JP2022515519A - Robot target alignment for vehicle sensor calibration - Google Patents

Abstract

The robotic system and method for aligning the target (36) with respect to the equipped vehicle (34) for calibration of the sensor (32) of the equipped vehicle (34) is the equipped vehicle (34). ) Is a multi-axis configured to movably hold the vehicle support stands (42, 142, 242) located in established and known positions for the calibration of the sensor (32) and the target (36). Includes a robot manipulator (38) with a robot arm (38a). The robot manipulator (38) is a well-established known vehicle (34) on the support stand (42, 142, 242) by longitudinal movement of the robot manipulator (38) with respect to the support stand (42, 142, 242). The movement of the robot arm (38a) based on the position is configured to position the target (36) at the calibration position relative to the sensor (32) of the vehicle (34), whereby the sensor uses the target (36). Can be calibrated.

Description

The present invention relates to vehicle alignment / calibration methods and systems, in particular methods and systems for aligning a vehicle and vehicle sensors to one or more autonomously positioned alignment / calibration targets.

The use of radars, imaging systems and other sensors such as lidar, ultrasonic and infrared (IR) sensors to determine the range, speed and angle (elevation or azimuth) of an object in an environment is a number of automotive safety systems. For example, it is important in Advanced Driver Assistance Systems (ADAS) for vehicles. Conventional ADAS systems use one or more sensors. These sensors are aligned and / or calibrated by the manufacturer on the assembly line (or at another facility at another time), but these sensors are, for example, the effects of wear or disasters such as operating conditions or accidents. It may need to be realigned or recalibrated on a regular basis due to misalignment through. Further, such an ADAS system may include one or more subsystems such as an inter-vehicle distance control device (ACC), a lane departure warning (LDW), parking assistance and / or a rear view camera. Each of the subsystems may require individual realignment or recalibration on a regular basis.

The present invention is a method for aligning and / or calibrating a vehicle-equipped sensor by aligning the vehicle and thus the sensor mounted on the vehicle with a calibration target positioned by one or more robots. And provide the system. When positioning one or more calibration targets, the robot selects and positions the appropriate target for alignment / calibration of one or more sensors in the vehicle's ADAS system. The robot positions the appropriate target according to a known reference position. The vehicle is also positioned and centered with respect to this known reference position. With the vehicle and calibration target positioned and centered with respect to a known reference position, the vehicle sensor is calibrated, for example, through the calibration process of the original equipment manufacturer (“OEM”). In yet another embodiment, the rear thrust angle for the vehicle may be determined. This rear thrust angle can be used to adjust the position of the robot-positioned target.

According to aspects of the invention, the robotic system for aligning the target with respect to the equipped vehicle for calibrating the sensors of the equipped vehicle is a stationary vehicle support stand and towards the vehicle support stand and the vehicle. Includes a robot manipulator that can move longitudinally away from the support stand. On this stationary vehicle support stand, the equipped vehicle is stationary and placed at an established known position for calibration of the sensors of the equipped vehicle. The robot manipulator includes a multi-axis robot arm that holds the target. The robot manipulator is directed against the sensor of the vehicle equipped with the target by the longitudinal movement of the robot manipulator with respect to the vehicle support stand and by the movement of the robot arm based on the established known position of the equipped vehicle on the vehicle support stand. It is configured to be positioned in the calibration position, which allows the sensor to be calibrated using the target.

According to a particular embodiment, the robot arm includes an end effector configured to selectively grip a target from multiple targets, and the robot manipulator can move longitudinally along a track on the floor support surface. Attached to the base. This track includes rails that are placed vertically below the floor support surface. The base is movable along this rail. Alternatively, the target may be an electronic digital display device configured to display or show different patterns, grids, etc. on the screen depending on the manufacture and model of the vehicle being calibrated and the sensor. .. The controller of the system causes the target pattern to be displayed based on the vehicle being tested.

In a further embodiment, the vehicle support stand comprises a plurality of locator arms. The plurality of locator arms are expandable and retractable and are equipped to orient the equipped vehicle on the vehicle support stand, eg, to orient the equipped vehicle to an established known position. It is configured to press on the tires and wheel assemblies of the vehicle. The locator arm includes a set of front facing arm and rear facing arm. The set of front facing arms and rear facing arms is configured to extend evenly in opposite directions from each other, for example to center an equipped vehicle on a vehicle support stand.

According to a further aspect, the vehicle support stand includes a movable front tire support and a movable rear tire support. An opposed set of vehicle tires mounted on the movable front tire support and the movable rear tire support is arranged. The front tire support and / or the rear tire support may be configured as rollers. The axis of rotation of the rollers may be aligned with the longitudinal axis of the equipped vehicle. In certain embodiments, the front tire supports each include two sets of rollers. The two sets of rollers are angled in a V-shaped configuration to place the equipped vehicle. Each rear tire support may include at least one set of rollers oriented approximately horizontally.

According to yet another aspect of the invention, the vehicle support stand may include a front centering device and / or a rear centering device. The front centering device and / or the rear centering device is placed under the equipped vehicle when the equipped vehicle is placed on the vehicle support stand. Front and rear centering devices include a pair of locator arms. This pair of locator arms is configured to extend synchronously outward to engage the inside of the tire and wheel assembly of the equipped vehicle.

In another embodiment, the vehicle support stand comprises a pair of front non-contact wheel alignment sensors and / or a rear non-contact wheel alignment sensor. The pair of front non-contact wheel alignment sensors and / or the rear non-contact wheel alignment sensors are located adjacent to the oncoming tires and wheel assemblies of their respective equipped vehicles when placed on the vehicle support stand. The wheel. The non-contact wheel alignment sensor can operate to determine vehicle orientation information to determine an established known position of the equipped vehicle for use in positioning the target in the calibration position.

According to a further aspect of the invention, a method for robotically aligning a target with respect to a vehicle equipped with a target for calibrating a sensor of the equipped vehicle guides the equipped vehicle onto a stationary vehicle support stand. To guide the equipped vehicle, including the sensor, and to be stationary and placed on the vehicle support stand, and to the established known position of the equipped vehicle on the vehicle support stand. Based on this, it involves moving the target held by the robot manipulator to a calibration position for calibration of the sensor. The robot manipulator includes a multi-axis robot arm that is longitudinally movable with respect to the longitudinal axis of the equipped vehicle on the vehicle support stand and is configured to hold the target. This method is to guide the vehicle from a vehicle support stand, further comprising guiding, which can be guided by moving the vehicle onto and out of the vehicle support stand. .. In certain embodiments, this method requires an operator to move the vehicle onto a support stand and, after calibrating the vehicle sensor, move the vehicle out of the support stand. The vehicle is moved across the truck of the robot manipulator.

