arranged on the surface portion of the upper plane F around the periphery of the vehicle 100.

[0071] The optical image reader device 8 also includes a rectangular housing or support column 16 that extends along the longitudinal axis B and is configured to be fixed / anchored to the ground at a location adjacent to the target 12.

[0072] More specifically, the rectangular housing 16 may preferably be selectively coupled to the plate-like element 14 at a position directly adjacent to the target 12.

[0073] In use, the longitudinal axis B is advantageously orthogonal to the plane F, i.e., it is vertical. In particular, the longitudinal axis B is preferably parallel to the Cartesian axis z of the reference frame SR.

[0074] In other words, the rectangular housing 16 can be coupled to the plate-like element 14 such that its longitudinal axis B is approximately orthogonal to the plate-like element 14 and its longitudinal axis C.

[0075] The rectangular housing 16 is configured to support at least one optical image acquisition component 9.

[0076] Referring to the example shown here, the rectangular housing 16 extends along the longitudinal axis B to a predetermined height H2, which is advantageously greater than 1.5 meters.

[0077] More specifically, the rectangular housing 16 has a height H2 along the longitudinal axis B, which is preferably in the range of about 2 meters to about 2.5 meters.

[0078] The optical image acquisition component 9 is carried by a rectangular housing 16 so as to be able to frame and capture images of at least a portion of the vehicle 100 temporarily parked in the vehicle service area 2 and images of the target 12 present on the plate-shaped element 14 below.

[0079] according to Figure 4 , Figure 5 and Figure 6 In the preferred embodiment shown, the upper surface of the plate-like element 14 is generally flat and accommodates the target 12.

[0080] The plate-shaped element 14 further has a lower surface opposite the upper surface, which may be generally flat. Figure 4 , Figure 5 and Figure 6 In the example shown, the lower surface lies on plane F and is securely fixed / anchored to plane F.

[0081] According to a preferred embodiment, the plate-shaped element 14 may include, for example, a flat plate or a support made of a rigid material.

[0082] In the example shown herein, the plate-like element 14 has a generally rectangular shape and a target 12 at a first axial end. The target 12 is generally planar and may include a two-dimensional (quadrilateral) image representing a predetermined (calibration) pattern, and is securely fixed to the upper surface of the plate-like element 14 at the first axial end opposite the portion of the plate-like element 14 that may be coupled to the rectangular housing 16.

[0083] according to Figure 4 , Figure 5 and Figure 6 In a preferred embodiment specifically shown herein, the rectangular housing 16 may comprise a tubular section bar. Preferably, the rectangular housing 16 may have a polygonal cross-section intersecting the longitudinal axis B. In the example shown herein, the rectangular housing 6 has a rectangular or square cross-section and four rectangular vertical surfaces parallel to the longitudinal axis B.

[0084] The rectangular housing 16 may have a base at its lower end, the shape of which can be coupled to the plate element 14 by a form-fit connection.

[0085] exist Figure 6 In the example shown, in particular, the rectangular housing 16 is preferably provided with one or more protruding attachments or abutments 17, which are configured to engage with a plurality of grooves or seats 18 having complementary shapes obtained on the plate-like element 14.

[0086] Advantageously, the protruding accessory 17 protrudes from the lower end of the rectangular housing 16 along the longitudinal axis B toward the plane F below.

[0087] On the other hand, the groove 18 is preferably obtained in the region of the axial edge of the plate-like element 14 opposite to the target 12.

[0088] The protruding attachment 17 and the corresponding groove 18 with complementary shapes help to form a self-centring mechanism, which is configured to facilitate the positioning of the rectangular housing 16 in the area of ​​the associated plate-like element 14.

[0089] In use, the rectangular housing 16 can be placed approximately on the second end of the plate-shaped element 14 opposite to the first end that accommodates the target 12, at a distance D1 from the target 12, so that the rectangular housing 16 does not cover the target 12 and the optical image acquisition component 9 can observe the target 12.

[0090] In addition, the rectangular housing 16 is preferably provided with one or more ground support wheels 20, which are configured to facilitate the movement of the rectangular housing 16 on the plane F.

