CN113544485A

CN113544485A - Robotic target alignment for vehicle sensor calibration

Info

Publication number: CN113544485A
Application number: CN201980093240.1A
Authority: CN
Inventors: 乔恩·D·劳伦斯; 瑞安·M·杰弗里斯; 尼古拉斯·R·尼尔森
Original assignee: BPG Sales and Technology Investments LLC
Current assignee: BPG Sales and Technology Investments LLC
Priority date: 2018-12-31
Filing date: 2019-12-31
Publication date: 2021-10-22
Also published as: EP3906398A1; CA3125281A1; JP2022515519A; KR20210110858A; EP3906398A4; WO2020141455A1; AU2019419248A1

Abstract

A robotic system and method for aligning a target (36) to an equipped vehicle (34) for calibrating sensors (32) on the equipped vehicle (34), comprising: a vehicle support bracket (42, 142, 242) equipped with a given known location on which the vehicle (34) is disposed for calibrating the sensor (32); and a robotic manipulator (38) having a multi-axis robotic arm (38a) configured to movably hold a target (36). The robotic manipulator (38) is configured to: the target (36) is positioned to a calibrated position relative to a sensor (32) on the vehicle (34) by moving the robotic manipulator (38) longitudinally relative to the support bracket (42, 142, 242) and by moving the robotic arm (38a) based on a given known position of the vehicle (34) on the support bracket (42, 142, 242), thereby enabling calibration of the sensor using the target (36).

Description

Robotic target alignment for vehicle sensor calibration

Background and field of the invention

The present invention relates to a Vehicle alignment/calibration method and system, and in particular to a method and system for aligning a Vehicle and a Vehicle's sensors with one or more autonomously located alignment/calibration targets.

The use of radar, imaging systems, and other sensing such as LIDAR, ultrasonic, and Infrared (IR) sensors to determine the range, velocity, and angle (elevation or azimuth) of objects in an environment is important in many automotive safety systems such as Advanced Driver Assistance Systems (ADAS) for vehicles. Conventional ADAS systems will utilize one or more sensors. While these sensors are aligned and/or calibrated by the manufacturer on an assembly line (or at other times or other facilities), the sensors may need to be periodically realigned or recalibrated, such as due to wear or the effects of misalignment caused by driving conditions or by accidents such as accidents. Further, such ADAS systems may include one or more subsystems, such as an Adaptive Cruise Control (ACC), Lane Departure Warning (LDW), parking assist, and/or rear view camera, each of which may periodically require separate realignment or recalibration.

Disclosure of Invention

The present invention provides a method and system for aligning and/or calibrating vehicle-equipped sensors by aligning the vehicle and thereby the vehicle-equipped sensors with one or more robotically positioned calibration targets. In positioning the one or more calibration targets, the robot selects and positions the appropriate target for alignment/calibration of one or more sensors of the ADAS system of the vehicle. The robot locates the appropriate target according to the known reference position. The vehicle is also positioned and centered relative to the known reference position. As the vehicle and calibration target are positioned and centered relative to the known reference locations, the vehicle sensors are calibrated, such as via an original equipment manufacturer ("OEM") calibration process. In other embodiments, a rear thrust angle of the vehicle may be determined, which may be used to adjust the position of the robotically located target.

According to one aspect of the invention, a robotic system for aligning a target with an equipped vehicle for calibrating sensors on the equipped vehicle includes a stationary vehicle support on which the equipped vehicle is stationarily disposed at a given known location for calibrating sensors on the equipped vehicle, and a robotic manipulator longitudinally movable toward and away from the vehicle support, wherein the robotic manipulator includes a multi-axis robotic arm that holds the target. The robotic manipulator is configured to position the target to a calibrated position relative to the sensor on the equipped vehicle based on an intended known position of the equipped vehicle on the vehicle support stand by longitudinal movement of the robotic manipulator relative to the vehicle support stand and by movement of the robotic arm, thereby enabling calibration of the sensor using the target.

According to a particular embodiment, the robotic arm includes an end effector configured to selectively grasp a target from a plurality of targets, and the robotic manipulator is mounted to a base that is longitudinally movable along a rail in the floor support surface, wherein the rail includes a track disposed vertically below the floor support surface, and the base is movable along the rail. Alternatively, the target may be an electronic digital display device configured to be able to display or show different patterns, grids, etc. on the screen according to the vehicle manufacturer and model and the sensors being calibrated, wherein the controller of the system generates the correct target pattern to be displayed based on the vehicle under test.

In further embodiments, the vehicle support bracket includes a plurality of locator arms that are extendable and retractable and configured to press against a tire and wheel assembly of the equipped vehicle to orient the equipped vehicle on the vehicle support bracket, including orienting the equipped vehicle to a given known position. The locator arms include sets of forward and rearward opposed arms that are configured to extend equally in opposite directions from one another, such as for centering a outfitted vehicle on a vehicle support rack.

According to another aspect, a vehicle support stand includes a movable forward tire support and a movable rearward tire support on which an opposing set of tires of a equipped vehicle are disposed. The forward and/or rearward tire supports may be configured as rollers, and the rotational axes of the rollers may be aligned with the longitudinal axis of the equipped vehicle. In certain embodiments, the forward tire supports each include two sets of rollers angled together in a V-shaped configuration for positioning the equipped vehicle. The rearward tire supports may each include at least one set of rollers oriented generally horizontally.

According to yet another aspect of the present invention, the vehicle support bracket may include a forward centering device and/or a rearward centering device disposed below the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket. The forward and rearward centering apparatus includes a pair of locator arms configured to extend synchronously outward to engage the inside of a tire and wheel assembly of the equipped vehicle.

In another embodiment, the vehicle support bracket includes pairs of forward and/or rearward non-contact wheel alignment sensors that are disposed adjacent respective opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket. The non-contact wheel alignment sensor is operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the calibration position.

According to a further aspect of the invention, a method for robotically aligning a target with a equipped vehicle for calibrating a sensor on the equipped vehicle comprises: maneuvering a equipped vehicle onto a stationary vehicle support cradle, wherein the equipped vehicle includes a sensor and is stationarily disposed on the vehicle support cradle; and moving the target held by the robotic manipulator to a calibration position for calibrating the sensor based on the established known position of the equipped vehicle on the vehicle support stand. The robotic manipulator is longitudinally movable relative to a longitudinal axis of the equipped vehicle on the vehicle support stand and includes a multi-axis robotic arm configured to hold a target. The method may further include dispatching the vehicle from the vehicle support cradle, wherein the vehicle may be dispatched by driving the vehicle onto and off of the vehicle support cradle. In a particular embodiment, the method involves an operator driving a vehicle onto the support bracket and driving the vehicle off the support bracket after calibration of the vehicle sensor, wherein the robotic manipulator is moved away in a longitudinal direction to allow the vehicle to be driven off the support bracket, and wherein the vehicle is driven on a guideway of the robotic manipulator.

