公开(公告)号：WO2004059575A3

公开(公告)日：2004-12-02

申请号：PCT/US0340311

申请日：2003-12-18

Applicant: SNAP ON TECH INC ,  ROBB MICHAEL J ,  GLICKMAN STEVE L ,  O'MAHONY PATRICK BRENDAN ,  GURURAJ MANJULA ,  JACKSON DAVID A ,  GILL GEORGE M ,  BRYAN ERIC F

Inventor： ROBB MICHAEL J ,  GLICKMAN STEVE L ,  O'MAHONY PATRICK BRENDAN ,  GURURAJ MANJULA ,  JACKSON DAVID A ,  GILL GEORGE M ,  BRYAN ERIC F

IPC: G06T7/00 ,  G06T1/00 ,  G06T5/00

CPC classification number: G06T7/70 ,  G01B11/2755 ,  G01B2210/26

Abstract: In a machine vision system utilizing computer processing of image data, an imaging module incorporates the image sensor as well as pre-processing circuitry, for example, for performing a background subtraction and/or a gradient calculation. The pre-processing circuitry may also compress the image information. The host computer receives the pre-processed image data and performs all other calculations necessary to complete the machine vision application, for example, to determine one or more wheel alignment parameters of a subject vehicle. In a disclosed example useful for wheel alignment, the module also includes illumination elements, and the module circuitry provides associated camera control. The background subtraction, gradient calculation and associated compression require simpler, less expensive circuitry than for typical image pre-processing boards. Yet, the pre-processing at the imaging module substantially reduces the processing burden on the host computer when compared to machine vision implementations using direct streaming of image data to the host computer.

Abstract translation: 在利用图像数据的计算机处理的机器视觉系统中，成像模块并入图像传感器以及预处理电路，例如用于执行背景减除和/或梯度计算。 预处理电路也可以压缩图像信息。 主计算机接收预处理的图像数据并执行完成机器视觉应用所需的所有其他计算，例如以确定主体车辆的一个或多个车轮定位参数。 在用于车轮对准的公开示例中，模块还包括照明元件，并且模块电路提供相关联的照相机控制。 背景扣除，梯度计算和相关压缩需要比典型图像预处理板更简单，更便宜的电路。 然而，与使用将图像数据直接流传输到主计算机的机器视觉实现相比，成像模块处的预处理实质上减少了主计算机上的处理负担。

公开(公告)号：WO2005033628A2

公开(公告)日：2005-04-14

申请号：PCT/US2004029984

申请日：2004-09-15

Applicant: SNAP ON TECH INC ,  JACKSON DAVID A ,  BRYAN ERIC F ,  ROBB MICHAEL J

Inventor： JACKSON DAVID A ,  BRYAN ERIC F ,  ROBB MICHAEL J

IPC: G01B11/275 ,  H04N5/225

CPC classification number: G01B11/2755 ,  G01B2210/143 ,  G01B2210/26 ,  G01B2210/30 ,  H04N5/2256 ,  H04N5/2259

Abstract: A three-dimensional camera based system for determining the position and/or alignment of objects such as motor vehicle wheels. The system includes a strobed infrared lighting subsystem, a visible indicator that the subsystem is working properly, and targets for attachment to the objects. The system also includes at least one camera for viewing the targets, and a data processor connected to the camera for processing data relating to images of the targets to determine position and/or alignment information, and a display that displays the position and/or alignment information. The system includes directional indicators for indicating that the vehicle should be repositioned by moving it backward, forward, or steered left or right. The system also includes wheel indicators tied in with software on the data processing device. These wheel indicators indicate the state of target acquisition by the data processing device based on the image from the camera.

