Vehicle measuring system instrument structure

Abstract

Disclosed herein is a vehicle measurement system instrument structure including: a base unit; a support structure fixed to the base unit; a pair of optical projection systems carried by the support structure, each comprising: at least one optical projector, each optical projector having an associated projection axis defining an associated vector; and a mounting structure for rotational movement of the optical projector about the at least two axes; an operator interface configured to receive operator input, direct an orientation of each associated projection axis to a current orientation within a common frame of reference; a processing system operatively coupled to the pair of optical projection systems, the processing system having a processor configured with a set of instructions to evaluate data received from each optical projection system, the data representing a current orientation of the associated projection axis within a common frame of reference; wherein the processing system is further configured with a set of instructions to identify spatial coordinates of points of intersection between the projection axes in a common reference frame.

Description

[0001] This application is a divisional application of an application with an application date of March 5, 2020, application number 202080018715.3 (international application number PCT / US2020 / 021174), and invention name “System and method for operator-guided identification of vehicle reference position during ADAS sensor alignment”.

[0002] CROSS-REFERENCE TO RELATED APPLICATIONS

[0003] This application is related to and claims priority to co-pending U.S. Provisional Patent Application Serial No. 63 / 813,905 filed on March 5, 2019, which is incorporated herein by reference. Background Art

[0004] The present application generally relates to a system and method for facilitating alignment and calibration of an on-vehicle advanced driver assistance system (ADAS) sensor, and more particularly to a system and method for enabling an operator to identify reference locations on a vehicle surface to a vehicle service system for relative placement of ADAS calibration targets and / or fixtures near a vehicle being serviced.

[0005] In the automotive industry, more and more vehicle manufacturers produce vehicles equipped with on-board sensors for monitoring the vehicle's external environment. These systems include lane departure warning systems (LDW), lane keeping assist systems (LKA), blind spot detection systems (BSD), collision mitigation braking systems (CMBS), adaptive cruise control systems (ACC), peripheral vision camera systems, backup camera systems (backup alarms), and night vision (infrared) camera systems. As vehicle sensor systems become more advanced, on-board systems rely on input received from these monitoring sensors to provide driver warnings, automatic vehicle functions (such as parallel parking), and implement safety features (such as automatic anti-collision braking and automatic vehicle spacing).

[0006] As reliance on data obtained from these monitoring sensors increases, it is critical that the data provide the vehicle with an accurate representation of the operating environment, such as the location of surrounding objects, speed differences between the vehicle and surrounding objects, and the movement of the vehicle itself relative to the surrounding objects. Due to the various different types of monitoring sensors entering the market, the alignment, calibration and / or inspection process for monitoring sensors varies from vehicle to vehicle and from manufacturer to manufacturer. Figure 1-3 As shown, monitoring and ranging vehicle-mounted sensors may require mechanical alignment relative to the vehicle body or relative to a measured alignment angle of the vehicle (such as the thrust line). Some sensors require calibration using observable, reflective or retro-reflective targets and / or fixtures that are set at predetermined locations within the sensor's field of view and may be far away from the vehicle.

[0007] The wheel alignment measurement system or inspection system can be used to facilitate the positioning of the target and / or fixture relative to the measured alignment angle of the vehicle. For example, as shown in WO2018 / 067354 A1 (incorporated herein by reference) of Hunter Engineering Company of the United States, the wheel inspection system can be equipped with various features to facilitate the placement of the target and / or fixture near the vehicle being serviced. These features include a laser projector mounted on a universal joint actuator, which is controlled by a vehicle inspection system control unit. During operation, the control unit uses a camera to observe the position and direction of the wheel, identify various wheel alignment angles and vehicle reference lines, such as the vehicle thrust line and the vehicle centerline. Once the position and direction of the vehicle relative to the vehicle inspection system are determined, the universal joint actuator is operated by the control unit to direct the laser projector to illuminate the target and / or fixture placement position on other surfaces on the ground or near the vehicle at the relative position specified by the vehicle manufacturer's guidelines.