According to certain embodiments, the robotic manipulator includes an end effector disposed on the robotic arm, the end effector configured to selectively grasp a target from a plurality of targets, and the robotic manipulator is mounted to a base that is longitudinally movable along a rail in the floor support surface. The vehicle support bracket may include a plurality of extendable and retractable locator arms configured to press against a tire and wheel assembly of a equipped vehicle to orient the equipped vehicle on the vehicle support bracket, including orienting the equipped vehicle to a given known position, wherein the bracket further includes movable forward and rearward tire supports on which opposing sets of tires of the equipped vehicle are disposed. The equipped vehicle may travel onto the support stand in a first direction and off the support stand after sensor calibration by traveling in the same first direction on the floor support surface. The method may include moving the robotic manipulator longitudinally away from the vehicle on the support bracket to enable the tender vehicle to travel away from the support bracket in a first direction. Alternatively, the equipped vehicle travels in a first direction and travels away from the support cradle in the opposite direction after sensor calibration.

The method may further include using pairs of forward and/or rearward non-contact wheel alignment sensors disposed adjacent respective opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support stand, wherein the non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target in the alignment position.

The present invention provides a system and method for accurately positioning a calibration target relative to a sensor of a vehicle and calibrating the sensor, such as according to OEM specifications. Thus, accurate positioning and calibration of the sensor helps to optimize the performance of the sensor, thereby in turn enabling the sensor to perform its ADAS function. These and other objects, advantages, objects, and features of the present invention will become apparent upon reading the following specification in conjunction with the accompanying drawings.

Drawings

FIG. 1 is a perspective view of a robotic target alignment system for calibrating vehicle sensors according to the present invention;

FIG. 2 is an end perspective view of the mobile robotic object holder of FIG. 1;

FIG. 2A is a front plan view of an exemplary target such as that shown in FIG. 1;

FIG. 3 is a top view of the vehicle centering system of the target alignment system of FIG. 1;

FIG. 4 is a perspective view of the vehicle centering system of FIG. 3;

FIG. 5 is a side perspective view of a forward wheel assembly support portion of the vehicle centering system of FIG. 3;

FIG. 6 is a bottom view of the forward wheel assembly support portion of the vehicle centering system of FIG. 3;

FIG. 7 is a bottom view of the rearward wheel assembly support portion of the vehicle centering system of FIG. 3;

FIG. 8 is a perspective view of another robotic target alignment system for calibrating vehicle sensors in accordance with the present invention;

FIG. 9 is a top view of the robotic target alignment system of FIG. 8;

FIG. 10 is a side perspective view of a non-contact wheel alignment sensor of the robotic target alignment system of FIG. 8 disposed about a left front wheel assembly of a vehicle;

FIG. 11 is a partial perspective view of a portion of the robotic target alignment system of FIG. 8 showing a non-contact wheel alignment sensor and locator arm adjacent rollers for receiving a wheel assembly of a vehicle;

FIG. 12 is a top view of the robot in two calibration positions relative to the calibration master;

FIG. 13 is a schematic illustration of the teleprocessing operation of the robotic target alignment system according to the present invention;

FIG. 14 illustrates steps of a method for aligning calibration targets and performing calibration of vehicle sensors, in accordance with various aspects of the present invention

FIG. 15 is a top view of an alternative tire support constructed as a float plate for use with the present invention; and

FIG. 16 is a perspective view of an alternative vehicle support bracket for use with the present invention.

Detailed Description

The present invention will now be described with reference to the drawings, wherein the numbered elements in the following written description correspond to like-numbered elements in the drawings.

Fig. 1 illustrates an exemplary robotic target alignment and ADAS sensor calibration system 30 for calibrating one or more sensors 32 of a vehicle 34, wherein a target or target plate 36 is held by a mobile robotic or robotic manipulator 38 positioned in front of the vehicle 34. As discussed in detail below, the target 36 is positioned relative to the vehicle 34 for calibrating/aligning one or more sensors 32 of the vehicle 34, wherein the target is adjustably moved via the robotic manipulator 38 to a known orientation or calibration position relative to the vehicle 34, including the sensors 32 relative to the vehicle. For example, in orienting vehicle 34 to a known location, which may include determining an orientation of vehicle 34, robot 38 may move target 36 to align target 36 to one or more sensors 32 of vehicle 34. As discussed herein, the sensors to be calibrated are part of one or more subsystems of an exemplary Advanced Driver Assistance System (ADAS) of the vehicle. Thus, the sensor 32 may be: a radar sensor for adaptive cruise control ("ACC"); imaging systems, such as camera sensors for lane departure warning ("LDW") and other ADAS camera sensors disposed around the vehicle; and other sensors, such as LIDAR, ultrasonic, and infrared ("IR") sensors of the ADAS system, including sensors mounted inside the vehicle, such as a forward-facing camera, or externally mounted sensors, wherein the target 36 is supported by a robot 38 configured for calibrating such sensors, including grids, patterns, trihedrons, and the like. After aligning the target 36 with the sensors 32 of the vehicle 34, a calibration routine is performed, thereby calibrating or aligning the sensors using the target 36. As used herein, reference to sensor calibration includes alignment of the sensor with a calibration target.

