Vehicle equipment with scanning system for contactless measurement

Abstract

A vehicle equipment comprises a scanning system for the contactless measurement of at least one projector arranged at least for the projection onto an object to be measured of a structured light with a pattern, at least one video camera arranged for the acquisition of the image of the object to be measured, and a processing unit for processing the acquired image for the three-dimensional reconstruction of the object to be measured, the projector comprising in turn at least one matrix of emitters integrated into a monolithic substrate.

Claims

1. A vehicle equipment measuring the characteristic dimensions and/or angles of wheels, steering and chassis of vehicles in a wheel alignment device, comprising: a scanning system for contactless measurement equipped with at least two video cameras and at least one projector, the at least one projector arranged at least for the projection onto an object to be measured of a structured light with a pattern, and includes at least one matrix of emitters integrated into a monolithic substrate and a device changing the projected patterns, and wherein the at least two video cameras are arranged for the acquisition of at least two images of the object showing that the pattern is projected onto the object, and a processing unit configured to compute a plurality of three-dimensional reconstructions of the object to be measured, each of said three-dimensional reconstructions of the plurality of three-dimensional reconstructions is computed without a prior knowledge of the geometry of said pattern, from at least two images of the object showing that the pattern is projected onto the object, the pattern being changed between at least two three-dimensional reconstructions of the plurality of three-dimensional reconstructions, said processing unit further configured to compute a plurality of measurements of the object from the plurality of three-dimensional reconstructions and to mediate the measurements of the plurality of three-dimensional reconstructions to obtain a mediate measure of the object.

2. The vehicle equipment according to claim 1, wherein said emitters are laser configured for the emission of radiation in the orthogonal direction to their lying plane.

3. The vehicle equipment according to claim 1, wherein the overall optical power of the emitters is no less than 1 Watt.

4. The vehicle equipment according to claim 1, wherein a radiant intensity of the pattern according to an angle of projection (Watt/srad) increases with the angle of projection in the range of the null angle of projection.

5. The vehicle equipment according to claim 1, wherein a maximum angle of projection of said projector is no less than 80.

6. The vehicle equipment according to claim 1, wherein said projector further comprises a protection device configured to prevent access of the human eye to the projector.

7. The vehicle equipment according to claim 1, comprising uniform light generator comprising an independent projector from the structured light projector projecting uniform light and a diffuser arranged for the conversion of the structured light into a uniform light, activatable in programmatic mode.

8. The vehicle equipment according to claim 1, comprising a multiplier multiplying the image or parts of the image of the matrix of emitters integrated into the monolithic substrate.

9. The vehicle equipment according to claim 8, wherein said multiplier comprises diffractive optical elements and matrices of microlenses, and reflecting surfaces.

10. The vehicle equipment according to claims 1, comprising for a dissipater dissipating the thermal power generated by said matrix of emitters.

11. The vehicle equipment according to claim 10, wherein said matrix of emitters is a matrix of laser diodes with emission of radiation parallel to an emitting plane, cooperating with a reflector aligned with the laser diodes to redirect the emitted radiation in the orthogonal direction to their lying plane.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further characteristics and advantages of the invention will more fully emerge from the description of a preferred but not exclusive embodiment of the vehicle equipment with a scanning system for contactless measurement according to the invention, illustrated by way of non-limiting example in the accompanying figures of the drawings, in which:

(2) FIG. 1 shows a scanning system with two video cameras according to the invention;

(3) FIG. 2a shows a first embodiment of the multiplication means;

(4) FIG. 2b shows a second embodiment of the multiplication means;

(5) FIG. 2c shows a third embodiment of the multiplication means;

(6) FIG. 3a shows a first embodiment of the uniform light generation means;

(7) FIG. 3b shows a second embodiment of the uniform light generation means;

(8) FIG. 4 shows a front view of the matrix of emitters

(9) FIG. 5a shows a first embodiment of the protection for the human eye;

(10) FIG. 5b shows a second embodiment of the protection for the human eye; and

(11) FIG. 6 shows four of the periodic replicas of the image of the matrix of emitters that are combined with other replicas of the image to form a pattern of bright dots generated thanks to the image multiplication means comprising for example a DOE.

DETAILED DESCRIPTION OF THE INVENTION

(12) With reference to the mentioned figures, the vehicle equipment comprises a 3D scanning system 1 for contactless measurement equipped with a projector 2, two video cameras 3 and a processing unit (not shown).

(13) The projector 2 is arranged for the protection onto an object 4 to be measured, in the example illustrated comprising for example a wheel, of a structured light with a pattern.

(14) The pattern 5 may consist for example of dots, lines or 2D figures, distributed periodically or non-periodically. The example illustrated in FIG. 6 comprises a distributor of bright dots 5a, casual within a subset of the 5 projection area preferably comprising at least 16 dots, replicated periodically as portrayed for example by the replicas 5, 5, 5, to tile the entire projection area.

(15) The video cameras 3 are provided for the acquisition of the image of the object to be measured 4.

(16) The processing unit for processing the acquired image is provided for the 3D reconstruction of the object to be measured 4.

(17) Advantageously, in order to improve the accuracy of the 3D reconstruction of the object to be measured 4, the scanning system 1 envisages two video cameras 3, so that the geometry of the pattern does not need to be known a priori and therefore measurement inaccuracies due to the derivation of this geometry are avoided over time for example due to thermal, mechanical or optical causes.