According to certain embodiments, the robot manipulator comprises an end effector placed on a robot arm configured to selectively grip a target from multiple targets, the robot manipulator longitudinally along a track on a floor support surface. Attached to a base that is movable in the direction. The vehicle support stand may include multiple expandable and retractable locator arms. Multiple expandable and retractable locator arms are equipped vehicle tires and to orient the equipped vehicle on a vehicle support stand, such as to orient the equipped vehicle to an established known position. It is configured to press on the wheel assembly. The stand also includes movable front and rear tire supports. On the movable front and rear tire supports, oncoming sets of tires of the equipped vehicle are arranged. The equipped vehicle can be moved onto the support stand in the first direction and, after calibration of the sensor, can be moved out of the support stand by being moved in the same first direction over the floor support surface. This method may include moving the robot manipulator longitudinally away from the vehicle on the support stand to allow the equipped vehicle to be moved from the support stand in the first direction. Alternatively, it is an equipped vehicle that is moved out of the support stand in the first direction and in the opposite direction after the sensor is calibrated.

The method may further include a pair of front and / or rear non-contact wheel alignment sensors. A pair of front and / or rear non-contact wheel alignment sensors are placed adjacent to the oncoming tires and wheel assemblies of their respective equipped vehicles when placed on a vehicle support stand. The non-contact wheel alignment sensor can operate to determine vehicle orientation information to determine an established known position of the equipped vehicle for use in positioning the target in the calibration position.

The present invention provides a system and method for accurately positioning a calibration target with respect to a vehicle sensor and, for example, in accordance with OEM standards to calibrate the sensor. Accurate positioning and calibration of the sensor therefore assists in optimizing the performance of the sensor and thus allows the sensor to perform its ADAS function. These and other objects, advantages, objectives and features of the invention will become apparent upon review of the following specification in conjunction with the drawings.

FIG. 3 is a perspective view of a robot target alignment system for calibrating a vehicle sensor according to the present invention. It is an end face perspective view of the movable robot target holder of FIG. FIG. 3 is a front view of an exemplary target, such as that shown in FIG. It is a top view of the vehicle centering system of the target alignment system of FIG. It is a perspective view of the vehicle centering system of FIG. FIG. 3 is a side perspective view of the front wheel assembly support of the vehicle centering system of FIG. It is a bottom view of the front wheel assembly support of the vehicle centering system of FIG. It is a bottom view of the rear wheel assembly support of the vehicle centering system of FIG. FIG. 3 is a perspective view of another robot target alignment system for calibrating vehicle sensors according to the present invention. It is a top view of the robot target alignment system of FIG. It is a side perspective view of the non-contact wheel alignment sensor of the robot target alignment system of FIG. 8 arranged around the left front wheel assembly of the vehicle. FIG. 8 is a partial perspective view of the robot target alignment system of FIG. 8, showing a non-contact wheel alignment sensor and a locator arm adjacent to a roller for receiving the wheel assembly of the vehicle. It is a top elevation view of the robot in two calibration positions with respect to the calibration master. It is a schematic diagram of the remote process operation of the robot target alignment system by this invention. In accordance with aspects of the invention, steps for methods for aligning calibration targets and performing calibration of vehicle sensors are illustrated. FIG. 3 is a top view of an alternative tire support for use in connection with the present invention constructed as a floating plate. FIG. 3 is a perspective view of an alternative vehicle support stand for use in connection with the present invention.

The present invention will be described herein with reference to the accompanying drawings. The numbered elements in the following documentary description correspond to similarly numbered elements in the drawings.

FIG. 1 shows an exemplary robot target alignment and ADAS sensor calibration system 30 for use in calibrating one or more sensors 32 of a vehicle 34. The target or target panel 36 is held by a mobile robot or robot manipulator 38 positioned in front of the vehicle 34. As discussed in detail below, the target 36 is positioned relative to the vehicle 34 to calibrate / align one or more sensors 32 of the vehicle 34. The target is adjustably moved to a known orientation or calibration position with respect to the vehicle 34, such as with respect to the vehicle sensor 32, via the robot manipulator 38. For example, orienting the vehicle 34 to a known position, which may include determining the orientation of the vehicle 34, causes the robot 38 to align the target 36 with one or more sensors 32 of the vehicle 34. The target 36 can be moved. As considered herein, the sensor to be calibrated is one or more of the vehicle's exemplary Advanced Driver Assistance Systems (ADAS) subsystems. The sensor 32 is therefore a radar sensor for the inter-vehicle distance control device (“ACC”), an imaging system such as a camera sensor for lane departure warning (“LDW”) and other ADAS cameras placed around the vehicle. It can be a LIDAR, ultrasonic and infrared (“IR”) sensor of an ADAS system, including sensors and other sensors, such as sensors mounted inside the vehicle such as forward facing cameras or sensors mounted externally. The target 36 is supported by a robot 38 constructed for calibration of such sensors, such as grids, patterns, trihedrons, etc. When the target 36 is aligned with the sensor 32 of the vehicle 34, a calibration routine is performed. This causes the sensor to be calibrated or aligned using the target 36. As used herein, reference to sensor calibration includes alignment of the sensor with a calibration target.

Further referring to FIG. 1, the system 30 includes a computer system or controller 40, a vehicle support stand 42. The vehicle 34 is stationary and held on the vehicle support stand 42. Thereby, the vehicle 34 is oriented longitudinally with the robot target positioning system 44. As can be seen from FIG. 2, the target positioning system 44 includes a multi-axis robot 38 having a plurality of joints attached to a movable base 46. The base 46 is configured to move longitudinally along the track 48 with respect to the vehicle 34. In particular, the base 46 is attached to a rail 50 that extends in the longitudinal direction. Thereby, the base 46 can be moved toward and away from the vehicle 34 via the motor 52 to which the control signal is supplied via the controller 40. In the illustrated embodiment, the truck 48 is configured such that the base 46, and thus the robot 38, is moved approximately 1 to 20 meters from the vehicle 34 when the vehicle 34 is placed on the stand 42, preferably approximately. It can move from 1 meter to about 7-10 meters. As shown, the truck 48 is positioned in front of or in front of the vehicle 34. In the illustrated embodiment, the track 48 is centered on the support stand 42. As a result, the longitudinal axis of the vehicle 34 on the support stand 42 is aligned with the longitudinal axis of the truck 48. Alternatively, the track 48 may be placed laterally on either side of the structure shown in FIG. The base 46 of the robot manipulator 38 has traditionally detected an impact force to determine if the robot manipulator 38 has come into contact with something while guiding the target 36 or moving along the track 48. And / or may include one or more load cells configured to be measured. For example, the robot manipulator 38 may be configured to stop moving in the unlikely event that the robot manipulator 38 comes into contact with an object or a person. As can be seen from FIG. 1, various plates 54 can be used to cover or partially cover the gaps along or adjacent to the track 48. Thus, the vehicle 34 can be guided, for example, by moving the vehicle 34, including above the track 48 of the target positioning system 44, onto or out of the support stand 42. For example, the vehicle 34 can be moved onto the support stand 42. Once the calibration of a given sensor 32 is complete, the vehicle 34 can be moved in the same direction out of the support stand 42. The vehicle 34 is moved across the truck 48. Alternatively, when the sensor 32 is calibrated, the vehicle 34 can be moved in the opposite direction out of the support stand 42. For example, as understood with respect to the orientation of the vehicle 34 in FIG. 1, the vehicle can be moved forward onto the support stand 42 and then reversely to exit the support stand 42 when the sensor 32 is calibrated. Can be done.