With additional reference to fig. 1, the system 30 includes: a computer system or controller 40; a vehicle support bracket 42 on which the vehicle 34 is held stationary, whereby the vehicle 34 is oriented longitudinally using a robotic object positioning system 44. As can be appreciated from fig. 2, the target positioning system 44 includes a multi-axis robot 38 having a plurality of joints mounted to a movable base 46, wherein the base 46 is configured to move longitudinally along rails 48 relative to the vehicle 34. In particular, the base 46 is mounted on longitudinally extending rails 50, whereby the base 46 is movable toward and away from the vehicle 34 via an electric motor 52 that provides control signals via the controller 40. In the illustrated embodiment, the guide rails 48 are configured such that the base 46, and thus the robot 38, is movable between about 1 meter and 20 meters from the vehicle 34 when the vehicle 34 is disposed on the stand 42, but preferably between about 1 meter and about 7 and 10 meters. As shown, the guide rails 48 are positioned in front or forward direction of the vehicle 34. In the illustrated embodiment, the guide rails 48 are aligned with the support brackets 42 in a centered manner, whereby the longitudinal axis of the vehicle 34 on the support brackets 42 is aligned with the longitudinal axis of the guide rails 48. Alternatively, the rails 48 may be located laterally on either side relative to the configuration shown in FIG. 1. The base 46 of the robotic manipulator 38 may conventionally include one or more load sensors configured to detect and/or measure impact forces to determine whether the robotic manipulator 38 has contacted something while manipulating the target 36 or while moving along the guide rails 48. For example, the robotic manipulator 38 may be configured to stop motion if the robotic manipulator 38 is in contact with an object or person. It will be understood from fig. 1 that different plates 54 may be used to cover or partially cover the gap along or adjacent to the rail 48. Thus, the vehicle 34 may be dispatched onto and off of the support bracket 42, including on the guideway 48 of the target positioning system 44, such as by running the vehicle 34. For example, the vehicle 34 may travel onto the support bracket 42, and after calibration of a given sensor 32 is complete, the vehicle 34 may travel in the same direction off the support bracket 42, with the vehicle 34 traveling on the guideway 48. Alternatively, after calibrating the sensor 32, the vehicle 34 may travel in the opposite direction off the support bracket 42. For example, as understood with respect to the orientation of the vehicle 34 in fig. 1, the vehicle may travel forward onto the support bracket 42 and then reverse away from the support bracket 42 after calibrating the sensor 32.

The robot 38 includes a multi-axis arm 38a having a plurality of sections and joints, and includes an end effector or tool changer or target gripper 39 at the end of the arm 38a for grasping a desired target 36, wherein the plurality of targets may be disposed in holders 49 adjacent a rail 48 within reach of the robot 38. For example, the holder 49 may include different types of targets for different types of sensors and different types of vehicle manufacturers and models, whereby when selecting a desired target for a particular vehicle under test, the robot 38 will position the target in the appropriate location for calibrating the particular ADAS sensor to be calibrated. As noted, the tool 39 may hold different targets, including plates with grids, patterns, trihedrons, or other known targets for use in calibrating sensors. This includes, for example, targets for vision cameras, night vision systems, laser scanner targets, ultrasonic sensors, etc., including targets for aligning or calibrating ACC (adaptive cruise control) sensors, LDW (lane departure warning) sensors, and night vision sensors of a vehicle. In one aspect of the invention, a plurality of different target frames may be individually configured for different sensors, such as ACC, LDW, and night vision sensors. An exemplary pattern or grid is disclosed on target 36 in connection with fig. 2A. However, it should be understood that alternatively configured targets, including alternative patterns, grids, and configurations of targets, may be employed within the scope of the present invention, as discussed herein. Alternatively, the target 36 may be an electronic digital display device configured to be able to display or show different patterns, grids, etc. on a screen according to the vehicle manufacturer and model and the sensor being calibrated, with the controller 40 operable to generate the correct target pattern to be displayed based on the vehicle 34 and sensor 32 being calibrated.

The vehicle support bracket 42 includes a forward wheel support and centering assembly 56 and a rearward wheel support and centering assembly 58 upon which the vehicle 34 is disposed for positioning or orienting the vehicle 34. In the orientation of fig. 1, a front wheel assembly 60 of the vehicle 34 is located on the forward wheel support and centering assembly 56, and a rear wheel assembly 62 of the vehicle 34 is located on the rearward wheel support and centering assembly 58. As discussed in more detail below, the

assemblies

56, 58 enable the vehicle 34 to move laterally for the purpose of positioning the vehicle 34. In addition, the forward wheel support and centering assembly 56 also provides longitudinal retention of the vehicle 34. It should be appreciated that the vehicle may be oriented rearward toward the target positioning system 44, if desired, such as for calibrating one or more rearward oriented vehicle sensors, in which case the rear wheel assembly 62 of the vehicle 34 would be disposed on the forward wheel support assembly 56.

Referring to fig. 3-6, the forward wheel support and centering assembly 56 includes oppositely disposed

tire support portions

64a, 64b positioned on opposite sides of a forward vehicle centering apparatus 66, wherein the

tire support portions

64a, 64b are configured to receive a tire of an opposed pair of tire and wheel assemblies of the vehicle 34, such as the front wheel assembly 60 shown in fig. 1. The tire supports 64a, 64b are substantially identical, but are mirror images of each other. Accordingly, the discussion herein focuses on tire support 64a, but it should be understood that the discussion applies to tire support 64 b.

The tire support 64a includes two

sets

68, 70 of rollers 72, wherein the rollers 72 are arranged such that their axes of rotation are parallel to the longitudinal axis of the vehicle 34 when the vehicle is disposed on the support bracket 42. Thus, a vehicle having a pair of front tires disposed on the rollers 72 will be able to move laterally relative to its longitudinal axis via the rollers 72. As best shown in fig. 4 and 5, the

sets

68, 70 of rollers 72 are angled inwardly relative to each other. That is, the adjacently located ends of each set 68, 70 of rollers 72 are disposed vertically lower than the outwardly located ends in a V-shaped configuration. Thus, the wheel assembly 60 of the vehicle 34 will be naturally oriented to rest in a fixed longitudinal position when located on the

tire support

64a, 64b along the

axes

74a, 74b defined by the adjacent mounting ends of the rollers 72. It should be understood that the

axes

74a, 74b are arranged to align with one another and perpendicular to the longitudinal axis of the vehicle 34 and the rail 48 when positioned on the bracket 42. The tire support 64a also includes ramps 76, 78 for supporting the vehicle tires as the vehicle 34 travels onto and off of the support bracket 42.

The vehicle 34 is centered or positioned on the support bracket 42, in part, via a vehicle centering device 66 operable to center or position a forward portion of the vehicle 34. The vehicle centering apparatus 66 includes a pair of opposed synchronized arms or

bumpers

80a, 80b configured to extend outwardly from the housing 82 to contact the inner sidewalls of tires disposed on the tire supports 64a, 64 b. The

arms

80a, 80b are synchronized to move equally and simultaneously outward in opposite directions from the housing 82, particularly via a pair of

actuators

84a, 84b (fig. 6) coupled together and operated by the controller 40. As can be appreciated from fig. 5 and 6, the arm 84a is secured to the plate 86a or a portion thereof and the arm 84b is secured to the plate 86b or a portion thereof, wherein the

plates

86a, 86b are slidably mounted on rails or slide rails 88, 90. The extendable end 92a of the actuator 84a is mounted to the plate 86a, whereby extension of the end 92a causes the arm 84a to extend outwardly. Likewise, the extendable end 92b of the actuator 84b is mounted to the plate 86b, whereby extension of the end 92b causes the arm 84b to extend outwardly. The

arms

80a, 80b are likewise retractable via retraction of the

ends

92a, 92b of the

actuators

84a, 84 b. It will therefore be appreciated that the vehicle centering apparatus 66 is operable to center the forward portion of the vehicle 34 on the vehicle support bracket 42 by the rollers 72 to allow the vehicle to move laterally via equal and opposite extension of the

arms

80a, 80b, whereby the

arms

80a, 80b contact and push against the inner side walls of the tires.