(18) The projector 2 comprises a matrix of microlaser emitters 6 produced with a semiconductor process on a monolithic substrate 7 particularly of GaAs wherein the distance between the individual microlasers is typically in the order of tens of m and the wavelength is preferably comprised between 800 nm and 860 nm in order to exploit cheap sensors developed for the visible spectrum. A structure of this type is known in the sector by the acronym VCSEL (Vertical Cavity Surface Emitting Laser).

(19) The matrix of emitters 6 preferably comprises no less than 500 emitters in an area of no less than 1 mm.sup.2, and overall optical power of no less than 1 W, but which can reach over 10 W.

(20) The matrix of emitters 6 thus configured is not susceptible to the risk of catastrophic failure and is practically insensitive to dust.

(21) Furthermore the laser emitters 6 have a lower ratio between cost and optical power with respect to lateral emission diodes and can operate at a high operating temperature, typically up to 80 C. maintaining low sensitivity of the wavelength to temperature, typically 0.07 nm/ C., making a TEC unnecessary.

(22) Advantageously to maximise the 3D reconstruction field the projector 2 has a maximum angle of projection of at least 80.

(23) Angle of projection means double the value of the theta angle formed by a ray of light with respect to the orthogonal direction to the lying plane of the emitters 6.

(24) Advantageously, to obtain uniform irradiance of the pattern on the normal plane of the axis of projection, the optics of the projector 2 modulate the radiant intensity of the pattern (Watt/srad) with a pattern known as batwing (1/cos{circumflex over ()}2(theta)), i.e. increasing around the null angle of projection.

(25) Advantageously, to reduce the systematic measurement error that occurs in the event of a static pattern, the scanning system 1 repeats the measurements changing the projected pattern 5 every time and finally mediating the results.

(26) The pattern 5 can be varied using a mechanical movement system of the projector in the interval between two displays of the video cameras 3.

(27) The number of dots of the pattern necessary for a sufficient density of dots on the object for its detailed reconstruction may be very high (over 10,000) with respect to the number of emitters that can be provided on a monolithic substrate in an economically acceptable way for the application.

(28) Therefore, advantageously, in order to generate a pattern with a high number of dots without jeopardising the cost of the projector, the scanning system 1 envisages multiplication means for multiplying the image or parts of the image of the matrix of emitters 6, said means for example comprising DOEs and/or matrices of microlenses and/or reflecting surfaces.

(29) With reference to FIG. 2a the multiplication means comprise, by way of example, a lens 8 interposed between the substrate 7 and a DOE 9: the lens 8 creates the image of the emitters 6 on a projection plane and the DOE 9 multiplies it by tiling the projection plane with replicas of such an image.

(30) With reference to FIG. 2b the multiplication means comprise, by way of example, a matrix of microlenses 10 interposed between the substrate 7 and a lens 11: each microlens 10 creates images of the active emitters 6 facing it and the lens 11 creates the image of such images on the projection plane.

(31) With reference to FIG. 2c the multiplication means comprise, by way of example, mirrors 12, in particular prisms or hollow tubes with mirrored walls, and a lens 13: the radiation emitted by the active emitters 6 is reflected by the mirrors 12 creating a kaleidoscopic effect and the lens 13 focuses the resulting image on the projection plane.

(32) Advantageously, to allow the processing unit to recognise high contrast edges of the object, for example between the rim and tyre of a wheel, for processing to support 3D reconstruction, for example, for recognising the measurement object, the scanning system 1 has uniform light generation means.

(33) The uniform light generation means, as illustrated in FIG. 3a, may comprise a projector 14 that is independent from the structured light projector 2 for projecting uniform light.

(34) Alternatively the uniform light generation means, as illustrated in FIG. 3b, may comprise an optical element 15 characterised by behaviour that is programmed to switch from transmissive to diffusive mode (switchable diffuser), so as to allow the projection of structured light when switched to transmissive mode or uniform light when switched to diffusive mode.

(35) Alternatively, the uniform light generation means, as illustrated in FIG. 3c, may include a variable focal lens in programmatic mode, so as to allow the projection of structured light when the pattern is focused onto the projection plane or uniform light when it is defocused.

(36) Alternatively, the uniform light generation means may comprise means for moving the projector during the acquisition time of the video cameras.

(37) Since the overall optical power of the matrix of emitters 6 as mentioned can reach high values, even over 10 W, advantageously a protection 17a, 17b is provided, configured to prevent the access of the human eye to areas in the vicinity of the projector 2 potentially at risk of exposure to radiation, for example, by means of a funnel-shaped recess 17a of FIG. 5a or a window 17b of FIG. 5b, so as to be classified in the low radiation exposure risk class.

(38) It must however be noted that, although the overall optical power of the matrix of emitters 6 can assume high values, the individual emitters 6 are low power and therefore, when they are used in combination with DOEs, systems for reducing the power of the non-diffracted light beam (zero order) are not required.

(39) Considering the reference values indicated above for the overall optical power generated by the matrix of emitters 6, which are ideal in the specific application field of vehicle equipment, it is also possible to provide specific dissipation means for dissipating the thermal power generated by the matrix of emitters 6 in its normal operation.

(40) The vehicle equipment comprising a scanning system for contactless measurement as conceived herein is susceptible to many modifications and variations, all falling within the scope of the invented concept; furthermore, all the details are replaceable by technically equivalent elements.

(41) For instance, the matrix of emitters in a possible embodiment of the invention comprises or consists of a matrix of laser diodes with emission of radiation parallel to their lying plane, cooperating with a reflector aligned with the laser diodes to redirect the emitted radiation in direction orthogonal to their lying plane.