[0008] Some vehicle manufacturers do not specify the target and / or fixture placement positions relative to the vehicle baseline. Instead, the instructions for positioning and placing targets and / or fixtures used during vehicle ADAS sensor calibration or alignment refer to specific points or features located on the vehicle. For example, a service operator may be instructed to identify the target and / or fixture placement positions by starting from the location of a decorative ornament or badge located on a body panel, or from a reference point on a vehicle bumper or structure. Operators often need to manually measure and locate these placement positions using a tape measure and an angle measurement tool. These types of vehicle-specific reference points or features cannot be easily identified or automatically located using a wheel alignment measurement system or a vehicle inspection system. In the case where a specific reference point or feature on the vehicle surface cannot be identified or located, the wheel alignment measurement system or vehicle inspection system shown in WO 2018 / 067354 A1 of Hunter Engineering, USA, cannot automatically identify the appropriate position of the placement of the target and / or fixture relative to the vehicle.

[0009] Therefore, there is a need to provide a method and system for directly identifying the relative position of one or more vehicle-specific reference points within the spatial coordinate system of a wheel alignment system or vehicle inspection system to automatically calculate and indicate the relative placement of targets and / or fixtures according to vehicle manufacturer placement guidelines. Summary of the invention

[0010] Briefly stated, the present invention is directed to an improvement in a wheel alignment system or vehicle inspection system configured with an optical projection system under operator control, the optical projection system being configured to enable the operator to identify to the system the location of a reference point on the surface of the vehicle from which relative locations for placement of ADAS sensor calibration or alignment targets can then be identified.

[0011] In an embodiment of the present disclosure, a wheel alignment system or vehicle inspection system incorporating a pair of gimbal-mounted optical projection systems is configured with an input interface for operator-directed manipulation of each optical projection system. A controller operatively coupled to the optical projection system and the input interface receives operator commands to selectively orient the projection axis of each optical emitter of the optical projection system toward a reference position on a surface near the wheel alignment or inspection system, illuminating the position. The controller receives a signal representing the orientation of each optical emitter around three rotational axes (pitch, yaw, roll). The controller is programmed with software instructions to calculate the three-dimensional coordinates of the illuminated reference position at the intersection of the projection axes in an established reference system using the received signals and the known position of the optical projection system. The controller is further programmed with software instructions to use the calculated three-dimensional coordinates of the illuminated reference position as an origin for calculating one or more placement positions of an ADAS sensor calibration or alignment target and / or fixture within an established reference system.

[0012] In a further embodiment of the present disclosure, an input interface of a wheel alignment system or vehicle inspection system comprises a game pad or joystick type interface configured to enable an operator to selectively direct movement of each gimbal-mounted optical projection system about at least three rotational axes.

[0013] In a further embodiment of the present disclosure, each gimbal-mounted optical projection system includes a laser emitter configured to project an illuminating laser beam along an associated projection axis.

[0014] A method for determining one or more placement locations of an ADAS sensor calibration or alignment target within an established reference frame of the present disclosure initially requires an operator to identify an origin location on the surface of a vehicle being inspected or serviced. A pair of gimbal-mounted optical projection systems having a fixed relationship to each other are selectively controlled by the operator to each align an associated illumination projection axis with the origin location. Once aligned, the pitch, yaw, and roll of the associated projection axes, together with the known relative spatial relationship of each projection system within the common spatial reference frame, are used to determine the three-dimensional coordinates of the illuminated origin location within the common spatial reference frame. Relative to the determined origin location, the placement location of the ADAS sensor calibration or alignment target within the common spatial reference frame is calculated directly based on the vehicle manufacturer's guidelines.

[0015] In a further embodiment, the present disclosure sets forth a method for identifying to an operator one or more spatial locations for placing a calibration fixture or an independent target within a common reference frame during an ADAS sensor calibration or alignment process. Initially, a spatial coordinate located within the reference frame is selected to place the calibration fixture or target. A first gimbal-mounted optical projection system disposed at a known position within the reference frame is activated to align a first projection axis with a target area associated with the spatial coordinate. A second gimbal-mounted optical projection system disposed at a second known position within the reference frame is activated to align a second projection axis with the target area so that the first projection axis and the second projection axis each pass through or intersect the spatial volume of the target area. The calibration fixture or target is then positioned within the reference frame so that a selected surface of the calibration fixture or target is within the target area and is illuminated by light projected along each of the first projection axis and the second projection axis.