[0091] According to possible embodiments, the optical image reader device 8 may also conveniently include a connection device configured to anchor the rectangular housing 16 to the plane F, preferably to the plate-like element 14, in a stable but easily separable and / or removable manner.

[0092] For the sake of brevity, possible embodiments of the connection device not described in detail herein may include magnetic coupling members, bayonet coupling members, snap-fit ​​coupling members, threaded coupling members, and / or combinations thereof.

[0093] In addition, refer to Figure 4 and Figure 5 The optical image reader device 8 preferably includes one or more handles 21 or other similar gripping attachments, which are carried by a rectangular housing 16 and configured to be gripped by a user to manually move the optical image reader device 8.

[0094] According to the preferred embodiment of the invention shown in the accompanying drawings, the optical image reader device 8 is further provided with a movable support slider 23, which is slidably supported by a rectangular housing 16 so as to slide along the rectangular housing 16 in a sliding direction s2 parallel to the longitudinal axis B, and the support slider 23 is configured to support the optical image acquisition assembly 9.

[0095] More specifically, the support slider 23 can be in the first position ( Figure 1 , Figure 4 and Figure 5 (shown in) and the second position ( Figure 2 (as shown in the image) move between them.

[0096] In the first position, the support slider 23 is arranged at a distance d2 from the plane F, and in the second position, the support slider 23 is arranged at a distance d3 from the plane F. The distance d3 is greater than the distance d2.

[0097] More specifically, in the first position, the support slider 23 is configured to place the optical image acquisition assembly 9 approximately in front of the wheel 102 of the vehicle 100 when the vehicle 100 is placed on a movable plane PK in a stationary or lowered position.

[0098] On the other hand, in the second position, the support slider 23 is configured to place the optical image acquisition assembly 9 approximately in front of the wheel 102 of the vehicle 100 when the vehicle 100 is placed on the movable plane PK in the working or raised position.

[0099] Specifically, the support slider 23 is preferably slidably coupled to the side of the rectangular housing 16. Specifically, the support slider 23 is preferably mounted on the side of the rectangular housing.

[0100] More specifically, the support slider 23 is preferably slidably coupled to the side of the rectangular housing 16 located above the plate-shaped element 14, such that the optical image acquisition assembly 9 is arranged above the target 12.

[0101] Preferably, the support slider 23 is slidably coupled to the side of the rectangular housing 16 facing the vehicle 100, so that the optical image acquisition component 9 also faces the vehicle 100 temporarily parked in the vehicle service area 2.

[0102] Furthermore, the optical image reader device 8 preferably includes an actuation mechanism (not visible in the figure) configured to move the support slider 23 between a first position and a second position.

[0103] Preferably, the actuation mechanism includes an electric mechanism. Preferably, the actuation mechanism is housed within a rectangular housing 16. More specifically, the actuation mechanism preferably includes an electrically operated actuator configured to move the support slider 23 between a first position and a second position. Preferably, the electrically operated actuator includes a motor mechanically coupled to a recirculating ball screw. Obviously, the actuation mechanism can also be a manually operated actuation mechanism.

[0104] The electronic processing and control system 10 is preferably configured to control the movement of the movable plane PK and the support slider 23, such that when the movable plane PK is arranged in the lowered position, the support slider 23 is brought to a first position, and when the movable plane PK is arranged in the raised position, the support slider 23 is preferably automatically brought to a second position.

[0105] For example, the electronic processing and control system 10 may include a user interface configured to allow a user to control the lowering or raising of the movable plane PK, and the electronic processing and control system 10 may be configured to automatically control the position of the support slider 23 based on the position of the movable plane PK.

[0106] Referring to a preferred embodiment of the present invention, the optical image acquisition component 9 preferably includes at least one first optical image acquisition device 22, which is configured to provide first data / signal encoding at least one side image of the vehicle 100.

[0107] Preferably, the first optical image acquisition device 22 is configured to acquire images of the vehicle 100 but not of the target 12.

[0108] In other words, the first optical image acquisition device 22 is preferably configured such that its field of view includes the vehicle 100 temporarily housed in the vehicle service area 2 and does not include the target 12.

[0109] Target 12 is preferably positioned so as not to fall within the field of view of the first optical image acquisition device 22.