Referring to fig. 3, 4 and 7, the rearward wheel support and centering assembly 58 includes oppositely disposed

tire support portions

94a, 94b positioned on opposite sides of a rearward vehicle centering apparatus 96, wherein the

tire support portions

94a, 94b are configured to receive a tire of an opposed pair of tire and wheel assemblies of the vehicle 34, such as the rear wheel assembly 62 shown in fig. 1. The tire supports 94a, 94b are substantially identical, but are mirror images of each other. Accordingly, the discussion herein focuses on the tire support 94a, but it should be understood that the discussion applies to the tire support 94 b.

In the illustrated embodiment, the tire support 94a includes six sets 98 a-98 f of rollers 100, with the rollers 100 being arranged such that their axes of rotation are parallel to the longitudinal axis of the vehicle 34 when the vehicle is disposed on the support bracket 42. Thus, a vehicle having a pair of rear tires disposed on the roller 100 will be able to move laterally relative to its longitudinal axis via the roller 100. In contrast to the forward wheel support and centering assembly 56, the rollers 100 of the rearward wheel support and centering assembly 58 all lie in the same plane. The sets 98a to 98f of rollers 100 enable vehicles having different wheel tracks to be used on the support bracket 42. That is, for example, when opposing forward wheel assemblies of the vehicle are retained by the tire supports 64a, 64b, opposing rearward wheel assemblies of the vehicle may be positioned on the tire supports 94a, 94b even if the track lengths of the vehicles are different. Ramps may also be provided at the entrance and exit of the tire supports 94a, 94b to assist in driving the vehicle onto and off.

The vehicle 34 is also centered or positioned on the support bracket 42, in part, via a rearward vehicle centering device 96 that operates in a generally similar manner as the vehicle centering device 66 to center or position a rearward portion of the vehicle 34. The rearward vehicle centering device 96 includes a plurality of pairs of opposed and synchronized locator arms or

bumpers

102a, 102b, 104a, 104b and 106a, 106b configured to extend outwardly from the housing 108 to contact the inner sidewalls of tires disposed on the tire supports 94a, 94 b. In particular, each set of opposing arms of the centering apparatus 96 are synchronized to move equally and simultaneously outward in opposite directions from the housing 108 via

actuators

110, 112, 114, 116 (fig. 7) coupled together and operated by the controller 40. The

arms

102a, 102b, 104a, 104b, 106a, and 106b are slidably mounted for movement on rails or slides 118, 120, 122, and 124, whereby the

movable ends

110a, 112a, 114a, 116a of the

actuators

110, 112, 114, 116 enable the

arms

102a, 102b, 104a, 104b, 106a, and 106b to extend and retract relative to the housing 108, including via

pulley linkages

126, 128. It will therefore be appreciated that the vehicle centering device 96 is operable to center the rearward portion of the vehicle 34 on the vehicle support bracket 42 by the rollers 100 to allow the vehicle to move laterally via equal and opposite extension of the

arms

102a, 102b, 104a, 104b, 106a and 106b, whereby the arms contact and push against the inner side walls of the tires.

While the vehicle support bracket 42 is shown in the illustrated embodiment as positioning, centering and/or orienting the vehicle 34 by an arm pushing against the inner sidewall of the tire, it should be readily understood that alternatively configured centering systems may be constructed in which an arm or bumper presses against the outer sidewall of the tire by pushing an equal and opposite amount inward from the outside of the vehicle, such as the inwardly extending locator arm discussed below in connection with fig. 11. Further, while the tire supports 64a, 64b and 94a, 94b of the system 30 are disclosed as utilizing

rollers

72, 100 to laterally adjust the vehicle 34 on the support bracket 42, it should be understood that alternative tire supports may be employed within the scope of the present invention. For example, the tire support may be configured as a floating fixture, such as a conventional floating or floating plate. Such a float plate assembly 1000 is shown in fig. 15 along with a tire in a tire and wheel assembly 1200. As shown, floating plate assembly 1000 is recessed into the vehicle support bracket and is configured to freely float wheel assembly 1200 on plate 1010 in multiple degrees of freedom, including laterally with respect to the longitudinal axis of the vehicle.

As the vehicle 34 is centered or oriented on the support 42 via the

vehicle centering devices

66, 96, the desired target 36 is held by the tool 39 and manipulated by the multi-axis robotic manipulator 38 to position the target 36 for aligning or calibrating the one or more sensors 32 of the vehicle 34. That is, the target 36 is oriented relative to the vehicle 36. In another aspect of the present invention, once a particular vehicle has been oriented on the carriage 42, the robotic manipulator 38 is configured to select a particular target for a desired alignment or calibration of a particular sensor of that vehicle and position the selected target for the particular vehicle so that the appropriate target is in position for performing any desired alignment or calibration of the sensor of that particular vehicle 110.

The location at which target 36 is positioned by robot 38 is programmed into controller 40, such as based on the vehicle manufacturer and model and the particular sensors to be aligned/calibrated. For example, when vehicle 34 is centered on stand 42, robot 38 may be used to position target 36 to a particular location based on a reference point that corresponds to a desired location of target 36 based on the location of vehicle 34. The reference point may thus be defined as the relationship between the target 36 and the centering

system

66, 96 of the rack 42. Such reference points or spatial relationships allow for accurate placement of calibration/alignment targets positioned by the robotic manipulators 38. In certain embodiments, as discussed in more detail below, a host computer positioned on the carriage 42 may be used to determine a reference point for the vehicle, such as a particular sensor for a given manufacturer and model of vehicle.