[0016] The foregoing features and advantages of the present disclosure as well as those set forth in the currently preferred embodiments will become more apparent from reading the following description taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In the accompanying drawings forming a part of the specification:

[0018] Figure 1 is a diagram of a process for calibrating an unknown viewing axis of a lane departure warning (LDW) onboard sensor relative to a vehicle thrust line;

[0019] Figure 2 is an illustration of a process for calibrating an unknown steering axis of an active front steering (AFS) onboard sensor relative to a vehicle thrust line;

[0020] Figure 3 is an illustration of a process for calibrating an unknown viewing axis of an automatic cruise control (ACC) range-finding onboard sensor relative to a vehicle thrust line;

[0021] Figure 4 is a perspective view of a prior art vehicle inspection system camera support structure configured with an ADAS target and a pair of gimbal-mounted optical projectors;

[0022] Figure 5 is a close-up perspective view of a prior art gimbal-mounted optical projector;

[0023] Figure 6 The method used with the present disclosure is shown Figure 4 A vehicle inspection system camera support structure to facilitate identification of relative positions of features on a vehicle surface;

[0024] Figure 7The method used with the present disclosure is shown Figure 4 A vehicle inspection system camera support structure to illuminate a target placement location for identifying relative locations of features on a reference vehicle surface;

[0025] Figure 8 Similar to Figure 7 , but the vehicle is shown at an angle relative to the vehicle inspection system camera support structure, showing changes in the placement of the illuminated target corresponding to different angles of the vehicle;

[0026] Fig. 9 The method used with the present disclosure is shown Figure 4 A vehicle inspection system camera support structure to identify target areas in 3D space to facilitate placement of vehicle service fixtures; and

[0027] Fig.10 is a perspective view of a movable calibration fixture that has three radar wave retro-reflective structures and a target surface to assist in Fig. 9 The relative positioning at the target area.

[0028] Corresponding reference numerals indicate corresponding parts throughout the drawings. It should be understood that the drawings are for the purpose of illustrating the concepts set forth in the present disclosure and are not drawn to scale.

[0029] Before any embodiments of the invention are explained in detail, it is to be understood that the invention is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. DETAILED DESCRIPTION

[0030] The following detailed description illustrates the present invention by way of example and not limitation. This description enables one skilled in the art to make and use the present disclosure, and describes several embodiments, modifications, variations, substitutions and uses of the present disclosure, including what is currently believed to be the best mode of carrying out the present disclosure.

[0031] Go to Figure 4 , shows an instrument fixture or support structure 100 of a prior art machine vision vehicle service system (such as a wheel alignment system or a vehicle inspection system). The vehicle measurement system instrument structure 100 as shown includes a camera support structure 102, which is composed of a vertical column 102a, supporting a set of laterally spaced camera modules 104a, 104b carried on a crossbeam 106, and at least one calibration auxiliary target 400a, 400b. A pair of optical projection systems 500a, 500b are carried by the camera support structure 102 in a spaced relationship.

[0032] To facilitate positioning of the vehicle measurement system instrumentation structure 100 during a service procedure and to enable the set of camera modules 104a, 104b to view features on each lateral side of the vehicle, the structure 100 is provided with a base unit 108 having a set of rolling elements, such as casters or wheels 109. During use, the structure 100 is manually rolled to a desired position. Different vehicles may require positioning the structure 100 in different positions relative to the vehicle. An optional locking mechanism may be provided on at least one of the rolling elements to prevent accidental movement of the structure 100 during use.

[0033] The camera support structure 102 positions the set of camera modules 104a, 104b near opposite longitudinal ends, each camera module containing one or more cameras 105, the field of view of the camera being generally in the forward direction to observe each lateral side of the vehicle 10 being serviced as required. The camera beam 106 is optionally vertically (and / or rotationally) adjustable relative to the vertical column 102a to allow adjustment to accommodate changes in the height of the vehicle on an adjustable lifting rack (not shown) located near the vehicle measurement system instrument structure 100. Vertical adjustment of the camera beam 106 can be performed by any conventional means, such as a slide rail, a rod and screw mechanism, a pulley mechanism, etc. The mechanism for vertical adjustment can be manually actuated, or can be driven by a suitable motor under manual control of an operator or under automatic software control. Rotational adjustment of the camera beam 106 about the longitudinal axis (if provided), rotational adjustment about the longitudinal axis of the camera beam 106 can be performed by any conventional means, and can be manually actuated, or can be driven by a suitable motor under manual control of an operator or under automatic software control. As an alternative to rotationally adjusting the camera beam 106 , the individual camera modules 104 a , 104 b may optionally be configured with a suitable coupling mechanism to allow multiple axes of independent movement as needed to achieve a desired field of view with the camera 105 .

