GB2349953A - Three dimensional coordinate determination - Google Patents

Abstract

In the determination three dimensional coordinates, particularly for automotive crash repair and diagnostics, a receiver means (RX) of a coordinate determination system is mounted on a frame (50) securable to a vehicle body through quick-attach mounting (32,34) means such as suction cups or magnetic means so as to straddle the vehicle and provide a stable mounting position for the receiver means (RX) throughout repair or diagnostic operations. The transmitter (TX) of the coordinate determination system is located in turn at each of a plurality of identifiable reference locations (22,24,26,28) on the vehicle body and an energy signal (20) is passed between the transmitter and receiver to provide three dimensional coordinate information. The receiver (RX) may be an acoustic microphone or a camera. The frame (50) may comprise a transverse beam carrying the transmitter (RX) below the vehicle and adjustably connected to two vertical beams depending from quick-attach mounting means (32,34).

Description

2349953 METHOD AND APPARATUS FOR THREE-DIMENSIONAL COORDINATE

DETERMINATION This invention relates to a method and apparatus for three-dimensional coordinate determination adapted for automotive crash repair and diagnostics. An embodiment of the invention of particular (but not exclusive) utility, relates to the use of such a method and apparatus for mounting measurement apparatus applicable to the dimensional and/or geometric analysis of automotive vehicles and/or portions thereof, particularly, but not exclusively in relation to the analysis of and/or remedial action upon such automotive vehicles and/or parts thereof after damage or impact involving non-elastic deformation of at least part of the structure thereof.

Many proposals exist for systems in which automotive vehicles and/or parts thereof are subjected to dimensional analysis in order to assist the taking of remedial steps after damage by impact or the like. one such proposal is disclosed in WO 98/11405 (Brewco) in which a system for measuring the points on a vehicle (24) includes reference emitters (14) fixed relative to the vehicle.

Electromagnetic radiation-emitting probes (18) and a camera (16) and a computer (20) are used. The camera (16) senses the direction of the emitters (14) from three different locations so that the computer can triangulate the data to determine the position of the emitters. The position data is then put onto a standard coordinate system and is compared to standard data for the type of vehicle to determine the extent of deviation of the measured point from the standard data. This provides real time data to a person who is straightening the vehicle or aligning parts of the vehicle whereby the completion of such straightening can be determined.

In a modification of the WO 405 system, probes with light-emitting diodes are linked to a reference frame which is mounted on the vehicle chassis or frame in order to provide a positional and dimensional reference base for reference purposes. The usual technique is to clamp the reference frame to the vehicle by the use of cramps actuated by allen keys engaging the pinchweld region of the vehicle sill, since this provides an accessible and relatively positionally-stable and defined reference basis for dimensional and geometrical analysis.

However, certain vehicles do not include a suitable mounting for the reference frame in terms of an accessible structure such as a pinchweld, to which the frame can be attached and for such vehicles this represents a significant problem in order to provide a secure and well- defined mounting for the structure to be used for positional and/or dimensional and/or geometrical analysis.

There is disclosed in GB 2314928 (Sun Electric UK Ltd) at fig 9 a system for mounting a sensing head on a vehicle in relation to a tyre thereof for analysis of tyre tread and sidewall condition. The apparatus of this fig 9 is provided in order to enable the analysis of tyre condition to the made in situ on the vehicle without detachment of the tyre from the vehicle and while the tyre is rotated on the vehicle during vehicle travel. There is no disclosure nor suggestion in the drawing or description relating to the said fig 9 that this structure could provide anything other than a convenient mounting for tyre tread imaging apparatus adapted to monitor tread condition as the vehicle travels. Specifically, there is no suggestion in the disclosure in relation to the said fig 9 which would in any way prompt the technically competent person to carry out the invention in accordance with the present application. Although it may be argued that the technically competent person could have done so, there is nothing in the f ig 9 disclosure nor in the associated text which would in any way have prompted that person to have done so in the hope of solving the underlying technical problem of the present invention since no relevant disclosure relating thereto is provided and in fact in-travel measurements specifically point away from the dimensional accuracy with which the present invention is concerned.

