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公开(公告)号：US20180340772A1
公开(公告)日：2018-11-29
申请号：US16056607
申请日：2018-08-07
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 , H04N7/18 , G06T7/73 , H04N5/247 , B60R11/04 , B60S5/00 , G06K9/00 , G06T7/00 , G06T7/60 , G01M17/013 , B62D17/00 , G08B5/22
CPC分类号： G01B11/275 , B60R11/04 , B60S5/00 , B62D17/00 , G01B11/2755 , G01B2210/12 , G01B2210/14 , G01B2210/26 , G01B2210/30 , G01M17/013 , G06K9/00624 , G06T7/0004 , G06T7/60 , G06T7/73 , G06T2207/10016 , G06T2207/30164 , G08B5/22 , H04N5/247 , H04N7/181
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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公开(公告)号：US09544545B2
公开(公告)日：2017-01-10
申请号：US14464534
申请日：2014-08-20
IPC分类号： G01B11/275 , H04N7/18 , B60R11/04
CPC分类号： H04N7/18 , B60R11/04 , G01B11/275 , G01B11/2755 , G01B2210/12 , G01B2210/14 , G01B2210/30
摘要： A machine vision vehicle wheel alignment system for acquiring measurements associated with a vehicle. The system includes at least one imaging sensor having a field of view and at least one optical target secured to a wheel assembly on a vehicle within the field of view of the imaging sensor. The optical target includes a plurality of visible target elements disposed on at least two surfaces in a determinable geometric and spatial configuration which are calibrated prior to use. A processing unit in the system is configured to receive at least two sets of image data from the imaging sensor, with each set of image data acquired at a different rotational position of the wheel assembly around an axis of rotation and representative of at least one visible target element on each of the two surfaces, from which the processing unit is configured to identify said axis of rotation of the wheel assembly.
摘要翻译： 一种用于获取与车辆相关联的测量的机器视觉车轮对准系统。 该系统包括具有视场的至少一个成像传感器和在成像传感器的视野内的车辆上固定到车轮组件上的至少一个光学目标。 光学目标包括以可确定的几何和空间配置布置在至少两个表面上的多个可见目标元件，其在使用之前被校准。 系统中的处理单元被配置为从成像传感器接收至少两组图像数据，其中每组图像数据在轮组件的不同旋转位置处围绕旋转轴线获取，并且代表至少一个可见光 目标元件在两个表面中的每一个上，处理单元从该目标元件构造成识别车轮组件的所述旋转轴线。
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公开(公告)号：US20140223989A1
公开(公告)日：2014-08-14
申请号：US14170175
申请日：2014-01-31
发明人： Michael T. Stieff
IPC分类号： G01B11/275
CPC分类号： G01B11/2755 , G01B2210/12
摘要： A calibration fixture for use during a calibration procedure of a machine vision vehicle wheel alignment system. The calibration fixture consists of a pair of support legs, and a rotating transverse bar supported within an outer support tube secured between the support legs. The rotating transverse bar is supported within the outer support tube by a pair of annular bearings adjacent each end of the outer support tube, and is isolated from external influences which may result in deflection or distortion. A hub for receiving a sensor or optical target is secured to each end of the rotating transverse bar, such that optical targets mounted to each hub are maintained in axial alignment at opposite ends of the rotating transverse bar.