[0034] It will be recognized that although Figure 4 The embodiment of the vehicle measurement system instrument structure 100 shown in and described above utilizes a vertical post 102a and a camera beam 106, but other configurations of the camera support structure 102 may be utilized without departing from the scope of the present invention. For example, in lieu of a vertical post 102a and a camera beam 106, the camera support structure 102 may include a pair of articulated camera support arms secured to a base 108 to position a single camera in a laterally spaced arrangement as desired to obtain a desired field of view for viewing features or objects associated with a vehicle undergoing wheel alignment service, measurement, or inspection.

[0035] The camera modules 104a, 104b are operatively coupled to a processing system 300, which may be disposed within an associated operator interface console 302 proximate the vehicle measurement system instrumentation structure 100. The processing system 300 is configured with appropriate logic circuit components and software instructions for receiving image data from the camera modules 104a, 104b, evaluating the image data to identify the relative spatial location of an observed surface, such as an optical target 175 disposed on a wheel or surface of the vehicle 10, and calculating relevant vehicle characteristics, such as wheel alignment angle, vehicle thrust line, or vehicle body position (centerline). It should be understood that the configuration of the processing system 300, camera modules 104a, 104b, and associated operator interface console 302 are generally known in the art of machine vision wheel alignment systems and may vary from the specific configuration described herein without departing from the scope of the present invention, so long as the processing system 300 is configured with the software instructions described herein.

[0036] To facilitate alignment and calibration of safety system sensors on the vehicle 10, such as radar, LIDAR or optical sensors, one embodiment of the vehicle instrumentation structure 100 includes at least one target structure 400a and / or 400b, which is fixed to the vertical column 102 or the camera beam 106 by a multi-axis mounting fixture 402. Each target structure 400a, 400b includes an observable target surface, which is oriented from the structure 100 in a generally forward direction (i.e., toward the vehicle service area) at a height generally suitable for observation by the vehicle safety system sensor during the realignment or recalibration process. The specific configuration of the target structure 400a, 400b, such as the target surface features, is related to the specific type of safety system sensor it will be used for, and will vary accordingly. For example, an optical target 400a with a retro-reflective or contrasting target surface surface feature can be provided for an optical safety system sensor, such as a camera or LIDAR. Accordingly, a metal or radar reflective target 400b can be provided for a radar-based safety system sensor. Optionally, a laser emitter (not shown) configured for pivotal adjustment about at least one axis may be associated with the target structures 400a, 400b for illuminating a point or line on the vehicle or nearby ground to assist in individually locating and / or orienting the target structures 400a, 400b, or the vehicle measurement system instrument structure 100 itself.

[0037] like Figure 4 As shown, the vehicle measurement system instrument structure 100 includes one or more optical projection systems 500a, 500b, which are operatively coupled to the processing system 300 and under the control of the processing system, for projecting visible marks 501 onto a surface near the structure 100. Figure 5As shown, the optical projection systems 500a, 500b each include one or more laser emitters 504, 506, which are carried by a mounting structure 502 (such as a set of motorized universal joints) fixed to the camera support beam 106. The optical projection systems 500a, 500b are arranged in a spaced arrangement near the camera modules 104a and 104b so that visible marks can be projected onto surfaces within the vehicle service area around the vehicle measurement system instrument structure 100. Each optical projection system 500a, 500b includes at least one associated laser emitter 504 fixed to the set of mounting structures 502 under the control of the processor 300, for rotational movement around three orthogonal axes (X, Y, Z) to orient the associated projection axis (generally 507, specifically 507a, 507b) in 3D space. Optionally, a second associated laser emitter 506 is supported by a rotation element 508 on the mounting structure 502 for rotation about an additional axis so that the projected indicia can be visually corrected for parallax distortion caused by a non-orthogonal projection orientation.

[0038] Laser emitter 504 emits a visible light beam along projection axes 507a, 507b associated with corresponding projection systems (500a, 500b). An optical focusing element can be provided to present visible marks on the target surface in the form of points or lines. It will be appreciated that optical projection systems 500a, 500b can utilize other visible light sources, such as LED elements and associated optical focusing elements to replace laser emitters 504, 506 to project visible marks onto the surface without departing from the scope of the present disclosure. Accordingly, it will be appreciated that in optical projection systems 500a, 500b and mounting structures 502 (such as motorized universal joints), any of a variety of conventional optical components can be replaced, such as lenses or MEMS reflectors, for directional associated projection axes 507a, 507b. Alternatively, one of optical projection systems 500a, 500b can have a fixed projection axis calibrated to a known orientation relative to another optical projector.