Abstract translation: 一种用于确定诸如机动车辆车轮的物体的位置和/或对准的基于三维照相机的系统。 该系统包括选通的红外照明子系统，子系统正常工作的可视指示符，以及用于附着到对象的目标。 该系统还包括用于观看目标的至少一个摄像机和连接到照相机的数据处理器，用于处理与目标的图像相关的数据以确定位置和/或对准信息;以及显示器，其显示位置和/或对准 信息。 该系统包括用于指示通过向左或向右移动向后，向前或向右移动来重新定位车辆的方向指示器。 该系统还包括与数据处理设备上的软件捆绑的轮子指示器。 这些轮指示器指示基于来自相机的图像的数据处理装置的目标采集的状态。

公开(公告)号：WO0201142A3

公开(公告)日：2002-05-02

申请号：PCT/US0120369

申请日：2001-06-27

Applicant: SNAP ON TECH INC

Inventor： JACKSON DAVID A ,  SCHMEISSER GORDON F

IPC: G01B5/255 ,  G01B11/00 ,  G01B11/275 ,  G01B5/00

CPC classification number: G01B11/002 ,  G01B5/255 ,  G01B11/2755 ,  G01B2210/12 ,  G01B2210/14 ,  G01B2210/143 ,  G01B2210/16 ,  G01B2210/20 ,  G01B2210/26 ,  G01B2210/30 ,  G01B2210/303

Abstract: A system for obtaining positional information about a vehicle includes a vision imaging system and a vehicle position adjustment mechanism for moving the vehicle between at least two positions for detection by the vision imaging system. The vehicle position adjustment mechanism includes a body, surface support wheels, a motor, and a controller. The body engages the vehicle, and the controller controls the direction and distance the vehicle position adjustment mechanism moves the vehicle. The surface support wheels are connected to the body and support the body on a surface. The motor drives the vehicle between the at least two positions.

Abstract translation: 用于获得关于车辆的位置信息的系统包括视觉成像系统和用于在至少两个位置之间移动车辆的视觉成像系统和车辆位置调节机构，用于由视觉成像系统进行检测。 车辆位置调节机构包括主体，表面支撑轮，电动机和控制器。 车体与车辆接合，控制器控制车辆位置调节机构移动车辆的方向和距离。 表面支撑轮连接到主体并将主体支撑在表面上。 电动机在至少两个位置之间驱动车辆。

公开(公告)号：WO0171280A3

公开(公告)日：2002-02-21

申请号：PCT/US0108584

申请日：2001-03-16

Applicant: SNAP ON TECH INC

Inventor： JACKSON DAVID A ,  ROBB MICHAEL J ,  WALCHUK DONALD L

IPC: G01B11/00 ,  G01B11/275 ,  G01B21/00 ,  G01C11/06 ,  G01C25/00 ,  G01S5/16 ,  B25J9/16

CPC classification number: G01S5/163 ,  G01B11/2755 ,  G01B2210/12 ,  G01B2210/143 ,  G01B2210/30 ,  G01B2210/303 ,  G01C11/06 ,  G01C25/00

Abstract: 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.

Abstract translation: 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个相机的位置的方法，并且使用这样的测量来校准系统。 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。

公开(公告)号：WO2004025218A2

公开(公告)日：2004-03-25

申请号：PCT/US0328883

申请日：2003-09-15

Applicant: SNAP ON TECH INC ,  MURRAY PATRICK ,  JACKSON DAVID A ,  GLICKMAN STEPHEN L ,  DALE JAMES L JR

Inventor： MURRAY PATRICK ,  JACKSON DAVID A ,  GLICKMAN STEPHEN L ,  DALE JAMES L JR

IPC: G01B11/275 ,  G01B11/00

CPC classification number: G01B11/275 ,  G01B2210/143 ,  G01B2210/30

Abstract: A diagnostic method and system for determining an operational status of a multiple-link steering system for steering an object attached thereto. The system includes a position determination system for obtaining positional signals related to a steering system, and a data processing system to calculate positional parameters of the steering system based on the positional signals. The data processing system includes a data processor for processing data and a data storage device for storing data. The data storage device bears instructions upon execution by the data processor causing the data processing system to receive a first, second and third positional signal of the steering system when the object being steered to a first, second and third steering angle respectively. The data processing system calculates a first positional parameter for the steering system based on the first and second positional signals, and a second positional parameter for the steering system based on the second and third positional signals. An operational status of the steering system is determined based on the first and second positional parameters, and reference positional parameters.