As can be appreciated from fig. 1, the vehicle support bracket 42 and the target positioning system 44 are disposed at the same vertical height, whereby the vehicle can travel to and from the system 30. For example, the rack 42 and system 44 may be disposed within a pit or have entrance and exit ramps, whereby the vehicle 34 may travel onto the rack 42 to perform the alignment and calibration routines, and then the vehicle 34 travels away from the system 30 in the same direction. The robot 38 may move backward in the longitudinal direction and then the vehicle 34 travels left or right away. The support bracket 42 and the target positioning system thus define or include a stationary support surface 129 on and above which the vehicle 34 can be moved or driven, with the wheel assembly supports 56, 58 and the robot rail 48 being disposed in or at the support surface 129. As can be appreciated from fig. 1 and 2, robot rail 48 includes a top rail surface 53 that is also configured to enable vehicle 34 to ride on top rail surface 53 based on tracks 50 disposed below top rail surface 53.

Referring now to fig. 8 and 9, an alternative robotic target alignment and ADAS sensor calibration system 130 is disclosed, wherein the system 130 is substantially similar to the system 30 discussed above. Thus, the system 130 is used to align a target, such as target 36, relative to the vehicle 34, and in particular relative to the vehicle's sensors 32, for calibration/alignment of the sensors. The system 130 includes an object positioning system 44, similar to the system 30, and a vehicle support bracket 142. In the target positioning system 44 illustrated in fig. 8 and 9, the robot 38 does not hold a target, and thus it will be appreciated that the arm portion 38a is capable of retaining the tool 39 and any of a number of targets, such as target 36. As noted, the base 46 is capable of traversing longitudinally along the rail 48 via signals from a computer system or controller 140. As can be appreciated from fig. 8 and 9, the system 130 is configured to enable an operator to work under the vehicle support bracket 142. The system 130 may be used, for example, in a maintenance facility whereby an operator can conveniently perform additional operations on the vehicle 34, such as adjusting the alignment of the vehicle 34 based on alignment information from the NCA sensor 145.

The vehicle support bracket 142 determines the orientation of the vehicle using a non-contact wheel alignment sensor system, wherein in the illustrated embodiment, non-contact

wheel alignment sensors

145, 146 are disposed about the opposed front and rear wheel assemblies 60, 62, respectively. The non-contact

wheel alignment sensors

145, 146 are used to obtain position information of the vehicle 34 on the carriage 42, which is provided to the controller 140, and the controller 140 in turn operates the robot 38 to position the target 36 relative to the sensor 32 of the vehicle 34.

The

wheel alignment sensors

145, 146 may be used to determine the vertical center plane of the vehicle 34, as well as, in part, wheel alignment characteristics such as heel, camber, caster, Steering Axle Inclination (SAI), and wheel center, axis of symmetry, and rear thrust angle. In the illustrated embodiment of the system 130, four non-contact

wheel alignment sensors

145, 146 are shown disposed about the vehicle 34, it being understood that alternative arrangements may be employed. For example, an alternative arrangement may employ non-contact wheel alignment sensors only at two wheel assemblies of vehicle 34, such as opposing wheel assemblies. The rear thrust angle may be determined using the sensor 146 by, for example, rotating the rear tire and wheel assembly 62 to two or more positions, such as by rotating the assembly 62 using motorized rollers of the support assembly 62. Alternatively, the vehicle may be moved between positions depending on the configuration of the noncontact wheel alignment sensor used.

The noncontact

wheel alignment sensors

145, 146 shown in fig. 8 and 9 include an outer cover or housing. As will be appreciated from fig. 10, each contactless

wheel alignment sensor

145, 146 in the illustrated embodiment comprises a pair of cooperatively operating individual contactless

wheel alignment sensors

145a, 145b arranged to be disposed on the left and right sides of a given wheel assembly of the vehicle. In the embodiment shown in fig. 10, the noncontact wheel alignment sensor 145 is constructed in accordance with U.S. patent nos. 7,864,309, 8,107,062, and 8,400,624, which are incorporated herein by reference. As shown, pairs of non-contact wheel alignment ("NCA")

sensors

145a, 145b are disposed on either side of the tire and wheel assembly 60 of the vehicle 34.

NCA sensors

145a, 145b project illumination lines 164 onto either side of the tire, with a left side 166a shown. The

NCA sensors

145a, 145b receive reflections of the illumination lines 164 from which the noncontact wheel alignment system can determine the orientation of the tire and wheel assembly 60. The plurality of illumination lines 164 projected onto the tire and wheel assembly 60 and the location of these lines 164 in the acquired image enable the three-dimensional spatial orientation or geometry of the tire and wheel assembly 60 to be calculated based on the range and depth of the field of view of the

sensors

145a, 145b over the entire working area of the sensors. Corresponding

NCA sensors

145a, 145b are positioned around all four tire and wheel assemblies 60, 62 of the vehicle 34, whereby vehicle position information may be determined by the non-contact wheel alignment system, which may be based on the known orientation of the

sensor NCA sensors

145a, 145b around the vehicle 34 disposed on the bracket 142. The rear contact-less wheel alignment sensor 146 may be adjusted longitudinally to accommodate vehicles of different track lengths. As noted, the wheel alignment and vehicle position information is provided to a controller, such as controller 140, or to a remote computing device, such as via the internet. In response to the wheel assembly alignment and vehicle position information, the controller 140 or remote computing device may then be operable to send signals for operating the robot 38 to position the target 36 relative to the sensors 32 of the vehicle 34. In an alternative arrangement, a single non-contact wheel alignment sensor may be configured to project lines on both the left and right sides of a tire in a tire and wheel assembly and image corresponding reflections for the purpose of determining wheel geometry and associated vehicle position.

In the illustrated embodiment, the vehicle support bracket 142 includes a tire support including a pair of rollers 168 disposed at each of the wheel assemblies 60, 62 of the vehicle 34, whereby the wheel assemblies 60, 62 may rotate during alignment and position analysis while the vehicle 34 remains stationary on the bracket 142. The rearward pair of rollers 168 may be moved longitudinally to accommodate vehicles of different track widths. Further, as is understood from fig. 11, an extendable and retractable locator arm 170 may be positioned at each noncontact wheel alignment sensor 145, wherein the locator arm 170 may be extended to contact the outer sidewall of a tire disposed on the roller 168 and in the wheel assembly to help retain the vehicle 34 in a fixed position while on the roller 68. It should also be understood that the rollers 168 may travel to rotate the tire and wheel assembly thereon, whereby the vehicle may be moved laterally, such as by force from the positioner arm 170.