[0039] During a wheel service, measurement, or inspection process, the processing system 300 is configured to communicate with each optical projection system 500a, 500b to direct the orientation of the associated laser emitter 504, 506 for projecting an associated observable mark (generally 501, specifically 501a, 500b) at a selected location on a surface near the vehicle measurement system instrument structure 100. The observable mark 501 may represent a line or boundary to which an elongated planar optical target 600 or other vehicle service device may be aligned, or may represent a stationary point location to aid in the placement of an independent target 800 (e.g., Fig.10 Vehicle service fixture as shown).

[0040] Conventionally, the processing system 300 determines the selected position of the projection of the observable mark 501 in response to the spatial measurements associated with the vehicle 10 obtained from the images captured by the camera modules 104a, 104b. For example, some vehicle safety system sensor calibration processes require that the independent target 800 observed by the onboard safety system sensor be placed at a selected position relative to the centerline or thrust line of the vehicle. Specific placement requirements associated with the ADAS sensor calibration or adjustment process for various vehicle brands and models can be stored in a database accessible to the processing system 300. After determining the measurements associated with the relative spatial position of the vehicle 10 relative to the fixture or support structure 100, such as through a conventional machine vision vehicle alignment measurement process, the processing system 300 is configured to access the database to call the placement requirements of the target or calibration fixture associated with the vehicle. Using the called placement requirements, the processing system 300 operates the set of motorized gimbal mounting structures 502 to orient one or two optical projectors so as to project the visible mark 501 at an appropriate location on the ground of the vehicle service area so that the operator can perform or complete the vehicle service, calibration or inspection process. Alternatively, for a fixed optical projector, the operator may be directed to adjust the position and / or orientation of the vehicle instrumentation structure 100 itself to align the projection axis as desired.

[0041] Not all vehicle manufacturers reference the placement of a fixture or stand-alone target associated with an ADAS sensor calibration or adjustment process to a property of the vehicle, such as a thrust line or centerline. The ADAS sensor calibration or adjustment process for some vehicles directs an operator to place a fixture or stand-alone target associated with the ADAS sensor calibration or adjustment process at a location that references a specific feature or location on the vehicle. For example, a fixture or stand-alone target placement location may be called at a selected distance in front of a logo located on the hood of the vehicle, or in front of and laterally offset from an identification fastener or adjustment bolt that secures the component to the vehicle. To complete the process that requires the placement of the fixture or target at these locations, the operator is typically required to use a tape measure, rope, square, and plumb bob. Starting from an origin OP indicated on the vehicle, the operator will manually measure the required distances and angles until the correct placement location is reached.

[0042] Embodiments of the present disclosure utilize the optical projection systems 500a, 500b of the vehicle measurement system instrument structure 100 and the processing system 300 to eliminate the need for an operator to manually measure and identify the placement position of a fixture or independent target used during the ADAS sensor calibration or adjustment process of a specific feature or position on a reference vehicle. Instead of the traditional manual process, the operator identifies a specific feature or position on the vehicle to the processing system 300 using the optical projection systems 500a, 500b, which will be used as the origin OP for the relative placement of the fixture or independent target. Each optical projection system 500a, 500b is configured so that the direction of the gimbal or fixed projection axis 507a, 507b is known to the processing system 300, thereby establishing an associated pointing axis for each laser projector in three-dimensional space. In one embodiment, an operator interface is provided via a console 302 to enable an operator to selectively align the laser projector pointing axis 507a, 507b for each adjustable optical projection system 500a, 500b by controlling a separate gimbal or other adjustable component to achieve motion about each available coordinate axis X, Y, Z (i.e., pitch, yaw, roll) using operator input. The operator interface console 302 may include a physical input device, such as a game controller, keyboard, or joystick, or an interactive element presented in a graphical user interface (GUI) displayed to the operator.

[0043] Using the operator interface, the operator activates each optical projection system 500a, 500b to project an illumination point onto the vehicle surface along the associated laser projection axis 507. The operator then orients each optical projection system 500a, 500b so that the projection axes 507a, 507b from each optical projector 504 intersect (e.g., Figure 6 As shown) at a specific feature or location on the vehicle, which will serve as the origin OP.