[0110] According to a preferred embodiment of the invention, the first optical image acquisition device 22 preferably includes at least one camera 22a. In the example shown here, the first optical image acquisition device 22 preferably also includes a camera 22b, which is arranged at a predetermined distance from the camera 22a. Cameras 22a and 22b cooperate with the electronic processing and control system 10 to realize a binocular stereo vision method. The operation of a binocular stereo vision method for constructing 3D images by means of two cameras is known and will not be described further.

[0111] according to Figure 4 and Figure 5 In the preferred embodiment shown, cameras 22a and 22b are securely arranged in the support slider 23 such that the associated optical components (lenses) face and are oriented toward the common surface / common side of the support slider 23 in order to capture a view of the side of the vehicle 100.

[0112] Preferably, cameras 22a and 22b can frame the side view of the vehicle 100 through openings formed on the front / side of the support slider 23. Cameras 22a and 22b are arranged in the support slider 23 so as to be axially spaced apart from each other along the longitudinal axis B at the predetermined distance.

[0113] Preferably, the first optical image acquisition device 22 may further include at least one light source 22c or 22d, which is configured to emit a light beam to illuminate the vehicle 100 (e.g., its wheels 102).

[0114] Preferably, the light source 22c or 22d includes an infrared igniter or a structured laser light source. This improves the three-dimensional detection of the wheel 102 by the corresponding camera 22a or 22b.

[0115] More specifically, the first optical image acquisition device 22 preferably includes a light source 22c or 22d, each of which is coupled to a corresponding camera 22a and 22b.

[0116] according to Figure 3 and Figure 4 In the preferred embodiment shown, camera 22a is supported by a support slider 23 at the lower middle position, while camera 22b is supported by a support slider 23 at the upper middle position.

[0117] Preferably, cameras 22a and 22b are configured to frame the side of the vehicle 100 temporarily housed in the vehicle service area 2, without framing the target 12.

[0118] According to a preferred embodiment of the present invention, the optical image acquisition component 9 preferably includes a second optical image acquisition device 25 that is separated from and different from the first optical image acquisition device 22, the second optical image acquisition device 25 being configured to capture an image of the target 12 in order to provide a second data / signal that at least encodes the image of the target 12.

[0119] Preferably, the second optical image acquisition device 25 is configured to acquire images of the target 12 and not acquire images of the vehicle 100, that is, to acquire only images of the target 12.

[0120] In other words, the second optical image acquisition device 25 is preferably configured such that its field of view includes the target 12 and does not include the vehicle 100 temporarily housed in the vehicle service area 2.

[0121] Target 12 is preferably positioned to fall within the field of view of the second optical image acquisition device 25.

[0122] Referring to the example shown here, the second optical image acquisition device 25 protrudes from the support slider 23 and is preferably positioned such that its optical axis is substantially vertical, i.e., approximately parallel to the longitudinal axis B.

[0123] In other words, the second optical image acquisition device 25 is preferably fixed to the support slide 23 in a protruding manner by the bracket 26 so as to be arranged above the target 12, i.e. advantageously vertically aligned above the target 12.

[0124] Furthermore, the second optical image acquisition device 25 is preferably supported above the first optical image acquisition device 22 by a support slider 23.

[0125] When the support slider 23 is in the first position and when the support slider 23 is in the second position or any intermediate position between the first and second positions, the second optical image acquisition device 25 is positioned to acquire an image of the target 12.

[0126] In other words, when the support slider 23 is in the first position and when the support slider 23 is in the second position or any intermediate position between the first and second positions, the field of view of the second optical image acquisition device 25 includes the target 12.

[0127] Obviously, the second optical image acquisition device 25 can be arranged below the first optical image acquisition device 22, and / or it can be inserted between the two cameras 22a and 22b of the first optical image acquisition device 22.

[0128] The electronic processing and control system 10 is preferably configured to process second data provided by the second optical image acquisition device 25 in order to determine the position of the optical image reader device 8 in the reference frame SR.