It should be understood that alternative NCA sensors may be employed with respect to

sensors

145a, 145b, including: a system utilizing a cradle on which the vehicle remains stationary and wheel alignment and vehicle position information is measured at two separate locations; and drive-thru contactless alignment systems in which vehicle position is determined. For example, robotic alignment of targets in front of the vehicle to calibrate the vehicle sensors may be performed using a system that determines wheel alignment and vehicle position based on movement of the vehicle past the vehicle wheel alignment sensors, which is known in the art. Based on vehicle orientation and alignment information from such sensors, the controller may determine a position for placing or positioning a target adjustment frame, as disclosed above. For example, the vehicle may travel along or despite such sensors on both sides of the vehicle and stop within range of the sensors, whereby the controller 140 is able to position the target 36 at an appropriate location relative to the vehicle 34, and in particular relative to the sensors of the vehicle to be aligned or calibrated. Such drive-up systems are known in the art.

According to another aspect of the invention, the ride height of the vehicle 34 may be determined to further assist in orienting the target via the position of the robotic manipulator relative to the vehicle. For example, the ride height may be determined at a plurality of locations around the vehicle such that the absolute height, pitch, and yaw of the vehicle mounted sensors (e.g., LDW or ACC sensors) may be determined. The chassis height measurement may include a fender height measurement. Any conventional method for determining the chassis height of a vehicle may be used. For example, one or more horizontal lasers may be aimed at additional elevation targets mounted to the vehicle, such as elevation targets magnetically mounted to the vehicle, such as elevation targets mounted to a fender or other location on the vehicle. In another example, the noncontact wheel alignment sensor 145 described herein may be used to obtain fender height, where, for example, projected light may be projected onto a portion of a vehicle, such as a fender at or near a wheel well.

The determination of the reference point for positioning the target relative to the vehicle on the support bracket 42 or the support bracket 142 may also be accomplished through a calibration process. In one example of a calibration process, referring to fig. 12, a calibration host 34a may be positioned on a support bracket, such as support bracket 142 with a non-contact wheel alignment sensor 145, where the host 34a may be a specially configured object of known dimensions or a vehicle that is accurately measured and set in a known position on the bracket 142 via the use of the non-contact wheel alignment sensor 145. The host 34a may also be equipped with a light projector that is precisely directed to the centerline of the calibration host 34a, wherein the calibration host 34a is configured such that the light projector directs light to align the centerline of the host 34a with the robot 38. For example, a target held by the robot 38 may be oriented in position by jogging of the robot 38 until light projected from the host 34a impinges on a desired location of the target, whereby the controller 140 is "taught" a particular location and operable to position the target accordingly. Alternatively, during calibration, the robot 38 may optionally move between two distances, shown in fig. 12 as "position 1" and "position 2", for aligning the target 36 with the calibration master 34 a.

For example, at position 1, the robot 38 may be adjusted to align the target 36 into a desired orientation relative to the light projector, such as by jogging the position of the robot to position the target 36, whereby the projected light impinges at the desired location. The robot 38 is then moved to position 2 and the robot 38 is again adjusted to align the target 36 in the desired orientation relative to the light projector, the target 36 being positioned by jogging the position of the robot 38, whereby the projected light again impinges at the desired position. In this manner, the axis of the calibration master 34a to the target 36 is established and known. As discussed herein, there may be a calibration master 34a for each type of vehicle (e.g., car, pick-up truck, minibus) or, in the alternative, there may be a calibration master 34a for each make and model of vehicle to align/calibrate. A similar calibration process may employ a carriage 42 in which the calibration master 34a is positioned via the centering

devices

66, 96. It should be appreciated that in the case of the system 130, the actual vehicle orientation determination obtained via the non-contact wheel alignment sensor 145 may be used as an offset for a given vehicle 34 to adjust the position of the target 36 relative to a predetermined position based on the host 34 a.

The robot alignment and calibration systems 30, 130 discussed above may be configured to operate independently of external data, information or signals, in which case a computer system including embodiments of the mentioned

controllers

40, 140 may be programmed to operate with different manufacturers, models and outfitted sensors, and may include the use of an operator computer device. In such a standalone configuration, as shown in fig. 13 with respect to the system 30, the operator computer device 176 may interface with the vehicle 34, such as via one or more ECUs 178 of the vehicle 34 that can interface via an on-board diagnostics (OBD) port of the vehicle 34, and use the controller 40 to provide instructions to the operator and operating system to align/calibrate the sensors 32. Alternatively, the operator computer device 176 may receive information about the vehicle 34 entered by the operator, such as the manufacturer, model number, Vehicle Identification Number (VIN), and/or information about the equipped sensors, such as by manual entry or scanning, wherein the device 176 communicates such information to the controller 40.

As an alternative to this stand-alone configuration, fig. 13 also discloses an exemplary embodiment of a remote docking configuration for the system 30, wherein the system 30 is configured to dock with a remote computing device or system 180, such as a server, and one or more remote databases 182, such as may be accessible via the internet 184, whereby the computer system also includes the remote computing device 180. For example, the remote computing device 180 in conjunction with the database 182 accessed via the internet may be used to run a calibration sequence through one or more engine control units ("ECUs") of the vehicle 34 to calibrate one or more ADAS sensors in accordance with pre-established procedures and methods, such as based on an original factory-adopted calibration sequence or based on an alternate calibration sequence. In such a configuration, the controller 40 need not include programming relating to the target location parameters for a particular manufacturer, model, and outfit sensor. More specifically, the operator may connect the operator computer device 176 to the ECU178 of the vehicle 34, wherein the computer device 176 then transmits the acquired vehicle-specific information to the computing system 180, or alternatively, the operator may input the information directly into the operator computer device 176 without being connected to the vehicle 34 for transmission to the computing system 180. Such information may be, for example, manufacturer, model number, Vehicle Identification Number (VIN), and/or information regarding the outfit of the sensor. The computing system 180 may then provide the necessary instructions to the operator based on the specific programming required for the sensors in the calibration database 182 as described above and the specific processing performed by the computing system 180, with the control signals then being transmitted to the controller 40. For example, the computing system 180 may provide instructions to the controller 40 to locate the target 36 via the robot 38, and to run an OEM calibration sequence of the sensors 32, such as via the ECU 178.

Database 182 may thus include information for performing calibration procedures, including, for example, information regarding particular targets to be used for a given vehicle and sensor, the locations at which targets are positioned by robot 38 relative to such sensors and vehicle belts, and for performing or enabling sensor calibration routines. Such information may be in accordance with OEM processes and procedures or alternative processes and procedures. In either embodiment, different levels of autonomous operation of the system 30 may be utilized.