[0044] In an alternative embodiment, the operator may place a reference target, such as a retroreflective tag, at a specific feature or location on the vehicle, which will serve as the origin OP. The processing system is configured to position the reference target within the field of view of the camera modules 104a, 104b and automatically orient each optical projection system 500a, 500b so that the projection axis 507a, 507b from each optical projector 504 is aligned with and intersects the reference target.

[0045] Once the optical projection systems 500a, 500b are oriented manually or automatically, the operator directs the processing system 300 to calculate the relative spatial coordinates where the projection axes 507 intersect. The processing system 300 is configured with software instructions to utilize the known orientation of each projection axis 507, which defines a unit vector in a common reference frame, together with the known position of each optical projection system 500a, 500b in the same reference frame to determine the intersection point. For example:

[0046] The optical projection system 500a is located at coordinates x1, y1, z1 and has a projection axis 507 of an associated laser projector 504 defined by unit vectors a1, b1, c1;

[0047] The optical projector 500b is located at coordinates x2, y2, z2 and has a projection axis 507 of an associated laser projector 504 defined by unit vectors a2, b2, c2.

[0048] Each laser projection axis 507a, 507b can then be defined as a line with the following parametric equations:

[0049] Line 1: x = x1 + a1*r1; y = y1 + b1*r1; z = z1 + c1*r1; Equation 1

[0050] Line 2: x = x2 + a2*r2; y = y2 + b2*r2; z = z2 + c2*r2; Equation 2

[0051] At the intersection of the two lines, the x values ​​are equal and the y values ​​are equal (and the z values ​​are also equal), so the equation can be expressed as:

[0052] x1 + a1 * r1 = x2 + a2 * r2; Equation 3

[0053] y1 + b1 * r1 = y2 + b2 * r2; Equation 4

[0054] z1 + c1 * r1 = z2 + c2 * r2; Equation 5

[0055] Where r1 and r2 are the distances to the intersection point along the respective unit vectors (a1, b1, c1) and (a2, b2, c2). Solving these equations for r1 and r2, the original parametric equations (Eq. 1 and Eq. 2) can be solved for the intersection point in the common reference frame. Together with information identifying the orientation of vehicle 10 (e.g., observation of optical target 175 by camera systems 104a, 104b), the calculated coordinates of the intersection point are then used by processing system 300 as an origin OP for identifying, for example, Figure 7 and Figure 8The relative placement of fixtures or stand-alone targets 600 , 800 used in an ADAS sensor calibration or adjustment process is shown.

[0056] It will be appreciated that alternative embodiments in which the optical projection systems 500a, 500b are not mounted to the same support structure 100 can be implemented without departing from the scope of the present invention, as long as the processing system 300 is configured to determine the orientation of each projection axis 507, which defines a unit vector in a common reference system, and is configured to call or determine the position of each optical projection system 500a, 500b in the same common reference system. For example, each optical projection system 500a, 500b can be arranged on a separate support column, base or wall surface on the opposite lateral side of a vehicle inspection or service area. The relative position of each optical projection system 500a, 500b can be determined by any suitable calibration process or by direct measurement, and the results are stored in a data storage accessible to the processing system 300.

[0057] In an alternative embodiment, one or more cameras or optical sensors (not shown) are provided on the support structure 100, which have a field of view surrounding the vehicle surface where the origin OP is located. The origin OP is located together with the image of the vehicle surface, or automatically located using machine vision techniques and / or pattern matching (such as locating a placed target, sign, vehicle emblem, etc.), or manually located by an operator by identifying the origin OP in the image presented on the graphical user interface (GUI) by the processing system 300. Once the origin is identified, the processing system instructs the optical projection system 500a, 500b to orient the associated projection axes 507a, 507b to intersect at the identified origin OP, so that the spatial coordinates of the origin within the common reference system can be calculated, as described above. The processing system 300 can be configured with software instructions to direct the optical projection system 500a, 500b to orient the projection axes 507a, 507b using a feedback process in which a change in the position of the illuminated point associated with each laser pointing axis is observed in a set of images acquired by the camera or optical sensor.