The robot 38 includes a multi-axis arm 38a with many segments and joints, and has an end effector or tool changer or target at the end of the arm 38a for use in gripping the desired target 36. The grip portion 39 is included. The plurality of targets may be placed in the holder 49 adjacent to the track 48 within the reach of the robot 38. For example, the holder 49 may include different types of targets for different types of sensors and for different types of vehicle manufacturing and models. Thereby, when the desired target for a particular vehicle under test is selected, the robot 38 positions the target in an appropriate position for calibration of the particular ADAS sensor that will be calibrated. As mentioned, the tool 39 may hold various targets or other known targets for use in calibrating sensors, including panels with grids, patterns, trihedrons. This target may be, for example, a visual camera for aligning or calibrating ACC (Lane Departure Warning) sensors, LDW (Lane Departure Warning) sensors and night vision vehicle sensors, night vision systems, laser scanner targets, super. Includes targets for sound sensors and the like. In certain embodiments of the invention, the 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, as considered herein, it should be acknowledged that targets constructed in other ways, including alternative patterns, grids and structures of targets, can be used within the scope of the invention. Alternatively, the target 36 is an electronic digital display device configured to display or show different patterns, grids, etc. on the screen depending on the manufacture and model of the vehicle being calibrated and the sensors. possible. The controller 40 can operate to display the correct target pattern based on the calibrated vehicle 34 and sensor 32.

The vehicle support stand 42 includes a front wheel support and a centering assembly 56 and a rear wheel support and a centering assembly 58. The front wheel support and centering assembly 56 and the rear wheel support and centering assembly 58 are arranged with the vehicle 34 to position or orient the vehicle 34. In the orientation of FIG. 1, the front wheel assembly 60 of the vehicle 34 is placed on the front wheel support and the centering assembly 56, and the rear wheel assembly 62 of the vehicle 34 is on the rear wheel support and the centering assembly 58. Placed in. As discussed in more detail below, the assemblies 56, 58 allow lateral movement of the vehicle 34 for the purpose of positioning the vehicle 34. In addition, the front wheel support and the centering assembly 56 also prevent the vehicle 34 from moving in the longitudinal direction. For example, if the desired vehicle can be oriented backwards towards the target positioning system 44 for calibration of one or more backwards oriented vehicle sensors, the rear wheel assembly 62 of the vehicle 34 may be. It should be understood that it is located in the front wheel support assembly 56.

Referring to FIGS. 3-6, the front wheel support and the centering assembly 56 include tire supports 64a, 64b located on the opposite side of the front vehicle centering device 66 and located on the opposite side. The tire supports 64a, 64b are configured to receive a pair of tires facing each other and the wheel assembly of the vehicle 34, such as the front wheel assembly 60 shown in FIG. The tire supports 64a and 64b are substantially the same, but mirror versions of each other. Therefore, although the discussion herein focuses on the tire support 64a, it should be understood that this discussion applies to the tire support 64b.

The tire support 64a includes two sets 68, 70 of the rollers 72. The rollers 72 are arranged so that their rotation axes are parallel to the longitudinal axis of the vehicle 34 when placed on the support stand 42. Therefore, a vehicle in which a pair of front tires is arranged on the roller 72 can move laterally with respect to the longitudinal axis thereof via the roller 72. As best shown in FIGS. 4 and 5, the sets 68, 70 of the rollers 72 are bent inward with respect to each other. That is, the adjacent ends of the rollers 72 of each set 68, 70 are arranged vertically lower than the outwardly placed ends in the V-shaped configuration. Therefore, the wheel assembly 60 of the vehicle 34 will be in a fixed longitudinal position when placed on the tire supports 64a, 64b along the shafts 74a, 74b defined by the adjacent mounting ends of the rollers 72. Is naturally oriented. It should be understood that the axes 74a, 74b are aligned with respect to each other and perpendicular to the longitudinal axis of the vehicle when positioned on the truck 48 and the stand 42. .. Since the vehicle 34 is moved onto and out of the support stand 42, the tire support 64a additionally includes slopes 76, 78 for supporting the vehicle tires.

The vehicle 34 is partially centered or positioned on a support stand via the vehicle centering device 66. The vehicle centering device 66 can operate to center or position the front portion of the vehicle 34. The vehicle centering device 66 of the opposing synchronous arms or bumpers 80a, 80b configured to extend outward from the housing 82 to contact the inner sidewalls of the tires located on the tire supports 64a, 64b. Including pairs. The arms 80a, 80b move outward evenly and simultaneously in opposite directions from the housing 82, in particular via a pair of actuators 84a, 84b (FIG. 6) coupled and actuated together by the controller 40. To be synchronized. As can be seen from FIGS. 5 and 6, the arm 84a is fixed to or part of the plate 86a and the arm 84b is fixed to or part of the plate 86b. The plates 86a, 86b are slidably attached to rails or slides 88, 90. The expandable end 92a of the actuator 84a is attached to the plate 86a. As a result, the expansion of the end portion 92a expands the arm 84a outward. Similarly, the expandable end 92b of the actuator 84b is attached to the plate 86b. As a result, the expansion of the end portion 92b expands the arm 84b outward. The arms 80a and 80b can be similarly retracted via the retracting of the ends 92a and 92b of the actuators 84a and 84b. Accordingly, the vehicle centering device 66 centers the front portion of the vehicle 34 on the vehicle support stand 42 by a roller 72 that can be laterally moved through an even and opposite extension of the arms 80a, 80b. It is possible to operate like this. Thereby, the arms 80a and 80b should be allowed to contact the inner side wall of the tire and push the inner side wall of the tire.