There is disclosed in EP 0 224 513 B1 (Applied Power Inc/Steber) a system for acoustic-based three-dimensional coordinate analysis as applied to automotive vehicles in which acoustic signals from transmitter means at a series of defined locations are received by acoustic receiver means located at a temporarily fixed location throughout a series of measurements and connected to data processing means whereby a time-based determination of the coordinates of each of the reference locations is made by a calculation technique utilising the acoustic signal transmission time differential for two transmitters at each location of known spacing from each other at that location, and by reference to a simple triangulation technique. The EP 0 244 513 B1 specification represents a typical example of apparatus to which the present invention may be applied, and we hereby incorporate in the present application by reference the entire disclosure of the EP 0 244 513 B1 specification by reference, and likewise the WO 405 specification also mentioned above. The present invention provides advantages in relation to both such systems.

WO 99/56146 (which is not a prior publication with respect to the priority date of 27 April 1999 of the present application) discloses a three-dimensional coordinate determination method and apparatus, in which it is shown in Fig.2 that receivers mounted on the triangulated arms of a corresponding mounting device are secured to the under-body of the vehicle by permanent magnets.

There is disclosed in US 4,523,394 (Giacomini)a system for direct dimensional analysis of the underside of a vehicle in which a reference frame is mounted below the vehicle by means of conventional gripper-type fastening devices so that from the reference frame direct measurements can be made by conventional contact-based analogue-type measurement devices. The gripper devices engage and grip suitable structures (if they can be found) at the underside of the vehicle.

It will be appreciated that all systems of the kind disclosed in the US 4,523,384 reference which involve attachment to the underside of the vehicle inevitably require the user to raise the vehicle for access to the underside or else to position the vehicle over a pit or the like providing access to the underside. While it may be is accepted that access to the vehicle underside is usually a requirement for the actual measurement steps in automotive three dimensional mapping techniques, it is clearly a much to be desired advance if the extent to which work on the vehicle underside involving selective mounting or cooperation of appliances is minimised.

Likewise, in published specifications such as us 4, 811, 250 (Steber) and EP 0, 598, 809 B1 (Coachworth), use of the systems on any one particular vehicle under test requires the use of an absolutely constant position for the receiver system (comprising acoustic microphones) relative to the vehicle and yet no means is provided for avoiding accidental nudging or kicking or otherwise at least slightly moving the receiver unit after measurements have commenced and such represents a significant risk in relation to use of the system and it would represent a significant advance if this could be eliminated or reduced. The invention provides a method and apparatus as defined in the accompanying claims and the embodiments described below provide improvements in several respects. 35 Firstly in relation to the problem of reducing the risk of movement of the receptor (or transmitter) unit with reference to the vehicle during test, the provision of mounting means on the vehicle itself serves to substantially reduce this risk. In addition, avoidance of the need for grappling at the underside of the vehicle with a mounting means requiring upward attachment to the underside including selection of a favourable location and application of mechanical attachment means is in itself an advance. Moreover the avoidance of the need to apply a screw threaded fastener system represents a significant simplification.

A further factor is this. The embodiments provide an easily-mounted support bar or frame below the vehicle on which the receptor or transmitter means can be mounted by easily-adjusted connection means. This enables the transmission system between the transmitter and receiver stations to be set up quickly and conveniently using favourable and easily chosen transmission/reception directions, having regard to the topography below the vehicle including such projecting structures as the vehicle's exhaust system.

A still further advantageous aspect of the described embodiments relates to the provision of an attachment system which connects to the side or end or even top faces of the vehicle superstructure and then extends downwardly at each side or end to provide support at each end for the above-discussed support bar - br frame. The use of an attachment means which is capable of non- damagingly attaching to vehicle body panels, and which attaches to same in a matter of seconds so as to provide a support system means that the initial setup time for the apparatus is greatly reduced. In the embodiments, the suction cups attach to the vehicle panels in a moment and the depending support frame can be supported in position within a minute or two at the most, thereby setting up a structure which provides a stable reference base for measurement purposes throughout the three-dimensional mapping procedure.