摘要翻译： 一种在机器视觉车轮对准系统的校准过程中使用的校准夹具。 校准夹具由一对支撑腿和支撑在固定在支撑腿之间的外部支撑管中的旋转横向杆组成。 旋转的横杆通过邻近外支撑管的每个端部的一对环形支承件支撑在外支撑管内，并且与外部影响隔离，这可能导致偏转或变形。 用于接收传感器或光学目标的轮毂固定到旋转横杆的每个端部，使得安装到每个轮毂的光学靶被保持在旋转横杆的相对端处的轴向对准。
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4.发明申请METHOD AND DEVICE FOR CALIBRATING A REFERENCE SYSTEM FOR VEHICLE MEASUREMENT 有权用于校准用于车辆测量的参考系统的方法和装置公开(公告)号：US20130239421A1
公开(公告)日：2013-09-19
申请号：US13822545
申请日：2011-07-20
IPC分类号： G01B5/14
CPC分类号： G01B5/14 , G01B11/275 , G01B2210/12
摘要： A calibration frame for calibrating a reference system for vehicle measurement has setting elements, which enable a precise spatial orientation of the calibration frame, and multiple defined points of support, which are designed to accommodate a reference system carrier. In one specific embodiment, the points of support are designed in such a way that the reference system carrier is situatable on the points of support in at least two different orientations. In a second specific embodiment, a leveling element is provided which indicates the spatial orientation of the calibration frame in relation to the earth's gravitation field.
摘要翻译： 用于校准用于车辆测量的参考系统的校准框具有设置元件，其使得能够精确地定位校准框架的空间取向，以及被设计为容纳参考系统载体的多个限定的支撑点。 在一个具体实施例中，支撑点被设计成使得参考系统载体以至少两个不同取向位于支撑点上。 在第二具体实施例中，提供了一个平整元件，其指示校准框架相对于地球引力场的空间取向。
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公开(公告)号：US08490290B2
公开(公告)日：2013-07-23
申请号：US13483976
申请日：2012-05-30
IPC分类号： G01B11/275 , G01B5/255
CPC分类号： H04N7/18 , B60R11/04 , G01B11/275 , G01B11/2755 , G01B2210/12 , G01B2210/14 , G01B2210/30
摘要： A machine vision vehicle wheel alignment system for acquiring measurements associated with a vehicle. The system includes at least one imaging sensor having a field of view and at least one optical target secured to a wheel assembly on a vehicle within the field of view of the imaging sensor. The optical target includes a plurality of visible target elements disposed on at least two surfaces in a determinable geometric and spatial configuration which are calibrated prior to use. A processing unit in the system is configured to receive at least two sets of image data from the imaging sensor, with each set of image data acquired at a different rotational position of the wheel assembly around an axis of rotation and representative of at least one visible target element on each of the two surfaces, from which the processing unit is configured to identify said axis of rotation of the wheel assembly.
摘要翻译： 一种用于获取与车辆相关联的测量的机器视觉车轮对准系统。 该系统包括至少一个具有视野的成像传感器和在成像传感器的视场内固定到车辆上的车轮组件的至少一个光学目标。 光学目标包括以可确定的几何和空间配置布置在至少两个表面上的多个可见目标元件，其在使用之前被校准。 系统中的处理单元被配置为从成像传感器接收至少两组图像数据，其中每组图像数据在轮组件的不同旋转位置周围围绕旋转轴线获取，并且代表至少一个可见光 目标元件在两个表面中的每一个上，处理单元从该目标元件构造成识别车轮组件的所述旋转轴线。
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公开(公告)号：US06959253B2
公开(公告)日：2005-10-25
申请号：US10387575
申请日：2003-03-14
CPC分类号： G01S5/163 , G01B11/2755 , G01B2210/12 , G01B2210/143 , G01B2210/30 , G01B2210/303 , G01C11/06 , G01C25/00
摘要： An apparatus and method for calibrating machine vision measuring systems that have more than one camera are disclosed. A first calibration target is mounted in a fixed relationship to a first camera of the machine vision measuring system. A third camera mounted in a fixed relationship to a second camera of the machine vision measuring system. Second and third calibration targets are mounted in a fixed relationship to one another and viewable by the first camera and by the third camera. A data processor is programmed to compute calibration of the first camera and the second camera, based on a position of the second calibration target relative to the third calibration target and based on a position of the first camera with respect to the third camera. The apparatus and method provide a way to continuously measure the positions of two or more cameras used in the measuring system, and to use such measurements to calibrate the system. If the cameras move with respect to each other, their respective positions are calculated and used in subsequent measurements. The apparatus and method enable a machine vision measuring system to be used without field calibration at the time of installation.