Referring to FIGS. 3, 4 and 7, the rear wheel support and the centering assembly 58 include tire supports 94a, 94b located on the opposite side of the rear vehicle centering device 96 and located on the opposite side. The tire supports 94a, 94b are configured to receive a pair of tires facing each other and the wheel assembly of the vehicle 34, such as the rear wheel assembly 62 shown in FIG. The tire supports 94a and 94b are substantially the same, but are mirror versions of each other. Therefore, it should be understood that while the discussion herein focuses on the tire support 94a, this discussion applies to the tire support 94b.

The tire support 94a includes six sets 98a-98f of rollers 100 in the illustrated embodiment. The rollers 100 are arranged in a state parallel to the longitudinal axis of the vehicle 34 when their rotation axes are arranged on the support stand 42. Therefore, a vehicle in which a pair of rear tires is arranged on the roller 100 can move laterally with respect to the longitudinal axis thereof via the roller 100. In contrast to the front wheel support and the centering assembly 56, the rollers 100 of the rear wheel support and the centering assembly 58 are all in the same plane. The plurality of sets 98a-98f of the rollers 100 allow vehicles with different wheel bases to be used in the support stand 42. That is, for example, when the wheel assembly of the oncoming front vehicle is held by the tire supports 64a, 64b, the wheel assembly of the oncoming rear vehicle has the tire supports 94a, 94b even when the wheel base lengths of the oncoming vehicles are different. Can still be positioned in. The slope may also be supplied to the doorways of the tire supports 94a, 94b to assist in moving the vehicle onto and out of the tire supports 94a, 94b.

The vehicle 34 is also partially centered or positioned on the support stand 42 via the rear vehicle centering device 96. The rear vehicle centering device 96 operates in much the same manner as the vehicle centering device 66 to center or position the rear portion of the vehicle 34. The rear vehicle centering device 96 has an opposed synchronous locator arm or bumper 102a configured to extend outward from the housing 108 to contact the inner sidewalls of the tires located on the tire supports 94a, 94b. Includes multiple pairs of 102b, 104a, 104b and 106a, 106b. In particular, each set of opposing arms of the centering device 96 is evenly coupled and actuated by the controller 40 in the opposite direction from the housing 108 via actuators 110, 112, 114, 116 (FIG. 7). And at the same time synchronized to move outward. The arms 102a, 102b, 104a, 104b, 106a and 106b are slidably attached for movement on rails or slides 118, 120, 122 and 124. Thereby, the movable ends 110a, 112a, 114a, 116a of the actuators 110, 112, 114, 116 have the arms 102a, 102b, 104a, 104b with respect to the housing 108, for example, via the pulley link mechanisms 126, 128. , 106a and 106b can be expanded and stored. Accordingly, the vehicle centering device 96 is on the vehicle support stand 42 by a roller 100 that allows the vehicle to move laterally through equal and opposite extensions of the arms 102a, 102b, 104a, 104b, 106a and 106b. It should be able to operate to center the rear portion of the vehicle 34, whereby the arm should be allowed to contact the inner wall of the tire and push the inner wall of the tire.

The vehicle support stand 42 is shown in the illustrated embodiment to position, center and / or orient the vehicle 34 by an arm that pushes the inner sidewall of the tire, but another centering system constructed may be used. It should be immediately acknowledged that it can be constructed. In this alternatively constructed centering system, the arm or bumper is pushed from the outside of the vehicle in equal and opposite amounts, such as by extending the locator arm, which is discussed below in connection with FIG. 11, into the interior. Press on the outer wall of the tire. Further, the tire supports 64a, 64b and 94a, 94b of the system 30 are disclosed as using the rollers 72, 100 for lateral adjustment of the vehicle 34 on the support stand 42, although alternative tire supports are available. It should be understood that it can be used within the scope of the present invention. For example, the tire support can be constructed as a floating jig, eg, a conventional floating plate or a floating plate. Such a floating plate assembly 1000 is shown in FIG. 15 along with the tires and the tires of the wheel assembly 1200. As shown there, the floating plate assembly 1000 is recessed into the vehicle support stand, and the vehicle wheel assembly 1200 is placed on the plate 1010 laterally, for example, with respect to the longitudinal axis of the vehicle in multiple degrees of freedom. It is configured to float freely in the direction.

With the vehicle 34 centered or oriented on the stand 42 via the vehicle centering devices 66, 96, the desired target 36 is held by the tool 39 and guided by the multi-axis robot manipulator 38. Positions the target 36 for use in aligning or calibrating one or more sensors 32 of the vehicle 34. That is, the target 36 is oriented with respect to the vehicle 36. In another aspect of the invention, when a particular vehicle is oriented on the stand 42, the robot manipulator 38 will select a particular target for the desired alignment or calibration of the particular sensor of that vehicle. And the selected target for that particular vehicle is configured such that the appropriate target is positioned in place to perform any desired alignment or sensor calibration of that particular vehicle 110.

The location where the target 36 is positioned by the robot 38 is programmed into the controller 40, for example, based on the vehicle manufacturing and modeling and the specific sensors to be aligned / calibrated. For example, with the vehicle 34 centered on the stand 42, the robot 38 places the target 36 in a particular position based on the position of the vehicle 34 and based on a reference point corresponding to the desired location for the target 36. Can be used for. The reference point can therefore be defined as the relationship between the target 36 and the centering systems 66, 96 of the stand 42. Such a reference point or spatial relationship allows accurate installation of the calibration / alignment target positioned by the robot manipulator 38. In certain embodiments, as discussed in more detail below, the master positioned on the stand 42 is used to make a vehicle, eg, a given vehicle, and to determine a reference point for a particular sensor of a model. obtain.

As can be seen from FIG. 1, the vehicle support stand 42 and the target positioning system 44 are arranged at the same vertical height. Thereby, the vehicle can be moved onto and out of the system 30. For example, the stand 42 and system 44 may be arranged in the pit or with entrance and exit slopes. Thereby, the vehicle 34 can be moved onto the stand 42 for alignment and performing calibration routines. The vehicle 34 is then moved in the same direction to exit the system 30. The robot 38 may be moved rearward in the longitudinal direction. The vehicle 34 is then moved to the left or right. The support stand 42 and target positioning system thus define or include a stationary support surface 129. The vehicle 34 can be moved or moved on or over the stationary support surface 129. The wheel assembly supports 56, 58 and the robot truck 48 are arranged in the support surface 129 or on the support surface 129. As can be seen from FIGS. 1 and 2, the robot track 48 includes an upper track surface 53. The upper track surface 53 is based on a rail 50 located below the upper track surface 53 and is additionally configured to allow the vehicle 34 to be moved over the upper track surface 53.