[0129] Furthermore, the first optical image acquisition device 22 and the second optical image acquisition device 25 are rigidly coupled to each other, for example, by a rigid plate / beam (invisible) made of a metallic material or another material with a low coefficient of thermal expansion, so that the relative positions between the first optical image acquisition device 22 and the second optical image acquisition device 25 are stable over time and are not distorted due to thermal fluctuations, assembly tolerances or other sources of interference.

[0130] According to a preferred embodiment of the present invention, the second optical image acquisition device 25 preferably includes at least one camera 25a.

[0131] according to Figure 4 and Figure 5 In the preferred embodiment shown, the camera 25a is fixed to the support slider 23 in a protruding manner so that the relative optical components (lenses) face and are oriented toward the target 12 below.

[0132] In addition, the second optical image acquisition device 25 may also include at least one light source 25b, which is configured to emit a light beam to illuminate the target 12.

[0133] Preferably, the light source 25b includes an infrared igniter or a structured laser light source. This improves the three-dimensional detection of the target 12 via the corresponding camera 25a.

[0134] Now move to ADAS control and / or calibration device 5, which is configured to rest on plane F and face vehicle 100, for example aligned along axis A in front of vehicle 100.

[0135] The ADAS control and / or calibration device 5 preferably includes one or more calibration devices 30 configured to be detected by the associated ADAS sensors 104 of the vehicle 100 during its calibration process. The calibration device 30 may include a calibration target (e.g., a monitor, board, or mark with a predetermined graphic pattern) configured to be detected by the associated ADAS sensors 104 of the vehicle 100 during its calibration process.

[0136] In addition, the ADAS control and / or calibration device 5 includes a support structure 31 configured to movably carry the calibration device 30 and adjust the position of the calibration device 30 relative to the vehicle 100.

[0137] The support structure 31 may include a plurality of support elements connected to each other in a movable manner and a plurality of actuators configured to move the support elements according to a command to control the position of the calibration device 30 relative to the vehicle 100.

[0138] Obviously, the support structure 31 can be manually moved by the user to adjust the position of the calibration device 30 relative to the vehicle 100.

[0139] According to a possible embodiment of the present invention, the optical image reader device 8 is preferably provided with a positioning target 32.

[0140] Preferably, the positioning target 32 ​​is positioned on the support slider 23 so as to face the ADAS control and / or calibration device 5.

[0141] More specifically, the positioning target 32 ​​is preferably supported by the side of a support slider 23, which faces the ADAS control and / or calibration device 5 during use.

[0142] According to the invention, the vehicle service system 1 preferably includes two cameras 34 (or cameras, etc.) mounted on the ADAS control and / or calibration device 5 in lateral positions on opposite sides of the calibration device 30 (one or more), and configured to acquire images containing positioning targets 32 present on respective optical image reader devices 8 and provide third data / signals encoding one or more images representing positioning targets 32.

[0143] Preferably, the electronic processing and control system 10 is configured to process third data provided by the camera 34 in order to determine the position of the ADAS control and / or calibration device 5 relative to the optical image reader device 8 and / or relative to the reference frame SR.

[0144] Furthermore, the electronic processing and control system 10 is preferably configured to control the positioning of the calibration device 30, for example by controlling the actuator or by providing instructions to the user to manually move the entire ADAS control and / or calibration device 5 or calibration device 30 via the support structure 31, thereby placing the calibration device 30 at a predetermined calibration position relative to the vehicle 100.

[0145] The operation method of the above-mentioned vehicle service system 1 is as follows.

[0146] The method preferably includes methods for adjusting / calibrating the optical image reader device 8 and methods for measuring and / or controlling the vehicle 100 and / or its components / components.

[0147] The adjustment method preferably requires a step of determining the position of each optical image reader device 8 relative to other optical image reader devices 8 in a predetermined reference frame SR in a known manner, and therefore will not be described further.

[0148] According to the present invention, during the adjustment step, the second optical image acquisition device 25 of each optical image reader device 8 further captures an image of the target 12 present on the underlying plate element 14.

[0149] The electronic processing and control system 10 processes the image of the target 12 and determines the position and angular orientation of the optical image acquisition component 9 relative to the target 12 by means of an image processing algorithm. The angular orientation of the optical image acquisition component 9 can indicate, for example, the angular orientation of the optical axes of cameras 22a, 22b, and 25a relative to the target 12.