摘要翻译： 公开了一种用于校准具有多于一个照相机的机器视觉测量系统的装置和方法。 第一校准目标以与机器视觉测量系统的第一相机固定的关系安装。 与机器视觉测量系统的第二相机固定的第三相机。 第二和第三校准目标以彼此固定的关系安装并且可由第一相机和第三相机观看。 数据处理器被编程为基于第二校准目标相对于第三校准目标的位置并且基于第一相机相对于第三相机的位置来计算第一相机和第二相机的校准。 该装置和方法提供了连续地测量在测量系统中使用的两个或更多相机的位置的方法，并且使用这种测量来校准系统。 如果摄像机相对于彼此移动，则它们各自的位置被计算并用于随后的测量。 该装置和方法使得机器视觉测量系统在安装时不进行现场校准而被使用。
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公开(公告)号：US20040049930A1
公开(公告)日：2004-03-18
申请号：US10454665
申请日：2003-06-05
发明人： Patrick Murray
IPC分类号： G01B005/255
CPC分类号： G01S7/4972 , G01B11/27 , G01B2210/12 , G01B2210/143 , G01B2210/303 , G01S7/4026 , G01S13/931 , G01S2007/4086 , G01S2013/9375
摘要： An image processing type aligner enables proper set-up of one of two optical adjustment elements used to align an adaptive cruise control sensor or the like mounted on a vehicle. One element, such as a laser beam source, is mounted with the sensor on the vehicle; and the other element, such as a mirror, is mounted on a stand. A carrier on the stand positions two optical targets of the aligner at transversely spaced apart locations. The stand is positioned between the vehicle and the aligner and manipulated until the aligner indicates that the axis of the adjustment element on the stand is aligned relative to the thrust line of the vehicle. A beam of light is transmitted between the two adjustment elements, and the technician adjusts the sensor until the beam position indicates a desired alignment of the sensor relative to the thrust line.
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公开(公告)号：US20030051356A1
公开(公告)日：2003-03-20
申请号：US10281107
申请日：2002-10-28
IPC分类号： G01C015/06
CPC分类号： G01B5/0025 , G01B5/255 , G01B11/002 , G01B11/2755 , G01B2210/12 , G01B2210/14 , G01B2210/143 , G01B2210/16 , G01B2210/20 , G01B2210/26 , G01B2210/30 , G01B2210/303
摘要： A target system for determining the location of a position on a vehicle comprises a target body, one or more target elements, a trigger, and a point definer. The target elements are disposed on the target body and are detectable by a position determination system. The trigger is positioned on the target body and is remote from the position determination system. The trigger operates the position determination system by selectively changing the detection of one or more of the target elements by the position determination system. The point definer extends from the target body, and the point definer includes a point its a distal end. The point is capable of being located adjacent the position on the vehicle and is at a known location from the target body. The position determination system determines a location of the target body after detecting the target elements disposed on the target body. Methods of using the target system are disclosed.
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9.发明申请Self-calibrating 3D machine measuring system useful in motor vehicle wheel alignment 有权自动校准3D机器测量系统，用于汽车车轮定位公开(公告)号：US20020027651A1
公开(公告)日：2002-03-07
申请号：US09928453
申请日：2001-08-14
IPC分类号： G01C001/00 , G01B011/26
CPC分类号： G01B11/2755 , G01B2210/12 , G01B2210/143 , G01B2210/26 , G01B2210/30 , G01B2210/303
摘要： Techniques are disclosed for providing a system that has a plurality of devices in which the position of a device of the plurality of devices relative to another device of the plurality of devices is self-calibrated. In one embodiment, the system is a five-camera aligner for use in aligning motor vehicle wheels. In this embodiment, the aligner includes a first camera pod having two alignment cameras and a calibration camera, and a second camera pod having another two alignment cameras and a calibration target. Because the aligner has four alignment cameras and a calibration camera, the aligner is often referred to as a five-camera aligner. For illustration purposes, the first camera pod is herein referred to as the left camera pod and the second camera pod is herein referred to as the right camera pod. In one embodiment, the left camera pod is placed to the left of the aligner, and the right camera pod is placed to the right of the aligner. The two alignment cameras of the left camera pod focus at the two left wheels of the vehicle under alignment, while the two alignment cameras of the right camera pod focus at the two right wheels of the same vehicle. In addition, the calibration camera on the left pod focuses at the calibration target mounted in the right camera pod. In one embodiment, the relative positions of the elements (alignment camera, calibration camera, and calibration target) in each camera pod are pre-calibrated. Consequently, the aligner is fully calibrated when the position of the left camera pod to the right camera pod is measured. Further, the calibration camera is configured such that it periodically measures the position of the left camera pod relative to the right camera pod, rendering the aligner a self-calibrated aligner.