Here, with reference to FIGS. 8 and 9, an alternative robot target alignment and ADAS sensor calibration system 130 is disclosed. The system 130 is substantially similar to the system 30 discussed above. The system 130 is therefore used to align a target, such as the target 36, with respect to the vehicle 34, particularly the vehicle sensor 32 for sensor calibration / alignment. The system 130 includes a target positioning system 44 and a vehicle support stand 142 in a manner similar to the system 30. In the illustrated target positioning system 44 of FIGS. 8 and 9, the robot 38 does not hold the target. Thereby, it is understood that the arm portion 38a can hold the tool 39 and any of many targets, such as the target 36. As mentioned, the base 46 can be longitudinally traversed along track 48 via a signal from a computer system or controller 140. As can be seen from FIGS. 8 and 9, the construction of the system 130 allows the operator to work under the vehicle support stand 142. The system 130 can be used, for example, in a repair facility. This allows the operator to conveniently perform additional operations on the vehicle 34, such as adjusting the alignment of the vehicle 34 based on the alignment information from the NCA sensor 145.

The vehicle support stand 142 uses a non-contact wheel alignment sensor system to determine the orientation of the vehicle. In the illustrated embodiment, the non-contact wheel alignment sensors 145 and 146 are arranged around the opposite front wheel assembly 60 and the opposite rear wheel assembly 62, respectively. The non-contact wheel alignment sensors 145 and 146 are used to acquire the position information of the vehicle 34 on the stand 42 provided to the controller 140. The controller 140, in turn, activates the robot 38 to position the target 36 with respect to the sensor 32 of the vehicle 34.

The wheel alignment sensors 145 and 146 determine the vertical center plane of the vehicle 34 and wheel alignment features such as toe, camber, casters, steering axis increment (SAI) as well as wheel center, axis of symmetry and rear thrust angle. Can be used for decisions or parts thereof. In the illustrated embodiment of the system 130, four non-contact wheel alignment sensors 145 and 146 are shown arranged around the vehicle 34. It should be understood that alternative arrangements can be used. For example, an alternative arrangement may use a non-contact wheel alignment sensor in exactly two vehicle 34 wheel assemblies, such as opposed wheel assemblies. The rear thrust angle uses the sensor 146, for example, by rotating the rear tire and wheel assembly 62 to two or more positions, for example by using the electric roller support assembly 62 to rotate the assembly 62. Can be determined. Alternatively, the vehicle may be moved between positions depending on the configuration of the non-contact wheel alignment sensor used.

The non-contact wheel alignment sensors 145 and 146 shown in FIGS. 8 and 9 include an outer cover or housing. As can be seen from FIG. 10, each non-contact wheel alignment sensor 145, 146 in the illustrated embodiment is arranged and collaborated to be located on the left and right sides of the wheel assembly of a given vehicle. Includes a pair of separate non-contact wheel alignment sensors 145a and 145b that operate in combination. In the illustrated embodiment of FIG. 10, the non-contact wheel alignment sensor 145 is incorporated herein by reference to US Pat. Nos. 7,864,309, 8,107,062 and 8. , 400, 624. As shown, pairs of non-contact wheel alignment (“NCA”) sensors 145a and 145b are placed on either side of the tire and wheel assembly 60 of the vehicle 34. The NCA sensors 145a and 145b project the illumination lines 164 on both sides of the tire, showing the left side 166a. The NCA sensors 145a and 145b receive reflections from the illumination line 164 so that the non-contact wheel alignment system can orient the tire and wheel assembly 60. Depending on the position of the plurality of illumination lines 164 projected onto the tire and wheel assembly 60 and these lines 164 in the resulting image, the three-dimensional spatial orientation or shape of the tire and wheel assembly 60 can be viewed by the sensor. And based on the depth of view, it will be possible to calculate through the operating range of the sensors 145a, 145b. Corresponding NCA sensors 145a and 145b are located all around the four tire and wheel assemblies 60, 62 of the vehicle 34. Vehicle position information can be determined by a non-contact wheel alignment system. This determination may be based on the known orientation of the NCA sensors 145a and 145b placed around the vehicle 34 on the stand 142. The rear non-contact wheel alignment sensor 146 may be longitudinally adjustable to accommodate vehicles with different wheel base lengths. As mentioned, the wheel alignment and vehicle position information is provided to the controller, eg, controller 140 or remote computer, eg via the internet. Depending on the wheel assembly alignment and vehicle position information, the controller 140 or remote computer then operatively sends a signal to actuate the robot 38 in order to position the target 36 with respect to the sensor 32 of the vehicle 34. obtain. In an alternative arrangement, a single non-contact wheel alignment sensor projects a line on both the left and right sides of the tire and the tire of the wheel assembly, and determines the shape of the wheel and the position of the associated vehicle. It may be configured to obtain an image of the corresponding reflection as an object.

In the illustrated embodiment, the vehicle support stand 142 includes a tire support that includes a pair of rollers 168 placed on each of the wheel assemblies 60, 62 of the vehicle 34. Thereby, the vehicle 34 remains stationary on the stand 142, while the wheel assemblies 60, 62 can be rotated during alignment and position analysis. The rear pair of rollers 168 may be longitudinally movable to accommodate vehicles with different wheel bases. Further, as can be seen from FIG. 11, the expandable and retractable locator arm 170 can be positioned on each non-contact wheel alignment sensor 145. The locator arm 170 extends to contact the outer walls of the tires and tires of the wheel assembly located on the rollers 168 to help hold the vehicle 34 in place while on the rollers 68. Can be done. The roller 168 can be moved to rotate the tire and wheel assembly on it. Thereby, it should be further acknowledged that the vehicle can be laterally moved, for example, via a force from the locator arm 170.

It should be understood that alternative NCA sensors for sensors 145a, 145b can be used, including systems with stands and drive-through non-contact alignment systems that determine vehicle position. In a stand-based system, the vehicle remains stationary and wheel alignment and vehicle position information are measured at two separate locations. For example, robot alignment of a target in front of a vehicle for calibrating a vehicle sensor uses a system for determining wheel alignment and vehicle position based on the movement of the vehicle through the vehicle wheel alignment sensor. Can be carried out. This system is known in the art. Based on the vehicle orientation and alignment information from such sensors, the controller may determine the location for the installation or positioning of the target adjustment frame, as disclosed above. For example, the vehicle can be moved along or by such sensors located on either side of the vehicle and stops within the sensor field. This allows the controller 140 to position the target 36 with respect to the vehicle 34, in particular to the vehicle sensors that will be aligned and calibrated. Such drive-through systems are known in the art.