Abstract translation: 一种用于确定多连杆转向系统的操作状态的诊断方法和系统，用于转向连接到其上的物体。 该系统包括用于获得与转向系统有关的位置信号的位置确定系统以及用于基于位置信号计算转向系统的位置参数的数据处理系统。 数据处理系统包括用于处理数据的数据处理器和用于存储数据的数据存储装置。 数据存储装置在数据处理器执行时承受指令，使得当物体分别被转向到第一，第二和第三转向角时，数据处理系统接收转向系统的第一，第二和第三位置信号。 数据处理系统基于第一和第二位置信号以及基于第二和第三位置信号的转向系统计算用于转向系统的第一位置参数。 基于第一和第二位置参数以及参考位置参数来确定转向系统的操作状态。

公开(公告)号：WO0201149A3

公开(公告)日：2002-05-10

申请号：PCT/US0120455

申请日：2001-06-28

Applicant: SNAP ON TECH INC

Inventor： JACKSON DAVID A ,  GLICKMAN STEPHEN L ,  SHROFF HOSHANG

IPC: G01B5/255 ,  G01B11/00 ,  G01B11/275

CPC classification number: G01B5/255 ,  G01B11/002 ,  G01B11/2755 ,  G01B2210/12 ,  G01B2210/14 ,  G01B2210/143 ,  G01B2210/16 ,  G01B2210/20 ,  G01B2210/26 ,  G01B2210/30 ,  G01B2210/303

Abstract: Alignment between the wheels of a vehicle is determined using a position determination system and includes indicating wheel positions on the vehicle with targets; imaging the targets to obtain locations of the wheel positions; and calculating a relationship between the front and rear wheels. Alignment is aided by calculating rear and front wheel tracks and comparing the calculated front and rear wheel tracks to a specified range for the front and rear wheel tracks. Also, right and left wheel bases can be calculated and the calculated right and left wheel bases to can be compared a specified range for the right and left wheel bases. Measures of offset and skew can also be obtained. A computer-implemented position determination system for determining alignment between the wheels of a vehicle is disclosed.

Abstract translation: 使用位置确定系统确定车辆的车轮之间的对准，并且包括指示车辆上具有目标的车轮位置; 成像目标以获得轮位置的位置; 并计算前轮和后轮之间的关系。 通过计算后轮轨道和前轮轨道并将计算出的前后轮轨迹与前轮和后轮轨迹的规定范围进行比较来辅助对准。 此外，可以计算右侧和左侧车轮底座，并将计算出的左右车轮底座与右侧和右侧车轮底座进行比较。 也可以获得偏移和偏斜度的测量。 公开了一种用于确定车辆的车轮之间的对准的计算机实现的位置确定系统。

公开(公告)号：WO0201148A3

公开(公告)日：2002-05-10

申请号：PCT/US0120367

申请日：2001-06-27

Applicant: SNAP ON TECH INC

Inventor： JACKSON DAVID A ,  GLICKMAN STEPHEN L

IPC: G01B11/02 ,  B62D17/00 ,  G01B5/00 ,  G01B5/255 ,  G01B11/00 ,  G01B11/275 ,  G01B21/02 ,  G01B21/26 ,  G01M17/007

CPC classification number: G01B5/0025 ,  G01B5/255 ,  G01B11/002 ,  G01B11/2755 ,  G01B2210/12 ,  G01B2210/14 ,  G01B2210/143 ,  G01B2210/16 ,  G01B2210/20 ,  G01B2210/26 ,  G01B2210/30 ,  G01B2210/303

Abstract: 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 is disclosed.

Abstract translation: 用于确定车辆上的位置的位置的目标系统包括目标主体，一个或多个目标元件，触发器和点定义器。 目标元件设置在目标体上并且可由位置确定系统检测。 触发器位于目标主体上并远离位置确定系统。 触发器通过位置确定系统选择性地改变一个或多个目标元件的检测来操作位置确定系统。 点定义器从目标体延伸出来，点定义器包括其远端的点。 该点能够位于与车辆上的位置相邻并且处于从目标体的已知位置。 位置确定系统在检测到设置在目标体上的目标元件之后，确定目标体的位置。 公开了使用目标系统的方法。