An object of the present invention is to provide improvements in relation to a method and apparatus for three-dimensional coordinate determination, particularly with respect to automotive crash repair and diagnostics and/or improvements generally in relation to such methods and apparatus.

Accordingly to the invention there is provided a method and apparatus for three-dimensional coordinate determination as defined in the accompanying claims.

In an embodiment of the invention disclosed below. There is provided a method and apparatus in which quickattach and disconnectable attachment means is provided and is adapted to provide a mounting for apparatus forming at least part of dimension and/or geometrical and/or positional analysis of automotive vehicles or parts thereof. In the embodiment, the quick attach and disconnectable attachment means is adapted to cooperate with the external bodywork of the vehicle. For this purpose, suction means may be provided and/or magnetic means likewise. Related attachment means may likewise be used which are capable of providing a secure means of attachment, while not requiring the use of permanent adhesive or fasteners of the kind requiring penetration of the surface with which they coact.

An embodiment of the invention may be devised in which use of suitable peelable adhesives may enable rapid attachment and a sufficiently secure temporary mounting while permitting relatively rapid removal without damage to the surface of the vehicle.

By adopting the approach in which the mounting means is secured to the vehicle by attachment to the external body work using an attachment means not requiring gripping (as in the case of the cramps applied to the pinch welds) and yet which is able to provide the degree of security of mounting which precision remedial action on motor vehicles requires, and yet does not require any penetration of the vehicle superstructure nor yet results in any appreciable harm to the surface finish thereof, the embodiments of the invention provide a notable advance. Not only is the need for the mounting of a reference frame by the use of cramp structures applied to an under surface of the vehicle avoided, but also the disadvantage that certain vehicles do not possess any suitable structure with which the provided cramps can cooperate in a conventional cramp-gripping action, is avoided.

In the embodiments, the mounting system provides a two-ended structure having at one end the mounting means for the relevant parts or components of the measurement apparatus, and at the other end the quick-attach and disconnectable attachment means for cooperation with the external or bodywork or superstructure of the vehicle. Connecting these end regions is a structurally strong (with respect to the loads applied to it) bridge or arm which serves to ensure structural and positional integrity of the system once mounted on the vehicle. This bridge or arm structure between the mounting ends of the apparatus itself offers operational advantages in terms of enabling the user to position the mounting of the measurement apparatus at a convenient (and effectively extended) location which is well-suited to the purposes (5-f the positional analysis process. Whereas the previous ly-proposed system of mounting the reference frame with respect to the pinch weld of the vehicle sill required the frame to be located at a relatively restricted range of locations, the embodiments of the present invention enable relatively complete freedom to be adopted, since the connection of the quick-attached means at the other end of the structure to the vehicle bodywork can be arranged to cooperate with that body work at any one of a large range of suitable points on the body work, each of which corresponds to a different position for the other end of the apparatus. Means may even be provided for enabling the bridge or arm structure to incorporate means such as a lockable ball or other joint to introduce further flexibility in this latter regard.

In the embodiment, the provision of flexibility of orientation and position is provided by means of simple positional adjustment devices identified in the embodiment as vertical and horizontal orientation clamps. These are provided at both ends of the tube (designated vertical tube) constituting the bridge or arm structure between the vehicle-mounting and apparatus-mounting ends of the equipment.