According to another aspect of the invention, the chassis height of the vehicle 34 may be determined to further assist in orienting the target via the robot manipulator with respect to the position of the vehicle. For example, the chassis height can be determined at multiple locations around the vehicle so that the absolute height, pitch and deflection of a sensor mounted on the vehicle (eg LDW or ACC sensor) can be determined. Chassis height measurements may include fender height measurements. Any conventional method for determining the chassis height of the vehicle can be used. For example, one or more leveled lasers may be an additional height target mounted on the vehicle, eg, a height mounted on the fender of the vehicle or elsewhere, eg, magnetically mounted on the vehicle. Can be aimed at the target. In another example, the non-contact wheel alignment sensor 145 described herein can be used to obtain fender height. For example, the projected light can be projected onto a portion of the vehicle, such as a fender at or adjacent to the wheel enclosure.

Determination of a reference point for placing a target on a vehicle on a support stand 42 or support stand 142 can also be made via a calibration process. In an example of the calibration process, with reference to FIG. 12, the calibration master 34a may be positioned on a support stand such as a support stand 142 with a non-contact wheel alignment sensor 145. Master 34a is a specially constructed object with known dimensions or a vehicle that has been accurately measured and placed in a known position on the stand 142 via the non-contact wheel alignment sensor 145. obtain. The master 34a can also include a floodlight that is precisely oriented with respect to the centerline of the calibration master 34a. The calibration master 34a is configured so that the floodlight directs the light so that the centerline of the 34a is aligned with the robot 38. For example, the target held by the robot 38 can be directed in place by rocking the robot 38 until the light projected from the master 34a hits the desired location of the target. This allows the controller 140 to be "taught" to a particular location and operate to position the target accordingly. Alternatively, during calibration, the robot 38 optionally aligns the target 36 with the calibration master 34a between the two distances shown as "Position 1" and "Position 2" in FIG. Can be moved by.

For example, at position 1, the robot 38 shakes the position of the robot to position the target 36, thereby positioning the target 36 so that the projected light hits a desired location and is oriented in a desired direction with respect to the floodlight. Can be adjusted to fit. The robot 38 is then moved to position 2. In this case as well, the robot 38 shakes the position of the robot 38 to position the target 36, so that the projected light hits the desired place in this case as well, so that the target is oriented in the desired direction with respect to the floodlight. The 36 is adjusted to align. In this method, the axis of the calibration master 34a with respect to the target 36 is established and known. As considered herein, there may be a calibration master 34a for each type of vehicle (eg, automobile, pickup truck, van), or in an alternative form, for each vehicle to be aligned / calibrated. There may be a calibration master 34a for manufacturing and modeling. A similar calibration process in which the calibration master 34a is positioned via the centering devices 66, 96 can be used with the stand 42. For system 130, the actual vehicle orientation determination acquired via the non-contact wheel alignment sensor 145 for a given vehicle 34 adjusts the position of the target 36 with respect to a predetermined position based on the master 34a. It should be understood that it can be used as an offset to do so.

The robot alignment and calibration systems 30, 130 discussed above may be configured to operate independently of external data, information or signals. In this case, the computer system of the embodiments including the listed controllers 40, 140 may be programmed for operation with various manufacturing, models and equipped sensors, and may include the use of operator computer devices. In such a stand-alone configuration, as shown for system 30 in FIG. 13, the operator computer device 176 may be, for example, one or more of the vehicles 34 that may be interlocked via the on-board diagnostic (OBD) port of the vehicle 34. It may work with the vehicle 34 via the ECU 178 and with the controller 40 to instruct the operator to operate the system for alignment / calibration of the sensor 32. Alternatively, the operator computer device 176 receives information entered by the operator with respect to the vehicle 34, for example by manual input or scanning, such as manufacturing, model, vehicle identification number (VIN) and / or information about the equipped sensor. obtain. The device 176 communicates such information to the controller 40.

As an alternative to such a stand-alone configuration, FIG. 13 also discloses an exemplary embodiment of a remote interface configuration for system 30. The system 30 is configured to work with a remote computer such as a server or system 180 and one or more remote databases 182 that can be accessed via, for example, the Internet 184. Thereby, the computer system thus further includes a remote computer 180. For example, a remote computer 180 including a database 182 accessed via the Internet follows a pre-established program and methodology, eg, based on the calibration sequence adopted by the original factory or based on an alternative calibration sequence. It can be used to perform a calibration sequence through one or more engine control units (“ECU”) of the vehicle 34 to calibrate one or more ADAS sensors. In such a structure, the controller 40 need not include programs related to target positioning parameters for a particular manufacture, model and equipped sensor. Rather, the operator can connect the operator computer device 176 to the ECU 178 of the vehicle 34. The computer device 176 then sends the obtained vehicle-specific information to the calculation system 180. Alternatively, the operator may enter information directly into the operator computer device 176 without connecting to the vehicle 34 for sending to the computing system 180. Such information can be, for example, information about the manufacture, model, vehicle identification number (VIN) and / or equipped sensor. The computing system 180 may then provide the operator with the necessary instructions based on the specific procedures required to calibrate the sensors specified in the database 182 and the specific processing performed by the computing system 180. The control signal is then sent to the controller 40. For example, the computational system 180 may provide instructions to the controller 40 for positioning the target 36 via the robot 38 and, for example, via the ECU 178 to perform an OEM calibration sequence for the sensor 32.

Database 182 is therefore information for performing the calibration process, eg, specific targets that will be used for a given vehicle and sensors, such sensors and vehicles being targeted by the robot 38. It may contain information about where it will be and information for performing or initiating a sensor calibration routine. Such information may follow OEM processes and procedures or alternative processes and procedures. In any of the embodiments, various levels of autonomous driving by the system 30 can be used.

An exemplary calibration cycle according to an embodiment of the invention is shown in FIG. In step 200, the calibration master 34a is positioned on the vehicle support stands 42, 142 of the test systems 30, 130 and installed in a particular orientation. For system 30, centering devices 66, 96 are used to position the calibration master 34a. In the case of the system 130, the locator arm 170 of each non-contact wheel alignment sensor 145 contacts the side of the calibration master 34a to install the calibration master 34a in a particular orientation, thereby causing the calibration master 34a. Used for positioning. With the calibration master 34a oriented, one or more reference positions or points may be determined between the target 36 or robot 38 and the calibration master 34a in step 202 of FIG. This determination involves determining the rotation of a given axis longitudinally, laterally, and vertically. The calibration master 34a can then be removed from the vehicle support stands 42, 142.