[0150] The electronic processing and control system 10 determines the initial position (zero position) and initial angular orientation (zero orientation) of the optical image reader device 8 relative to the relevant target 12 (self-zero condition) in the reference frame SR based on the position and angular orientation of the optical image acquisition component 9. It should be noted that each target 12 is a fixed reference used to determine the positional and / or angular orientation changes relative to the optical image reader device 8 with high accuracy after adjustment.

[0151] The electronic processing and control system 10 can store geometric data acquired during adjustment. This data may include: the spatial position and angular orientation of the optical image reader devices 8 (relative to each other) in the three-dimensional reference frame SR, and the spatial position and angular orientation of each optical image reader device 8 relative to the corresponding target 12 in the three-dimensional reference frame SR.

[0152] After initial adjustment, the optical scanning system is capable of implementing methods for measuring and / or controlling vehicle 100 and / or components / parts of vehicle 100. According to these methods, the electronic processing and control system 10 processes the data / signals provided by the optical image reader device 8 to determine a three-dimensional image of the side of vehicle 100.

[0153] According to a preferred embodiment of the method, the electronic processing and control system 10 processes data / signals received from the optical image reader device 8, particularly from the first optical image acquisition device 22, using an image processing algorithm to determine the geometric parameters characterizing the wheels 102 of the vehicle 100. According to the method, for example, the electronic processing and control system 10 determines the values ​​of alignment parameters of the wheels 102 relative to a predetermined reference frame SR.

[0154] Conveniently, this method requires implementing a method for calibrating the optical image reader device 8 relative to the relevant target 12.

[0155] Preferably, according to the calibration method, the two optical image reader devices 8 capture images of the two targets 12 present on the respective plate-shaped elements 14.

[0156] Preferably, according to the calibration method, for each optical image reader device 8, the electronic processing and control system 10 processes the image of the relevant target 12 captured by the camera 25a and determines the position and orientation of the corresponding second optical image acquisition device 25 relative to the corresponding target 12.

[0157] Preferably, according to the calibration method, the electronic processing and control system 10 determines for each optical image reader device 8 the change between the position and orientation measured during the calibration method and the zero position and zero orientation measured during the initial adjustment.

[0158] According to the calibration method, the electronic processing and control system 10 stores the determined position and orientation changes for each optical image reader device 8.

[0159] This calibration method requires calibrating each optical image reader device 8 (distance and angular orientation) based on the detected changes in distance and orientation.

[0160] In the following implementation of the method for measuring and / or controlling vehicle 100 and / or components / components of vehicle 100, the electronic processing and control system 10 may, for example, introduce an offset in the image and / or measurement values ​​and / or geometric parameters based on the distance difference and angular orientation difference determined for the optical image reader device.

[0161] During the implementation of the method for measuring and / or controlling vehicle 100, and particularly during the step of manually adjusting the suspension or steering system of vehicle 100 to adjust the geometric parameters of wheel 102 (wheel alignment), vehicle 100 may be temporarily placed on movable plane PK and movable plane PK may be brought to an operating position or an elevated position so that the wheel 102 of vehicle 100 is approximately at the height of the user's face.

[0162] Meanwhile, the method involves bringing the support slider 23 of the optical image reader device 8 to a raised position so that the relevant optical image acquisition component 9 can be placed at the height of the wheel 102.

[0163] Even when the movable plane PK is in the operating position, raising the relevant optical image acquisition component 9 to the height of the wheel 102 allows for accurate scanning of the wheel 102 without affecting the accuracy of the image acquired by the first optical image acquisition device 22.

[0164] In addition, the above method preferably includes the following steps: controlling the position of the support slider 23 based on the position of the movable plane PK, for example, placing the support slider 23 in the first position when the movable plane PK is in the lowered position, and vice versa, placing the support slider 23 in the second position when the movable plane PK is in the raised position.

[0165] The calibration or alignment methods for the ADAS sensors 104 of the advanced driver assistance system or ADAS of the vehicle 100, which can be implemented by the vehicle service system 1, are known in themselves and can be readily obtained from the above description, and therefore will not be described further.