[0058] It will be appreciated that due to the inherent limitations of the mechanical and electrical systems associated with the optical projector gimbal, the orientation of the projection axes 507a, 507b may not be determined with high precision. In addition, due to the optical properties of the emitted laser, the intersection of the two emitted beams observed by the operator may not be the true intersection of the projection axes 507a, 507b. Therefore, it should be understood that, as used herein, the term "intersection" refers to the intersection of the projection axes 507a, 507b within the tolerance range of the mechanical, electrical and optical systems. The intersection point can be regarded as the area, region or volume of the 3D space in the common reference system, where the projection axes 507a, 507b are closest to each other, especially when they do not completely intersect at the defined point. Therefore, the "intersection point" used to define the origin OP for subsequent calculations can be an approximation or a point calculated by the midpoint between the closest points on each individual projection axis 507a, 507b.

[0059] The vehicle manufacturer's instructions for placement of fixtures or targets 600, 800 relative to an identified origin OP on the vehicle may be stored in and recalled from a database accessible to the processing system 300. The processing system 300 is configured with software instructions to utilize the manufacturer's instructions associated with the particular vehicle being serviced or inspected to calculate the fixture or target placement position in the common reference frame in the same manner as when starting from a determined vehicle centerline or thrust line.

[0060] To assist the operator in placing the fixture or target 600, 800 at the calculated placement location, the processing system 300 is configured to control the optical projection systems 500a, 500b to orient each laser emitter 504, 506 so as to project an observable mark 501 at a selected location on a surface near the vehicle measurement system instrument structure 100. The observable mark 501 may represent a stationary point location that assists in placing the independent target 800, or may represent a line or boundary to which the elongated planar optical target 600 or other vehicle service device may be aligned. The processing system 300 may optionally control the optical projection systems 500a, 500b to impart motion to the projected mark so as to sequentially illuminate two or more discrete locations on the surface. Within the scope of the present disclosure, marks other than points or lines, such as alphanumeric symbols or raster images, may be projected from appropriately configured optical projectors 504, 506 under the control of the processing system 300.

[0061] The method disclosed herein describes a process for operating a vehicle service system (such as a wheel alignment measurement or inspection system) to determine the placement of an ADAS sensor calibration or alignment target within an established reference system. The method requires an operator to identify an origin OP on the surface of a vehicle being inspected or serviced. In order to identify the origin OP, the operator individually controls each optical projection system 500a, 500b mounted on a support structure 102 of the vehicle service system to adjust the pitch, yaw and roll of each associated projection axis 507a, 507b so that the projected light beams intersect at the origin OP. Since each optical projection system 500a, 500b is set at a fixed position on the vehicle service system and is defined in a common reference system, the pitch, yaw and roll of each projection axis 507a, 507b, together with the known relative spatial relationship of each projection system 500a, 500b in the common spatial reference system, are used to calculate the three-dimensional coordinates of the illuminated origin OP in the common spatial reference system.

[0062] Once the three-dimensional coordinates of the origin OP are identified within the common spatial reference frame, the vehicle manufacturer's instructions for placing the ADAS sensor system calibration or alignment target or fixture 600, 800 relative to the origin OP are used to directly calculate the placement position within the common spatial reference frame. At least one of the optical projection systems 500a, 500b is controlled to adjust the pitch, yaw and roll of the associated projection axis 507 so that at least one transmit beam is projected onto the calculated placement position, providing a visible marker 501 to guide the operator to place the target or fixture 600, 800. After the target or fixture is in place, the ADAS sensor calibration or alignment is completed according to the vehicle manufacturer's guidelines.

[0063] Those skilled in the art will readily recognize that the disclosed systems and methods may be used to define other points than points on the surface of the vehicle being serviced or inspected as the origin OP. The disclosed systems and methods may be used to define the origin OP and thereby identify the location or placement of fixtures, objects, structures, or locations on the floor and walls to which illumination points may be projected from the optical projection systems 500a, 500b that establish relative positions within a common reference frame, as described herein.

[0064] For example, the method of the present invention may be used to guide placement of a vehicle service fixture 800 within a reference frame that includes a vehicle service bay. Initially, a spatial location within a reference frame for placement of a vehicle service fixture (such as an ADAS calibration or alignment fixture) is identified. The spatial location may be identified using any of a variety of suitable methods, such as described herein using an identified origin OP on a reference vehicle surface and vehicle manufacturer's instructions regarding relative placement, by reference to the vehicle's viewing axis according to vehicle specific instructions called from a database, or by manual guidance from an operator. Once the spatial location is identified, a target zone TZ associated with the identified spatial location is established. As Fig. 9 As shown, the target zone TZ can be defined as a containing volume in 3D space, or a surface within 3D space, which is intended to accommodate the accuracy limitations introduced by the various contributing error sources associated with the mechanical and optical systems mentioned herein.