An embodiment of the invention will now be described by way of example with reference to the accompanying drawings in which:

Fig 1 shows, diagrammatically, a transverse section through a vehicle (not showing vehicle wheels or upper superstructure) in which an embodiment of the invention is shown in laterally-inward side engagement with the vehicle body panels and with a frame structure extending below the vehicle and supporting receiver means which is connected to transmitter means and data processing means; Fig 2 shows a diagrammatic plan view, as seen in direction of arrow II in Fig 1 of the underside of the vehicles showing the transmitter means supported on the laterally- inwardly- facing quick-attach means engaging the vehicle body panels, and with the positions of four transmitter means sending acoustic signals to receiver means suitably indicated; Fig 3 shows a front view of the apparatus of Fig 1 incorporating twin suction-cup means ready for attachment to vehicle body panels and with depending frame means as seen in an outward view from the vehicle towards the apparatus when it is ready for engagement with the vehicle body panels; and Fig 4 shows a view of the apparatus of Fig 3 as seen 5 in the direction of arrow IV in Fig 3.

As shown in Figs 1 and 2 of the drawings apparatus 10 for threedimensional coordinate determination and adapted for automotive crash repair and diagnostics comprises data evaluation apparatus 12 comprising transmitter means 14 and receiver means 16 and data processing means 18 adapted to process data derived from the transmission of an energy signal 20 between said transmitter and receiver means 16, 18 to determine information with respect to the threedimensional coordinates of one of said transmitter means and said receiver means 14, 16 (in this case the transmitter means 14), with respect to the other thereof (in this case the receiver means 16).

In use, the data evaluation apparatus 12 is used to carry out a series of coordinate data evaluation steps in which one of the transmitter and receiver means 14, 16 (in this case the transmitter means 14) is applied to a series of identifiable locations 22, 24, 26, 28 (see Fig 2). In Fig 2 only four such locations have been shown, but in practice many more such locations are employed, as disclosed for example in the above-mentioned EP 513 B1 specification. Energy signals 20 are transmitted from transmitter means 14 to receiver means 16 while data evaluation steps are carried out. Usually, the steps of transmission and receiving and data evaluation are carried out from the locations 22 to 28 in sequence. It is an important requirement of the process that the receiver means 16 is maintained at a constant position with respect to automotive vehicle 30 throughout these steps, and for this purpose there is provided a pair of quick-attached mounting means 32, 34 adapted to be attached to the generally smooth surfaces of panel means 36, 38 at the sides or front or rear of upper exterior surfaces of the body panels of vehicle 30, whereby the mounting means 32 34 are attached to the vehicle. In this embodiment, the quick attach mounting means comprising the resilient suction cut means 40,42 is adapted to be detachably adhered to the panel means 36, 38 by inward loading, consequential expulsion of air from within the cups, and subsequent resilient action of the cup means whereby pressure reduction within the chamber defined by the cups and the body panels causes the cups to be held to the body panels.

As also shown in Figs 1 and 2, apparatus 10 further comprises a frame or the like structure 44 adapted to interconnect the pair of quick-attach mounting means 32, 34 and to extend downwardly (see Fig 1) (or upwardly or laterally from each one of the quick attach mounting means) at the side locations of the vehicle at which the mounting means are provided and then to extend across the underside of the vehicle and to be joined to the corresponding structure connected to the other one of the quick-attach mounting means so as to form the generally u-shaped structure seen, diagrammatically, in Fig 1. In Fig 1, the frame or the like structure 44 extends below the body of vehicle 30, but above ground level, not shown in Fig'l on which the vehicle is supported by its ground wheels (also not shown).

Thus, the frame or the like structure 44 provides a fixed and stable mounting structure on the vehicle and on which the receiver means 16 (acoustic microphone or camera) is mounted so as to be able to communicate with transmitter means 14 via energy signals 20, as indicated in Fig 2.

In simple terms, the frame or the like structure 44 hangs from suction cups 40, 42 attached to the body panels 36, 38 so that receiver means 16 is supported in a stable manner from the structure of the vehicle for signal receptor purposes.

Frame or the like structure 44 comprises downwardly extending frame members 36, 48 and a transverse frame member 50, these frame members being structurally connected by joints 52, 54. Receiver means 16 is mounted on transverse frame member 50 through adjustable connection means (not shown) permitting attitude adjustment of the receiver means with respect to the transverse frame member 50.

