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1. 发明申请

US20210387637A1 APPARATUS AND METHOD FOR CALIBRATING AND ALIGNING AUTOMOTIVE SENSORS 有权
公开(公告)号：US20210387637A1
公开(公告)日：2021-12-16
申请号：US17347896
申请日：2021-06-15
申请人： Snap-On Incorporated
发明人： Steven W. ROGERS , David A. JACKSON , Eric R. SELLERS , Ronald D. SWAYNE , James Rodney HARRELL , Chance ROBINSON , Robert J. D'AGOSTINO
IPC分类号： B60W60/00 , H04W4/48
摘要： Systems and methods are disclosed for calibrating and aligning automotive sensors, such as advanced driver assistance system (ADAS) sensors. Embodiments include a system having an image sensor mounted on a fixture in a known pose relative to the fixture. The image sensor is for viewing a target disposed on a vehicle and having a known pose relative to the vehicle, and for capturing image data of the target. A data processor is provided for performing the steps of calculating, using the image data, a pose of the target; calculating a pose of the image sensor relative to the vehicle using the calculated pose of the target; and generating instructions for positioning the fixture at a predetermined pose relative to the vehicle using the calculated pose of the image sensor relative to the vehicle.

2. 发明申请

US20160195388A1 ROLLING VIRTUAL WHEEL SPINDLE CALIBRATION 有权
标题翻译：滚动虚拟轮主轴校准
公开(公告)号：US20160195388A1
公开(公告)日：2016-07-07
申请号：US14990271
申请日：2016-01-07
申请人： SNAP-ON Incorporated
发明人： Robert J. D'AGOSTINO , Michael G. FUHRMAN
IPC分类号： G01B11/275
CPC分类号： G01B11/2755 , G01B2210/14 , G01B2210/16 , G01B2210/20
摘要： A vehicle wheel alignment system and method is provided for performing a rolling wheel axis of rotation and wheel spindle point calculation every time an alignment is performed. Embodiments include an aligner having a target fixedly attachable to a wheel of the vehicle; a camera for viewing the target and capturing image data of the target; and a data processor. The data processor receives the image data from the camera, and determines a vector pointing from the target origin to a wheel spindle point based on the captured target image data, when the vehicle is rolled while the wheel is on a substantially flat surface such that the wheel and target rotate a number of degrees. The data processor is further adapted to calculate an alignment parameter for the vehicle based at least in part on the wheel axis of rotation and the coordinates of the wheel spindle point.
摘要翻译：提供了一种车轮对准系统和方法，用于每次执行对准时执行滚动轮的旋转轴线和车轮主轴点计算。实施例包括具有可固定地附接到车辆的车轮上的目标的对准器; 用于观看目标并捕获目标的图像数据的相机; 和数据处理器。数据处理器从相机接收图像数据，并且当车轮处于基本上平坦的表面上时，当车辆滚动时，基于所捕获的目标图像数据，确定从目标原点指向车轮主轴点的矢量，使得车轮和目标旋转数度。数据处理器还适于至少部分地基于车轮的旋转轴线和车轮主轴点的坐标来计算车辆的对准参数。

3. 发明公开

US20230213333A1 WHEEL ALIGNER WITH IMPROVED ACCURACY AND NO-STOP POSITIONING USING A DRIVE DIRECTION CALCULATION 审中-公开
公开(公告)号：US20230213333A1
公开(公告)日：2023-07-06
申请号：US18184338
申请日：2023-03-15
申请人： Snap-On Incorporated
发明人： Steven W. ROGERS , David A. JACKSON , Eric R. SELLERS , Ronald D. SWAYNE , James Rodney HARRELL , Chance ROBINSON , Robert J. D'AGOSTINO , Adam C. BROWN
IPC分类号： G01B11/275 , G06T7/70 , H04N23/54 , G06T7/60
CPC分类号： G01B11/2755 , G06T7/60 , G06T7/70 , H04N23/54 , G01B2210/12 , G01B2210/16 , G01B2210/143 , G01B2210/303 , G06T2200/24 , G06T2207/30252
摘要： Vehicle alignment systems and methods are disclosed which operate based on a calculation of “drive direction,” or the direction in which a vehicle is moving. Since a vehicle can be assumed to be a rigid body, each wheel has the same drive direction. Consequently, an alignment parameter of one wheel can be compared to the same parameter of another wheel by equating their drive direction, eliminating the need for the aligner to “see” both sides of the vehicle at the same time. Embodiments include a system having one or more cameras on a fixture carrying a calibration element for an ADAS system, and one or more targets placed on the vehicle to measure the drive direction of the vehicle. The drive direction is assumed to be parallel to the vehicle thrust line and can be used as the line for orientation of the fixture to the vehicle.