An exemplary calibration cycle according to an embodiment of the present invention is illustrated in fig. 14. At step 200, the calibration master 34a is positioned on the

vehicle support brackets

42, 142 of the test systems 30, 130 and placed in a particular orientation. In the case of system 30, centering

devices

66, 96 are used to position alignment master 34a, and in the case of system 130, locator arm 170 at each noncontact wheel alignment sensor 145 is used to position alignment master 34a by contacting the side of alignment master 34a to place alignment master 34a in a particular orientation. With calibration master 34a oriented, in step 202 of fig. 14, one or more reference positions or points between target 36 or robot 38 and calibration master 34a may be determined, including longitudinal, lateral, and vertical, as well as rotation about a given axis. The calibration master 34a may then be removed from the

vehicle support brackets

42, 142.

In step 204 of fig. 14, the vehicle 34 is set up for testing. For example, vehicle 34 enters into

cradle

42, 142, whereby the wheels of the vehicle are positioned on the rollers of the test cradle and vehicle 34 is brought into general alignment with target 36. The car model and version are also entered into the calibration system 30, 130, such as via the operator computing device 176, while the OBD2 connector is connected to the OBD2 port of the vehicle 34 and a communication connection is made between the vehicle 34 and the

controller

40, 140.

In step 206 of fig. 14, the vehicle 34 is placed in the same orientation as the calibration master 34 a. In the case of system 30, the centering

devices

66, 96 are used to orient the vehicle, and in the case of system 130, the locator arm 170 engages the tire sidewall and the noncontact wheel alignment sensor 145 is used to obtain the orientation of the vehicle 34. An operator may initiate an automated positioning/orientation operation via the

controller

40, 140 and/or via the operator computing device 176.

Calibration of certain sensors may desire or require a thrust angle of vehicle 34 so that the thrust angle may be determined as illustrated in step 208 in fig. 14. For example, in the case of the system 130, the thrust angle may be determined based on calculations and measurements performed by the non-contact wheel alignment sensor 145. The determined thrust angle may then be used to position target 36 by robot 38 via controller 140.

In step 210 of fig. 14, a given target 36 is selected and located for individual ADAS system calibration. As discussed herein, an operator may initiate automated target selection and location operations for a given ADAS sensor 32 via the

controller

40, 140 or the operator computing device 176. The target selection and location operations may take into account the manufacturer and model of the vehicle, as well as the calibration/alignment procedures for the particular ADAS sensor 32 that may have been selected by the operator. In locating the target 36, the target 36 is positioned relative to a predetermined reference point or location such that the selected target 36 is properly centered and positioned relative to the vehicle 34, and in particular relative to the particular sensor 32 to be calibrated.

In step 212 of fig. 14, calibration of the ADAS systems (e.g., ACC, LDW, and NIVI) in the vehicle 110 may be performed, such as in accordance with an OEM calibration routine. Based on the fixed and known orientation of the vehicle 34, individual sensor calibration operations, such as for LDW, ACC, etc., may be performed with minimal operator interaction required.

It should be understood that the steps listed above with respect to the operations of fig. 14 may alternatively be performed, such as in a particular sequence, procedure or operation, and still be in accordance with the present invention.

Yet another alternative vehicle support bracket 242 is illustrated in fig. 16, wherein the vehicle support bracket 242 is configured as a lift 221 that can be used with the target position system 44 of fig. 1 and 8. The support bracket 242 may be used, for example, in a maintenance facility, whereby the operator 247 may be able to conveniently perform additional operations on the vehicle 34, such as adjusting the alignment of the vehicle 34, in addition to calibrating the ADAS sensors on the vehicle 34. In particular, alignment of vehicle 34 may be performed based on alignment information from an NCA sensor 245 mounted to lift 221, for example, where sensor 245 may be configured in a similar manner to

NCA sensors

145, 146 described above. FIG. 16 also illustrates a combination controller and operator computing device 240 for use by an operator 247. Alternatively, the elevator 221 may be used with a centering device in a similar manner to the centering

devices

66, 96 disclosed above for centering the vehicle 34 on the stand 242 for calibrating the ADAS sensor 32 on the vehicle 34 without using the NCA sensor 245.

In use, when the lift 221 is in the lowered orientation, the vehicle 34 travels onto the runway 249 of the lift 221. The vehicle 34 is then positioned to an initial position and the NCA sensor 245 is used to determine the alignment of the wheels of the vehicle 34 and the position of the vehicle 34 on the bracket 242. The vehicle 34 may then be positioned into a second position or alignment orientation, such as by rolling the vehicle 34 so that the wheels rotate 180 degrees. The NCA sensor 245 is then used again to determine the alignment of the wheels of the vehicle 34 and the position of the vehicle 34 on the bracket 242. These two sets of determinations enable the skew-compensated thrust angle of vehicle 34 to be determined, whereby target 36 held by robotic manipulator 38 of target position system 44 may be positioned to a desired orientation for use in calibrating the ADAS sensor of vehicle 34. It should be appreciated that although the lift 221 is shown in a raised orientation in fig. 16, the lift 221 may be lowered to be substantially planar with the target position system 44 for calibrating sensors on the vehicle 34. Alternatively, calibration of the sensors may be performed via the target 36 held by the robotic arm 38 while the elevator 321 is in the raised position.

Other changes and modifications to the specifically described embodiments may be made without departing from the principles of the present invention, which is intended to be limited only by the scope of the appended claims, as interpreted according to the principles of patent law, including the doctrine of equivalents.

Claims

1. A robotic system for aiming a target to an equipped vehicle for calibrating sensors on the equipped vehicle, the system comprising:

a vehicle support stand on which an equipped vehicle is stationarily disposed at a given known location for calibrating sensors on the equipped vehicle;

a robotic manipulator movable in a longitudinal direction toward and away from the vehicle support stand, wherein the robotic manipulator comprises a multi-axis robotic arm;

a target, wherein the robotic arm is configured to movably hold the target for multi-axis movement of the target;

wherein the robotic manipulator is configured to: the target can be used to calibrate the sensor on the equipped vehicle by moving the robotic manipulator longitudinally relative to the vehicle support frame and by moving the robotic arm to position the target to a calibrated position relative to the sensor on the equipped vehicle based on an established known position of the equipped vehicle on the vehicle support frame.

2. The robotic system of claim 1, wherein the robotic manipulator comprises an end effector disposed on the robotic arm, wherein the end effector is configured to selectively grasp a target from a plurality of targets.

3. The robotic system of claim 1, wherein the robotic manipulator is mounted to a base, and wherein the base is longitudinally movable along a rail in a floor support surface.

4. The robotic system of claim 3, wherein the rail comprises a track along which the base is movable, wherein the track is disposed vertically below the floor support surface.