Having now described with reference to Figs 1 and 2, the general arrangement of the system with respect to vehicle 30, attention will now be turned to Figs 3 and 4 which show additional constructional details of the system as generally illustrated in Figs 1 and 2. In Figs 3 and 4, parts corresponding to those indicated in Figs 1 and 2 are provided with the same reference numerals. In addition to these structures, Figs 3 and 4 show the vertical and horizontal orientation clamps 56, 58 connecting suction means 40 to downward frame member 46, and corresponding horizontal and vertical orientation clamps 60, 62 and vertical orientation clamp 64, serving to connect downward frame members 46, 48 to transverse frame member 50 via a horizontal strut or tube 56, a vertical strut or tube 68 and a further connector 70. These structures provide considerable freedom of positional adjustment for the frame 44 and the associated receiver means 16 (not shown in Figs 3 and 4). It will be under9tood that the apparatus and method are readily applicable to any automotive vehicle and to most systems of three-dimensional coordinate termination in relation thereto.

In another embodiment, not illustrated the suction cap devices both 40, 42 are replaced by corresponding magnetic attachment devices.

In use, the method and apparatus are employed in the manner generally as indicated above. The apparatus shown in Figs 1 and 2 is mounted in relation to vehicle 30 and a series of coordinate determination steps are carried out at positions 22, 24, 26 and 28 with receiver 16 in its fixed position as shown. The coordinates are utilised in relation to diagnostic or crash repair operations in the manner described in the above-identified EP 513 B1 specification, or in the manner established in relation to other related systems. Receiver 16 is maintained in its stable and fixed position throughout a given series of coordinate determinations without any significant risk of accidental movement by the operator, due to its stable and fixed position on frame 44.

Claims (1)

1. A method of three-dimensional coordinate 5 determination adapted for automotive crash repair and diagnostics, the method comprising:

   a) the step of providing coordinate data evaluation apparatus comprising transmitting means and receiver means and data processing means adapted to process data derived from the transmission of an energy signal between said transmitter and receiver means to determine information with respect to the three- dimensional coordinates of one of said transmitter means and said receiver means with respect to the other thereof; and b) the step of carrying out a series of coordinate data evaluation steps with said apparatus in which said one of said transmitter and receiver means is applied to a series of identifiable or predetermined locations on a vehicle while said energy signal is transmitted and said other of said transmitter or receiver means is located at a fixed location throughout said series of data evaluation steps and without any movement relative to said vehicle; characterised by c) said step of carrying out a series of coordinate data evaluation steps while said other of said transmitter and receiver means is located at a fixed location comprising the step of providtng a pair of quick-attach mounting means adapted to be attached to the generally smooth surface of panel means at the side or front or rear or upper exterior surfaces of the body panels and the like of an automotive vehicle and causing same to be attached to said vehicle; and d) the step of providing frame or the like structure adapted to interconnect said pair of quick-attach mounting means and to extend downwardly or upwardly or laterally from each one at a side or front or upper location on the vehicle and then to extend across at least a portion of the underside or upperside of the vehicle and to be joined to the corresponding structure connected to the other one of said quick-attached mounting means, and causing same to thus interconnect said quick-attach mounting means on said vehicle and to provide a fixed and stable temporary mounting structure on said vehicle, and the step of mounting said other of said transmitter and said receiver means on said temporary mounting structure so as to be able to communicate via said energy signal with said one of said transmitter and receiver means during said series of data evaluation steps.

   is 2. A method of three-dimensional coordinate determination adapted for repair or diagnostics or other operations characterised by providing quick-attach mounting means adapted to be attached to the surface of panel means or the like on an automotive vehicle or other structure, and mounting energy signal transmission or receiver means on a frame or the like structure depending from or otherwise attached to said quick- attach mounting means and the step of processing data derived from the transmission of an energy signal relating to said three dimensional coordinate determination, from or to said transmitter or receiver means mounted on said frame or the like structure.

   1 3. A method according to claim 1 or claim 2 characterised by said quickattach mounting means comprising resilient suction cup means, and the method comprising manually applying said suction cup means to said vehicle or the like.