4. 发明申请

US20130307967A1 SHORT ROLLING RUNOUT COMPENSATION FOR VEHICLE WHEEL ALIGNMENT 有权
标题翻译：用于车轮对准的短路运行补偿补偿
公开(公告)号：US20130307967A1
公开(公告)日：2013-11-21
申请号：US13872799
申请日：2013-04-29
申请人： Snap-on Incorporated
发明人： Robert J. D'AGOSTINO , George M. GILL
IPC分类号： G01B21/26
CPC分类号： G01B21/26 , G01B11/2755 , G01B2210/16 , G01B2210/28 , G01B2210/30
摘要： An improved method and system are provided for performing rolling runout compensation for vehicle wheel alignment. A plurality of sets of camber and toe measurements are acquired for a pair of vehicle wheels, each at a different, relatively small rollback angle between measurements; e.g., rolling the vehicle more than 0° and less than 180° from the last wheel position. Best fit sine waves are computed for each of the camber and toe measurements using the acquired data, and the best fit parameters are applied to compute runout at the current wheel angle. The computed runouts are subtracted from the measured camber and toe values to get true camber and toe values of the pair of wheels.
摘要翻译：提供了一种改进的方法和系统，用于执行车轮对准的滚动跳动补偿。对于一对车轮获取多组外倾和脚趾测量，每组在测量之间以不同的相对小的回滚角度获得; 例如，将车辆从最后车轮位置滚动超过0°并且小于180°。使用所获取的数据针对每个外倾和脚趾测量计算最佳拟合正弦波，并且应用最佳拟合参数来计算当前车轮角度的跳动。从测量的弧度和脚趾值中减去计算出的跳动，以获得一对车轮的真实外倾和脚趾值。

5. 发明公开

US20240270281A1 APPARATUS AND METHOD FOR CALIBRATING AND ALIGNING AUTOMOTIVE SENSORS 审中-公开
公开(公告)号：US20240270281A1
公开(公告)日：2024-08-15
申请号：US18638389
申请日：2024-04-17
申请人： Snap-On Incorporated
发明人： Steven W. ROGERS , David A. JACKSON , Eric R. SELLERS , Ronald D. SWAYNE , James Rodney HARRELL , Chance ROBINSON , Robert J. D'AGOSTINO
IPC分类号： B60W60/00 , G01S7/497 , G06T7/80 , H04W4/48
CPC分类号： B60W60/001 , G06T7/85 , H04W4/48 , B60W2420/403 , B60W2520/28 , G01S7/497 , G01S7/4972
摘要： Systems and methods are disclosed for calibrating and aligning automotive sensors, such as advanced driver assistance system (ADAS) sensors. Embodiments include a system having an image sensor mounted on a fixture in a known pose relative to the fixture. The image sensor is for viewing a target disposed on a vehicle and having a known pose relative to the vehicle, and for capturing image data of the target. A data processor is provided for performing the steps of calculating, using the image data, a pose of the target; calculating a pose of the image sensor relative to the vehicle using the calculated pose of the target; and generating instructions for positioning the fixture at a predetermined pose relative to the vehicle using the calculated pose of the image sensor relative to the vehicle.

6. 发明申请

US20150010228A1 TARGET MARKING FOR SECURE LOGO VALIDATION PROCESS 有权
标题翻译：用于安全的LOGO验证过程的目标标记
公开(公告)号：US20150010228A1
公开(公告)日：2015-01-08
申请号：US14322673
申请日：2014-07-02
申请人： SNAP-ON INCORPORATED
发明人： Steven W. ROGERS , Donald L. WALCHUK , Robert J. D'AGOSTINO
IPC分类号： G01B11/275 , G06K9/00
CPC分类号： G06K9/00536 , G01B11/2755 , G01B2210/30
摘要： The instant application describes a method for acquiring via a vehicle wheel alignment system an image of a target including a validation logo, the validation logo being used for recognition by the vehicle wheel alignment system and determination of authenticity of the validation logo by the vehicle wheel alignment system; identifying the validation logo within the image of the target; comparing the identified validation logo with a reference validation logo; computing a similarity metric based on a result of a comparison between the identified validation logo and the reference validation logo; and based on the computed similarity metric, enabling or disabling the vehicle wheel alignment system.
摘要翻译：本申请描述了一种用于经由车轮对准系统获取包括验证标志的目标的图像的方法，用于车辆对准系统的识别的验证标志以及通过车轮对准确定验证标志的真实性系统; 识别目标图像内的验证标志; 将识别的验证标志与参考验证标志进行比较; 基于识别的验证标志和参考验证标识之间的比较的结果来计算相似性度量; 并且基于所计算的相似性度量，启用或禁用车辆车轮对准系统。

7. 发明申请

US20210319586A1 VEHICLE WHEEL ALIGNMENT SYSTEMS AND METHODS USING DRIVE DIRECTION 有权
公开(公告)号：US20210319586A1
公开(公告)日：2021-10-14
申请号：US17358555
申请日：2021-06-25
申请人： Snap-On Incorporated
发明人： Steven W. ROGERS , David A. JACKSON , Eric R. SELLERS , Ronald D. SWAYNE , James Rodney HARRELL , Chance ROBINSON , Robert J. D'AGOSTINO
IPC分类号： G06T7/73 , G01B11/275 , G06T7/60 , H04N5/247
摘要： A vehicle wheel alignment system includes a pair of wheel mounted targets, a pair of reference targets mounted to a stationary reference, a pair of gravity sensors, and a pair of vehicle-mounted active heads mounted on first and second sides of the vehicle. The active heads each have an image sensor for producing image data of one of the reference targets and one of the wheel mounted targets. The gravity sensors are disposed on each side of the vehicle in a known relationship to either the respective reference targets or the image sensors. A data processor calculates, using the image data, a plurality of poses of the wheel mounted targets as the vehicle wheels rotate; calculates a vehicle drive direction using the target poses and a measured orientation relative to gravity from the gravity sensors; and calculates a wheel alignment measurement using the vehicle drive direction.