[0166] The advantage of the vehicle service system 1 is that it can be calibrated with high precision and frequency even when the vehicle 100 is parked in the vehicle service area 2.

[0167] Furthermore, the presence of a second optical image acquisition device 25, separated from the first optical image acquisition device 22, optimizes the image acquisition accuracy of the side of the vehicle 100 and the target 12 because it optimizes the orientation of the relevant optical axis of each component relative to the target.

[0168] Furthermore, the presence of the second optical image acquisition device 25, which is separated from the first optical image acquisition device 22, minimizes the size of the plate-shaped element 14 and brings it as close as possible to the rectangular housing 16, thereby maximizing the available space in the vehicle service area 2.

[0169] Furthermore, even when the movable plane PK is in the raised position, the presence of the support slider 23 allows the optical image acquisition assembly 9 to be positioned in front of the relevant wheel 102, which has significant advantages. In fact, this allows for high-precision and real-time verification of the correctness of manual adjustments made by the operator without the need for multiple raising and lowering of the movable plane PK, since the optical image acquisition assembly 9 is positioned in front of the relevant wheel 102.

[0170] Finally, the presence of a second optical image acquisition device 25, which is separated from the first optical image acquisition device 22 and has an optical axis that is substantially aligned with the longitudinal axis B, allows the target 12 to be accurately seen when the support slider 23 is in the lowered position, as well as when the support slider 23 is in the raised position or any intermediate position.

[0171] Finally, it is obvious that the above systems and methods can be modified and varied without exceeding the scope of protection of the present invention as defined in the technical solutions.

[0172] For example, the vehicle service system 1 may be equipped with only two optical image reader devices 8 placed on two opposite sides of the vehicle 100 and axis A, approximately in the center of gravity region of the vehicle 100.

[0173] Furthermore, according to possible embodiments, the optical image acquisition component 9 may not have a second optical image acquisition device 25, and the first optical image acquisition device 22 may be configured to acquire images of both the vehicle 100 and the target 12.

Claims

1. Vehicle service system (1) for at least one vehicle (100) arranged in a vehicle service area (2), said vehicle service system (1) comprising at least two optical image reader devices (8) arranged resting on a plane (F) in said vehicle service area (2) on opposite sides of a first longitudinal axis (A) of said vehicle (100) so that said optical image reader devices (8) face opposite sides of said vehicle (100), wherein said optical image reader device (8) comprising: - an oblong housing (16) resting on said plane (F) and extending along a second longitudinal axis (B) transverse to said plane (F), - a target (12) placed on said plane (F), - an optical image acquisition assembly (9) configured to capture a first image of said vehicle (100) and to provide first data / signals encoding at least said first image, and to capture a second image of said target (12) and to provide second data / signals encoding at least said second image; and - a support slide (23) carried in sliding manner by said oblong housing (16), supporting said optical image acquisition assembly (9) and movable along a second sliding direction (s2) parallel to said second longitudinal axis (B) between a first position in which said support slide (23) is arranged at a first distance (d2) from said plane (F) and a second position in which said support slide (23) is arranged at a second distance (d3) from said plane (F), wherein said second distance (d3) is greater than said first distance (d2).

2. System according to claim 1, further comprising an electronic processing and control system (10) configured to process said first data / signals in order to determine / construct one or more three-dimensional images related to said vehicle (100) and / or to components of said vehicle (100), said electronic processing and control system (10) being configured to calibrate said optical image reader device (8) on the basis of second data / signals.

3. The system of claim 2, wherein, said vehicle service area (2) comprising a movable plane (PK) arranged resting on said plane (F), adapted to carry said vehicle (100) and movable along a first sliding direction (sl) transverse to said plane (F) between a lowered position in which said movable plane (PK) is arranged adjacent to said plane (F) and a raised position in which said movable plane (PK) is arranged spaced apart from said plane (F), in said first position, said support slide (23) is adapted to place said optical image acquisition assembly (9) at a height of said vehicle (100) temporarily resting on said movable plane (PK) when said movable plane (PK) is in said lowered position, and in said second position, said support slide (23) is adapted to place said optical image acquisition assembly (9) at a height of said vehicle (100) when said movable plane (PK) is in said raised position. In said second position, said support slide (23) is adapted to place said optical image acquisition assembly (9) at the height of said vehicle (100) temporarily resting on said movable plane (PK) when said movable plane (PK) is in said raised position.