   4. A method according to claim 1 or claim 2 characterised by said quick-attach mounting means comprising magnetic attachment means, and the method comprising manually applying same to said vehicle or the like.

   5. A method according to any one of the preceding claims characterised by said step of mounting said other of said transmitter or said receiver means on said temporary mounting structure comprising employing adjustable connection means permitting attitude adjustment thereof with respect to said mounting structure to facilitate said transmission of said energy signal.

   6. A method of three-dimensional coordinate determination substantially as described herein with reference to the accompanying drawings.

   7. Apparatus for three-dimensional coordinate determination adapted for automotive crash repair and diagnostics, the apparatus comprising:

   a) coordinate data evaluation apparatus comprising transmitting means and receiver means and data processing means adapted to process data derived from the transmission of an energy signal between said transmitter and receiver means to determine information with respect to the threedimensional coordinates of one of said transmitter means and said receiver means With respect to the other thereof; and b) said apparatus being adapted to carry out a series of coordinate data evaluation steps in which said one of said transmitter and receiver means is applied to a series of identifiable or predetermined locations on a vehicle while said energy signal is transmitted and said other of said transmitter or receiver means is located at a fixed location throughout said series of data evaluation steps and without any movement relative to said vehicle; characterised by c) said apparatus being adapted to carry out said series of coordinate data evaluation steps while said other of said transmitter and receiver means is located at a fixed location by comprising a pair of quick-attach mounting means adapted to be attached to the generally smooth surface of panel means at the side or front or rear or upper exterior surfaces of the body panels and the like of an automotive vehicle and causing same to be attached to said vehicle; and by d) frame or the like structure adapted to interconnect said pair of quick- attach mounting means and to extend downwardly or upwardly or laterally from each one at a side or front or upper location on the vehicle and is then to extend across at least a portion of the underside or upperside of the vehicle and to be joined to the corresponding structure connected to the other one of said quick-attach mounting means, and said structure being adapted to interconnect said quick-attached mounting means on said vehicle and to provide a fixed and stable temporary mounting structure on said vehicle, and to permit the step of mounting said other of said transmitter and said receiver means on said temporary mounting structure so as to be able to communicate via said energy signal with said one of said transmitter and receiver means during said series of data evaluation steps.

   8. Apparatus for three-dimensional coordinate determination adapted for repair or diagnostics or other operations characterised by said apparatus comprising quick-attach mounting means adapted to be attached to the surface of panel means or the like on an automotive vehicle or other structure and to mount energy signal transmission or receiver means on a frame or the like structure depending from or otherwise attached to said quick-attach means whereby the step of processing data derived from the transmission of an energy signal relating to said threedimensional coordinate determination, from or to said transmitter or receiver means mounted on said frame or the like structure may be carried out on the basis of a fixed position adapted to be of said structure.

   9. Apparatus may be carried out on the basis of a fixed position according to claim 7 or claim 8 characterised by said quick-attach mounting means comprising resilient suction cup means adapted to be, manually applied to said vehicle or the like.

   10. Apparatus according to claim 7 or claim 8 characterised by said quick-attach mounting means comprising magnetic attachment means adapted to be manually applied to said vehicle or the like.

   11. Apparatus according to any one of claims 7 to 10 characterised by, for the purpose of mounting said other of said transmitter or said receiver means on said temporary mounting structure said apparatus comprising adjustable connection means permitting attitude adjustment thereof with respect to said mounting structure to facilitate said transmission of said energy signal.

   12. Method and/or apparitus for automotive vehicle positional and/or dimensional and/or geometric analysis comprising:

   m) quick-attach means adapted to be attached to the surface of the body of a vehicle; n) mounting means to provide a mounting for said positional and/or dimensional and/or geometric analysis apparatus; and 0) structure inter connecting said aforesaid means whereby said mounting means is supported on said quick-attach means in a manner permitting said positional and/or dimensional and/or geometric analysis.