8. 发明申请

US20200320739A1 VEHICLE WHEEL ALIGNMENT METHODS AND SYSTEMS 审中-公开
公开(公告)号：US20200320739A1
公开(公告)日：2020-10-08
申请号：US16904407
申请日：2020-06-17
申请人： Snap-On Incorporated
发明人： Joel A. KUNERT , Darwin Y. CHEN , George M. GILL , Brian K. GRAY , Steven W. ROGERS , Ronald D. SWAYNE , David A. JACKSON , Rodney HARRELL , Robert J. D'AGOSTINO , Bryan C. MINOR , Eric R. SELLERS , Sean P. LECRONE , Larry D. KLOTZ , Jonathan A. SPERRY
IPC分类号： G06T7/73 , G01B11/275 , G06T7/60 , H04N5/247
摘要： A wheel alignment system includes a side-to-side reference including an active reference pod and a passive reference pod disposed on opposite sides of the vehicle. The active reference pod includes a reference image sensor fixedly attached to a reference target, for mounting on a first side of the vehicle such that the reference image sensor produces image data including a perspective representation of the passive reference pod disposed on a second/opposite side of the vehicle. In operation, alignment cameras on the opposite sides of the vehicle capture perspective representations of targets mounted to vehicle wheels and of targets of the active and passive reference pods. A computer processes the image data to compute an alignment measurement of the vehicle based on a spatial relationship between the active reference pod and the passive reference pod determined according to the image data produced by the reference image sensor.

9. 发明申请

US20200309517A1 ROLLING VIRTUAL WHEEL SPINDLE CALIBRATION 审中-公开
公开(公告)号：US20200309517A1
公开(公告)日：2020-10-01
申请号：US16901709
申请日：2020-06-15
申请人： Snap-On Incorporated
发明人： Robert J. D'AGOSTINO , Michael G. FUHRMAN
IPC分类号： G01B11/275
摘要： A vehicle wheel alignment system and method is provided for performing a rolling wheel axis of rotation and wheel spindle point calculation every time an alignment is performed. Embodiments include an aligner having a target fixedly attachable to a wheel of the vehicle; a camera for viewing the target and capturing image data of the target; and a data processor. The data processor receives the image data from the camera, and determines a vector pointing from the target origin to a wheel spindle point based on the captured target image data, when the vehicle is rolled while the wheel is on a substantially flat surface such that the wheel and target rotate a number of degrees. The data processor is further adapted to calculate an alignment parameter for the vehicle based at least in part on the wheel axis of rotation and the coordinates of the wheel spindle point.

10. 发明公开

US20240219173A1 WHEEL ALIGNER WITH ADVANCED DIAGNOSTICS AND NO-STOP POSITIONING 审中-公开
公开(公告)号：US20240219173A1
公开(公告)日：2024-07-04
申请号：US18603568
申请日：2024-03-13
申请人： Snap-On Incorporated
发明人： Steven W. ROGERS , David A. JACKSON , Bradley LEWIS , Adam C. BROWN , Robert J. D'AGOSTINO , Eric R. SELLERS
IPC分类号： G01B11/275 , B60R11/04 , B60S5/00 , B62D17/00 , G01M17/013 , G06T7/00 , G06T7/60 , G06T7/73 , G06V20/00 , G08B5/22 , H04N7/18 , H04N23/90
CPC分类号： G01B11/2755 , B60R11/04 , B60S5/00 , G01B11/275 , G06T7/0004 , G06T7/60 , G06T7/73 , G06V20/00 , H04N7/181 , H04N23/90 , B62D17/00 , G01B2210/12 , G01B2210/14 , G01B2210/26 , G01B2210/30 , G01M17/013 , G06T2207/10016 , G06T2207/30164 , G08B5/22
摘要： A vehicle wheel alignment system has a plurality of cameras, each camera for viewing a respective target disposed at a respective wheel of the vehicle and capturing image data of the target as the wheel and target are continuously rotated a number of degrees of rotation without a pause. The image data is used to calculate a minimum number of poses of the target of at least one pose for every five degrees of rotation as the wheel and target are continuously rotated the number of degrees of rotation without a pause. At least one of the cameras comprises a data processor for performing the steps of preprocessing the image data, and calculating an alignment parameter for the vehicle based on the preprocessed image data.

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