4. The system of claim 3, wherein, Said optical image reader device (8) further comprises an actuation mechanism adapted to move said support slide (23) along said oblong housing (16) between said first position and said second position.

5. The system of claim 4, wherein, Said electronic processing and control system (10) is configured to drive said actuation mechanism in order to control the position of said support slide (23) based on the position of said movable plane (PK).

6. The system of any of the preceding claims, wherein, Said support slide (23) is coupled to the side of said oblong housing (16) facing said vehicle service area (2) so as to face said vehicle (100) temporarily placed in said vehicle service area (2).

7. The system of any of the preceding claims, wherein, Said optical image reader device (8) comprises: a plate-like element (14) fixed to said plane (F) and having an upper surface on which said target (12) is arranged, said oblong housing (16) is adapted to be selectively and removably coupled to said plate-like element (14).

8. The system of any of the preceding claims, wherein, Said optical image acquisition assembly (9) comprises a first optical image acquisition device (22) and a second optical image acquisition device (25) separate and distinct from said first optical image acquisition device (22), said first optical image acquisition device (22) is placed on said optical image reader device (8) so that its field of view includes said vehicle (100) temporarily positioned on said vehicle service area (2) and does not include said target (12), said second optical image acquisition device (25) is placed on said optical image reader device (8) so that its field of view includes said target (12) and does not include said vehicle (100) temporarily positioned on said vehicle service area (2).

9. The system of claim 8, wherein, Said first optical image acquisition device (22) comprises at least a first camera (22a).

10. The system of claim 9, wherein, Said first optical image acquisition device (22) comprises a second camera (22b) configured to cooperate with said first camera (22a) so as to define, together with said first camera (22a), a binocular stereovision system.

11. The system of claim 8, 9, or 10, wherein, Said second optical image acquisition device (25) comprises a third camera (25a) configured to capture images of said target (12), said target (12) is arranged directly adjacent to said oblong housing (16) and said optical axis of said third camera (25a) is substantially aligned with said second longitudinal axis (B).

12. The system of any one of claims 8 to 11, wherein, Said second optical image acquisition device (25) cantileveredly extends from said oblong housing (16) so as to be arranged above said target (12).

13. The system of any one of claims 2 to 12, wherein, The electronic processing and control system (10) is configured to process the first data / signals so as to construct one or more three-dimensional images relating to components of the vehicle (100) corresponding to the wheels (102) of the vehicle (100) and to process the images so as to determine geometric parameters characterizing the wheels (102) with respect to a predetermined reference system (SR).

14. The system of claim 13, wherein, The electronic processing and control system (10) is configured to process the first data / signals so as to construct one or more three-dimensional images relating to components of the vehicle (100) and to process the images so as to determine the position and / or orientation of the vehicle with respect to the predetermined reference system (SR) in the vehicle service area (2).

15. The system of claim 14, wherein, The electronic processing and control system (10) is configured to communicate signals / data indicative of the position and / or orientation of the vehicle (100) with respect to the predetermined reference system (SR) in the vehicle service area (2) to at least one ADAS calibration system (5).

16. A method of operating a system according to any one of the preceding claims, The method comprises the steps of: a) arranging at least two optical image reader devices (8) on opposite sides of the first longitudinal axis (A) of the vehicle (100) in the vehicle service area (2) so that the at least two optical image reader devices (8) face opposite sides of the vehicle (100), b) processing the first data / signals so as to determine / construct one or more three-dimensional images relating to the vehicle (100) and / or components of the vehicle (100), c) arranging a target (12) on the plane (F) in a position directly adjacent to the optical image acquisition assembly (9) of the corresponding optical image reader device (8), d) acquiring one or more images of the target (12) adjacent thereto by means of the optical image acquisition assembly (9), thereby providing second data / signals encoding images of the target (12) itself, e) calibrating the optical image reader device (8) on the basis of the second data / signals.

17. The method of claim 16, further comprising the step of: Controlling the position of the support slide (23) on the basis of the position of the vehicle (100) with respect to the plane (F).

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