5. The robotic system of claim 1, wherein the vehicle support bracket comprises a plurality of locator arms, wherein the locator arms are extendable and retractable and are configured to press against tire and wheel assemblies of the equipped vehicle to orient the equipped vehicle on the vehicle support bracket.

6. The robotic system of claim 5, wherein the locator arms comprise sets of forward and rearward opposing arms, wherein the forward opposing arms are configured to extend equally in opposite directions from one another and the rearward opposing arms are configured to extend equally in opposite directions from one another.

7. The robotic system of claim 1, wherein the vehicle support rack includes a movable forward tire support and a movable rearward tire support, the opposing sets of tires of the equipped vehicle being disposed above the movable forward tire support and the movable rearward tire support.

8. The robotic system of claim 7, wherein the forward tire support includes forward rollers and/or the rearward tire support includes rearward rollers.

9. The robotic system of claim 8, wherein a rotational axis of the forward roller and/or a rotational axis of the rearward roller is aligned with a longitudinal axis of the equipped vehicle.

10. The robotic system of claim 1, wherein the vehicle support stand includes a pair of movable forward tire supports on which each tire of the forward opposing sets of tires of the equipped vehicle is disposed, and wherein each of the forward tire supports includes two sets of rollers, and wherein the two sets of rollers of each of the forward tire supports are angled together in a V-shaped configuration for positioning the equipped vehicle.

11. The robotic system of claim 10, wherein the vehicle support frame includes a pair of movable rearward tire supports on which each tire of the set of rearward opposing tires of the outfit vehicle is disposed, and wherein each rearward tire support includes at least one set of rollers.

12. The robotic system of claim 1, wherein the vehicle support rack includes a forward centering apparatus, wherein the forward centering apparatus is disposed below the equipped vehicle when the equipped vehicle is disposed on the vehicle support rack, and wherein the forward centering apparatus includes a pair of locator arms configured to extend outwardly in unison to engage an inner side of a forward tire and wheel assembly of the equipped vehicle.

13. The robotic system of claim 12, wherein the vehicle support bracket includes a rearward centering apparatus, wherein the rearward centering apparatus is disposed below the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the rearward centering apparatus includes a pair of locator arms configured to extend outwardly in unison to engage an inner side of a rearward tire and wheel assembly of the equipped vehicle.

14. The robotic system of claim 1, wherein the vehicle support bracket further includes a pair of forward non-contact wheel alignment sensors disposed adjacent to the forward opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the forward non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the alignment position.

15. The robotic system of claim 14, wherein the vehicle support bracket further includes a pair of rear non-contact wheel alignment sensors disposed adjacent rear opposed tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the rear non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the alignment position.

16. The robotic system of claim 1, wherein the vehicle support rack is disposed above a pit configured to enable an operator to work on the equipped vehicle from below the equipped vehicle.

17. The robotic system of claim 1, wherein the vehicle support bracket includes a lift configured to raise and lower the equipped vehicle when the equipped vehicle is positioned on the vehicle support bracket, and wherein the equipped vehicle is able to travel onto or off of the lift when the lift is lowered.

18. The robotic system of claim 18, wherein a plurality of non-contact wheel alignment sensors are mounted to the lift, wherein the non-contact wheel alignment sensors are disposed adjacent opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the alignment position.

19. The robotic system of claim 19, wherein the lift comprises a runway, wherein the runway comprises a movable tire support.

20. A method for robotically aligning a target to an equipped vehicle for calibrating sensors on the equipped vehicle, the method comprising:

maneuvering a equipped vehicle onto a vehicle support stand, wherein the equipped vehicle includes a sensor and is stationarily disposed on the vehicle support stand;

moving a target held by a robotic manipulator to a calibration position for calibrating the sensor based on an established known position of a equipped vehicle on the vehicle support stand; and

executing a calibration routine to calibrate the sensor using the target;

wherein the robotic manipulator is longitudinally movable relative to a longitudinal axis of a deployment vehicle on the vehicle support stand, and wherein the robotic manipulator comprises a multi-axis robotic arm configured to hold the target.

21. The method of claim 21, wherein the robotic manipulator comprises an end effector disposed on the robotic arm, wherein the end effector is configured to selectively grasp a target from a plurality of targets.

22. The method of claim 21, wherein the robotic manipulator is mounted to a base, and wherein the base is longitudinally movable along a rail in a floor support surface.

23. The method of claim 21, wherein the vehicle support bracket comprises a plurality of locator arms, wherein the locator arms are extendable and retractable and configured to press against the equipped vehicle tire and wheel assembly to orient the equipped vehicle on the vehicle support bracket.

24. The method of claim 21, wherein the vehicle support stand includes a movable forward tire support and a movable rearward tire support, the opposing sets of tires of the equipped vehicle being disposed above the movable forward tire support and the movable rearward tire support.

25. The method of claim 21, wherein the vehicle support bracket further comprises a pair of forward non-contact wheel alignment sensors disposed adjacent to the forward opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the forward non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the alignment position.

26. The method of claim 26, wherein the vehicle support bracket further includes a pair of rearward non-contact wheel alignment sensors disposed adjacent to rearward opposing tire and wheel assemblies of the equipped vehicle when the equipped vehicle is disposed on the vehicle support bracket, and wherein the rearward non-contact wheel alignment sensors are operable to determine vehicle orientation information to determine an intended known position of the equipped vehicle for positioning the target to the alignment position.

27. The method of any of claims 21-27, wherein the maneuvering the equipped vehicle onto the vehicle support rack includes driving the equipped vehicle onto the support rack.

28. The method of claim 28, further comprising driving the equipped vehicle off the vehicle support cradle after the performing a calibration routine.

29. The method of claim 29, wherein the causing the equipped vehicle to drive off the vehicle support rack comprises: causing the equipped vehicle to travel in the same direction in which the equipped vehicle travels onto the vehicle support stand.

30. The method of claim 30, wherein the driving the equipped vehicle off the vehicle support stand includes driving the equipped vehicle toward the robotic manipulator.

31. The method of claim 31, wherein the method further comprises: moving the robotic manipulator longitudinally away from the vehicle support cradle prior to said driving the equipped vehicle away from the vehicle support cradle.

32. The method of claim 29, wherein the causing the equipped vehicle to drive off the vehicle support rack comprises: causing the equipped vehicle to travel on a vehicle support surface within which the robotic manipulator is mounted for longitudinal movement; and/or running the equipped vehicle on a guideway of the robotic manipulator.