In step 204 of FIG. 14, vehicle 34 is set up for testing. For example, by placing the vehicle 34 on the stands 42, 142, the wheels of the vehicle are positioned on the rollers of the test stand. As a result, the vehicle 34 is roughly aligned with the target 36. The vehicle model and version are also input to the calibration systems 30, 130, for example via the operator calculator 176. At the same time, the OBD2 connector is connected to the OBD2 port of the vehicle 34, and a communication connection is achieved between the vehicle 34 and the controllers 40, 140.

In step 206 of FIG. 14, the vehicle 34 is installed so as to be oriented in the same direction as the calibration master 34a. For system 30, centering devices 66, 96 are used to orient the vehicle. In the case of the system 130, the locator arm 170 engages the tire sidewall and the non-contact wheel alignment sensor 145 is used to obtain the orientation of the vehicle 34. The operator may initiate an automated positioning / orientation operation via the controllers 40, 140 or via the operator computer 176.

As shown in FIG. 14, the thrust angle of the vehicle 34 may be desired or required for calibration of a particular sensor so that the thrust angle can be determined in step 208. For system 130, for example, the thrust angle can be determined based on calculations and measurements made by the non-contact wheel alignment sensor 145. The determined thrust angle can then be used in the positioning of the target 36 by the robot 38 via the controller 140.

In step 210 of FIG. 14, a given target 36 is selected and positioned for individual ADAS system calibration. As considered herein, the operator may initiate an automated target selection and positioning operation for a given ADAS sensor 32 via the controller 40, 140 or the operator computer 176. The target selection and positioning operation may take into account the vehicle manufacturing and model as well as the calibration / alignment procedure for the particular ADAS sensor 32 that may be selected by the operator. When positioning the target 36, the target 36 is predetermined so that the selected target 36 is appropriately centered and positioned relative to the vehicle 34 and specifically to the particular sensor 32 that will be calibrated. It is positioned with respect to the reference point or position.

In step 212 of FIG. 14, calibration of the ADAS system (eg, ACC, LDW and NIVI) in the vehicle 110 can be performed, for example, according to an OEM calibration routine. Based on the orientation of the fixed known vehicle 34, for example, individual sensor calibration operations 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 can be performed in different ways, especially in sequence, process or operation, and even if they are performed in other ways, they are still according to the present invention. Can be.

Yet another alternative vehicle support stand 242 is shown in FIG. Here, the vehicle support stand 242 is configured as a lift 221 that can be used with the target position system 44 of FIGS. 1 and 8. The support stand 242 can be used, for example, in a repair facility. Thereby, the operator 247 can conveniently perform additional operations on the vehicle 34, such as adjusting the alignment of the vehicle 34, in addition to calibrating the ADAS sensor of the vehicle 34. In particular, for example, the alignment of the vehicle 34 can be performed based on the alignment information from the NCA sensor 245 attached to the lift 221. Sensor 245 can be constructed in a manner similar to the NCA sensors 145 and 146 discussed above. FIG. 16 additionally shows that it includes a controller and operator computer 240 combined for use by the operator 247. Alternatively, the lift 221 has the centering device 66, disclosed above, for centering the vehicle 34 on the stand 242 for calibration of the ADAS sensor 32 on the vehicle 34 without using the NCA sensor 245. It can be used with a centering device in a similar manner to 96.

In use, when the lift 221 is in the lowered direction, the vehicle 34 is moved onto the runway 249 of the lift 221. The vehicle 34 is then positioned in the initial position and the NCA sensor 245 is used to align the wheels of the vehicle 34 and determine the position of the vehicle 34 on the stand 242. The vehicle 34 can then be positioned to be in the second position or calibration orientation by rotating the wheels 180 degrees, for example by advancing the vehicle 34. The NCA sensor 245 is then also used in this case to align the wheels of the vehicle 34 and to determine the position of the vehicle 34 on the stand 242. By determining the two sets, it is possible to determine the runout correction thrust angle of the vehicle 34. Thereby, the target 36 held by the robot manipulator 38 of the target position system 44 can be positioned in the desired orientation for calibration of the sensors of the ADAS vehicle 34. The lift 221 is shown in the elevated orientation in FIG. However, it should be understood that the lift 221 can be lowered until it is substantially coplanar with the target position system 44 for calibration of the vehicle 34 sensors. Alternatively, calibration of the sensor via the target 36 held by the robot arm 38 can be performed while the lift 321 is in the elevated position.

Other modifications and modifications of the embodiments specifically described may be made without departing from the spirit of the invention. The gist of the present invention is intended to be limited only by the appended claims, as interpreted in accordance with the principles of patent law, including the doctrine of equivalents.

Claims (32)