摘要翻译： 公开了用于提供具有多个设备的系统的技术，其中多个设备中的设备相对于多个设备中的另一设备的位置是自校准的。 在一个实施例中，该系统是用于对准机动车辆车轮的五摄像头对准器。 在该实施例中，对准器包括具有两个对准摄像机和校准摄像机的第一摄像机舱，以及具有另外两个对准摄像机和校准目标的第二摄像机舱。 由于对准器具有四个对准摄像机和校准摄像机，对准器通常被称为五摄像机对准器。 为了说明的目的，第一相机荚在本文中被称为左相机荚，并且第二相机荚在本文中被称为右相机荚。 在一个实施例中，左摄像机盒被放置在对准器的左侧，并且右摄像机盒被放置在对准器的右侧。 左摄像机舱的两个对准摄像机聚焦在对准的车辆的两个左轮，而右摄像机舱的两个对准摄像机聚焦在同一车辆的两个右轮上。 此外，左侧插座上的校准摄像机可将焦点放在安装在右侧摄像机盒中的校准目标上。 在一个实施例中，每个照相机盒中的元件（对准摄像机，校准摄像机和校准目标）的相对位置被预校准。 因此，当测量左摄像机荚的位置到正确的摄像机荚时，对准器被完全校准。 此外，校准相机被配置为使得其周期性地测量左摄像机盒相对于右摄像机盒的位置，使对准器成为自校准对准器。
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公开(公告)号：US20010022655A1
公开(公告)日：2001-09-20
申请号：US09810357
申请日：2001-03-16
发明人： Michael T. Stieff
IPC分类号： G01B011/26 , G01C001/00
CPC分类号： G01B11/2755 , G01B2210/12 , G01B2210/14 , G01B2210/283
摘要： A vehicle alignment sensor system includes a first sensor assembly for measuring at least a first angle with respect to a fixed reference, that angle being related in a predetermined manner to an alignment angle of a vehicle whose alignment is to be measured, and a second sensor assembly for mounting in a known geometrical relationship to a wheel of a vehicle whose alignment is to be measured. The first sensor assembly has at least one detector, and the second sensor assembly has at least a pair of emitters in fixed geometrical relationship with respect to each other. The detector is capable of measuring the apparent geometrical relationship of the pair of emitters to determine a relative alignment angle of the vehicle, so that a true alignment angle of the vehicle is determinable from the first angle and the relative alignment angle. A calibration method using the present invention is also disclosed.
摘要翻译： 车辆对准传感器系统包括：第一传感器组件，用于相对于固定参考测量至少第一角度，该角度以预定方式与要对其测量的车辆的对准角相关;以及第二传感器 用于以已知的几何关系安装到要测量其对准的车辆的车轮的组件。 第一传感器组件具有至少一个检测器，并且第二传感器组件具有相对于彼此具有固定几何关系的至少一对发射器。 检测器能够测量一对发射器的表观几何关系，以确定车辆的相对对准角度，从而可以从第一角度和相对对准角度确定车辆的真实对准角度。 还公开了使用本发明的校准方法。
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