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3D contact patch measurement inside rolling tyres.pdf

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3D contact patch measurement inside rolling tyres.pdf

Available online at ScienceDirect Journal of Terramechanics 69 (2017) 13–21 Journal of Terramechanics /locate/jterra 3D contact patch measurement inside rolling tyres A. Glenn Guthrie, Theunis R. Botha, P. Schalk Els ? Vehicle Dynamics Group, Dept. of Mechanical and Aeronautical Engineering, University of Pretoria, Private Bag X20, Hat?eld 0028, South Africa Received 12 February 2016; received in revised form 27 July 2016; accepted 19 September 2016 Available online 11 November 2016 Abstract This paper presents a novel method for capturing the 3D pro?le of the inside of a rolling o?-road vehicle tyre at the tyre-road contact region. This method captures the contact region at all times as the vehicle negotiates obstacles. The system uses a pair of inexpensive digital cameras (capable of capturing up to 300 frames per second) and features a purely mechanical stabilisation system to ensure that the cameras capture the contact region at any wheel speed or vehicle acceleration. The captured images are processed using 3D computer vision techniques using an open source computer vision library called OpenCV. Stereo image pairs are used to create clouds of 3D points showing the pro?le of the inside surface with good accuracy. Various obstacles were traversed with the deformed tyre pro?le being compared to the undeformed pro?le. The system improves on current measurement techniques used to measure the contact patch by capturing a large region of the contact patch, providing full 3D surface geometry, as well as remaining centred on the contact patch irrespective of wheel rotation. The system also enables other imaging techniques to be used such as digital image correlation to determine velocity pro?les as well as strain measurements. ó 2016 ISTVS. Published by Elsevier Ltd. All rights reserved. Keywords: Computer vision; Stereography; Tyre deformation; Contact patch; Tyre footprint; Image correlation 1. Introduction The tyre contact patch is an important region in both tyre a