A robot system for aligning a target with respect to the equipped vehicle for calibration of the sensor of the equipped vehicle.
A vehicle support stand, wherein the equipped vehicle is stationary and placed at an established known position for calibration of the sensors of the equipped vehicle.
A robot manipulator that is movable in the longitudinal direction toward and away from the vehicle support stand, and includes a multi-axis robot arm.
A target, including a target, wherein the robot arm is configured to movably hold the target for multiaxial movement of the target.
The robot manipulator is equipped with the robot manipulator by longitudinal movement of the robot manipulator with respect to the vehicle support stand and by movement of the robot arm based on the established and known position of the equipped vehicle on the vehicle support stand. A robotic system configured to position the target in a calibration position with respect to the sensor of the vehicle so that the sensor can be calibrated using the target. The robot manipulator comprises an end effector placed on the robot arm.
The robot system according to claim 1, wherein the end effector is configured to selectively grip the target from a plurality of targets. The robot manipulator is attached to the base and
The robot system according to claim 1, wherein the base is movable in the longitudinal direction along a track on a floor support surface. The truck contains rails
The robot system according to claim 3, wherein the base is movable along the rail, and the rail is arranged vertically lower than the floor support surface. The vehicle support stand includes a plurality of locator arms.
The locator arm is expandable and retractable and is configured to press on the tire and wheel assembly of the equipped vehicle to orient the equipped vehicle on the vehicle support stand. The robot system according to claim 1. The locator arm includes a set of front facing arm and rear facing arm.
5. The fifth aspect of the present invention, wherein the front facing arms are configured to expand evenly in opposite directions from each other, and the rear facing arms are configured to extend evenly in opposite directions from each other. Robot system. The vehicle support stand includes a movable front tire support and a movable rear tire support.
The robot system according to claim 1, wherein an opposed set of tires of the equipped vehicle is arranged on the movable front tire support and the movable rear tire support. The robot system according to claim 7, wherein the front tire support includes a front roller and / or the rear tire support includes a rear roller. The robot system according to claim 8, wherein the rotation axis of the front roller and / or the rotation axis of the rear roller is aligned with the longitudinal axis of the equipped vehicle. The vehicle support stand comprises a pair of movable front tire supports.
Each of the front facing sets of tires of the equipped vehicle is placed in pairs of the movable front tire supports.
Each said front tire support comprises two sets of rollers, the two sets of rollers of each said front tire support being angled together in a V-shaped configuration to place the equipped vehicle. The robot system according to claim 1. The vehicle support stand comprises a pair of movable rear tire supports.
10. The robot of claim 10, wherein each pair of movable rear tire supports is arranged with each of the rear facing sets of tires of the equipped vehicle, each said rear tire support comprising at least one set of rollers. system. The vehicle support stand includes a front centering device
When the equipped vehicle is placed on the vehicle support stand, the front centering device is placed under the equipped vehicle and the front centering device is a front tire and wheel assembly of the equipped vehicle. The robot system of claim 1, comprising a pair of locator arms configured to expand synchronously outward to engage inside the solid. When the vehicle support stand includes a rear centering device and the equipped vehicle is placed on the vehicle support stand, the rear centering device is placed under the equipped vehicle and the rear centering device is placed under the equipped vehicle. 12. The robot system of claim 12, comprising a pair of locator arms configured to expand synchronously outward to engage inside the rear tires and wheel assembly of the equipped vehicle. .. The vehicle support stand further comprises a pair of front non-contact wheel alignment sensors disposed adjacent to the front facing tires and wheel assembly of the equipped vehicle when placed on the vehicle support stand.
As the front non-contact wheel alignment sensor determines vehicle orientation information to determine the established known position of the equipped vehicle for use in positioning the target in the calibration position. The robot system according to claim 1, which is operable. The vehicle support stand further comprises a pair of rear facing tires of the equipped vehicle when placed on the vehicle support stand and a pair of rear non-contact wheel alignment sensors disposed adjacent to the wheel assembly.
As the rear non-contact wheel alignment sensor determines vehicle orientation information to determine the established known position of the equipped vehicle for use in positioning the target in the calibration position. 14. The robotic system of claim 14, which is operable. The robot system of claim 1, wherein the vehicle support stand is located above the pit configured to allow an operator to work on the equipped vehicle from below the equipped vehicle. .. The vehicle support stand comprises a lift configured to raise and lower the equipped vehicle when positioned on the vehicle support stand.
The robot system according to claim 1, wherein when the lift is lowered, the equipped vehicle can move on and out of the lift. Multiple non-contact wheel alignment sensors were attached to the lift and
The non-contact wheel alignment sensor is placed adjacent to the oncoming tire and wheel assembly of the equipped vehicle when placed on the vehicle support stand.
As the non-contact wheel alignment sensor determines vehicle orientation information to determine the established known position of the equipped vehicle for use in positioning the target in the calibration position. The robotic system of claim 18, which is operable. 19. The robot system of claim 19, wherein the lift comprises a runway and the runway comprises a movable tire support. A method for robotically aligning a target with respect to the equipped vehicle for calibration of the sensor of the equipped vehicle.
To guide an equipped vehicle onto a vehicle support stand, wherein the equipped vehicle includes a sensor and is stationary and placed on the vehicle support stand.
Moving the target held by the robot manipulator to the calibration position for calibration of the sensor based on the established known position of the equipped vehicle on the vehicle support stand.
Performing a calibration routine, comprising performing, thereby calibrating the sensor using the target.
The robot manipulator can move longitudinally with respect to the longitudinal axis of the equipped vehicle on the vehicle support stand, the robot manipulator includes a multi-axis robot arm, and the robot arm holds the target. A method that is configured to do. The robot manipulator comprises an end effector placed on the robot arm.
21. The method of claim 21, wherein the end effector is configured to selectively grip the target from a plurality of targets. The robot manipulator is attached to the base and
21. The method of claim 21, wherein the base is longitudinally movable along a track on the floor support surface. The vehicle support stand includes a plurality of locator arms.
The locator arm is expandable and retractable and is configured to press on the tire and wheel assembly of the equipped vehicle to orient the equipped vehicle on the vehicle support stand. 21. The method of claim 21. The vehicle support stand includes a movable front tire support and a movable rear tire support.
21. The method of claim 21, wherein an opposed set of tires of the equipped vehicle is arranged on the movable front tire support and the movable rear tire support. The vehicle support stand further comprises a pair of front non-contact wheel alignment sensors disposed adjacent to the front facing tires and wheel assembly of the equipped vehicle when placed on the vehicle support stand.
As the front non-contact wheel alignment sensor determines vehicle orientation information to determine the established known position of the equipped vehicle for use in positioning the target in the calibration position. 21. The method of claim 21, which is operational. The vehicle support stand further comprises a pair of rear facing tires of the equipped vehicle when placed on the vehicle support stand and a pair of rear non-contact wheel alignment sensors disposed adjacent to the wheel assembly.
As the rear non-contact wheel alignment sensor determines vehicle orientation information to determine the established known position of the equipped vehicle for use in positioning the target in the calibration position. 26. The method of claim 26, which is operational. 21. The method of any one of claims 21-27, wherein guiding the equipped vehicle onto the vehicle support stand comprises moving the equipped vehicle onto the support stand. 28. The method of claim 28, further comprising moving the equipped vehicle out of the vehicle support stand after performing the calibration routine. Moving the equipped vehicle out of the vehicle support stand comprises moving the equipped vehicle in the same direction as the equipped vehicle was moved onto the vehicle support stand. , The method of claim 29. 30. The method of claim 30, wherein moving the equipped vehicle out of the vehicle support stand comprises moving the equipped vehicle towards the robot manipulator. 31. The method of claim 31, further comprising moving the robot manipulator longitudinally away from the vehicle support stand before moving the equipped vehicle out of the vehicle support stand. Moving the equipped vehicle out of the vehicle support stand comprises moving the equipped vehicle over the vehicle support surface.
29. The method of claim 29, wherein the robot manipulator is mounted on the vehicle support surface for longitudinal movement and / or over a truck for the robot manipulator.

Images