[0065] With the target zone TZ established, a first optical projection system 500a, 500b disposed at a known position within the reference frame is operated to align a first associated projection axis 507a with the target zone TZ. This operation may be performed manually by an operator directing the movement of the gimbal-mounted optical projection system to "steer" the first projection axis 507a into the target zone, or automatically under the control of the processing system 300. Next, a second gimbal-mounted optical projection system 500a, 500b disposed at a second known position within the reference frame is operated in the same manner to align a second associated projection axis 507b with the target zone TZ. In the case where both projection axes are aligned with the target zone, as shown in FIG. Fig. 9 As shown, they will all pass through the target zone or intersect within the target zone, so as to establish a visual indication in the three-dimensional space of the target zone TZ to assist the operator in placing the target or fixture.

[0066] Positioning a vehicle service fixture or independent target 800 (e.g. Fig.10 During the process of positioning the independent target 800 (as shown in FIG. 1 ), a visual indication of the target zone becomes apparent. The operator moves (e.g., on the ground) and adjusts (e.g., by changing height or orientation) the independent target 800 within the reference frame so that the placement target surface 802 on the independent target 800 intersects and is within the target zone TZ. Once the placement target surface 802 is within the target zone TZ, the placement target surface is illuminated by light projected along the first projection axis 507a and the second projection axis 507b, indicating that the independent target 800 is correctly located within the reference frame.

[0067] The present disclosure may be implemented in part in the form of computer-implemented processes and devices for practicing these processes. The present disclosure may also be implemented in part in the form of computer program code containing instructions, which are contained in a tangible medium or another computer-readable non-transitory storage medium, wherein when the computer program code is loaded into and executed by an electronic device such as a computer, a microprocessor or a logic circuit, the device becomes a device for practicing the present disclosure.

[0068] The present disclosure may also be implemented in part in the form of computer program code, for example, whether stored in a non-transitory storage medium, loaded into a computer and / or executed by a computer, or transmitted via some transmission medium, wherein when the computer program code is loaded into a computer and executed by a computer, the computer becomes a device for practicing the present disclosure. When implemented in a general-purpose microprocessor, the computer program code segments configure the microprocessor to create specific logic circuits.

[0069] As various changes could be made in the above construction without departing from the scope of the disclosure, it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.

Claims

1. A vehicle measurement system instrument structure, comprising: Base unit; a support structure secured to the base unit; a pair of optical projection systems carried by the support structure in a spaced arrangement, the optical projection systems each comprising: at least one optical projector at a known spatial position within a common reference system, each optical projector having an associated projection axis defining an associated vector in the common reference system; and mounting structures for rotational movement of the at least one optical projector at the known spatial position about at least two axes, the mounting structures each being responsive to a command for rotational movement to direct an orientation of the associated projection axis relative to the at least two axes; an operator interface configured to receive operator input to direct the orientation of each of said associated projection axes to a current orientation within said common reference system; a processing system operatively coupled to said pair of optical projection systems, said processing system having a processor configured with a set of instructions to evaluate data received from each of said optical projection systems, said data representing said current orientation of said associated projection axis within said common reference frame; and Wherein, the processing system is further configured with a set of instructions to use the vector defined by each of the projection axes in the common reference system to identify the spatial coordinates of the intersection between the projection axes in the common reference system.

2. The vehicle measurement system instrument structure according to claim 1, wherein: The support structure comprises: a vertical support column secured to the base unit; a cross beam carried by the vertical support posts; and Wherein, the pair of optical projection systems are arranged adjacent to opposite longitudinal ends of the beam.

3. The vehicle measurement system instrument structure according to claim 1, wherein: Each optical projector is a laser emitter configured to project laser light along the associated projection axis.

4. The vehicle measurement system instrument structure according to claim 1, wherein: the processing system being operatively coupled to each optical projection system to activate the associated at least one optical projector to project a visible indicia along the associated projection axis onto a surface proximate to the vehicle measurement system instrumentation structure; and Wherein the processing system is operatively coupled to each optical projection system to control the orientation of the associated projection axis.

5. The vehicle measurement system instrument structure according to claim 1, wherein: The processing system is further configured with a set of instructions to designate the intersection between the projection axes in the common reference system as an origin, thereby identifying one or more relative points within the common reference system.

6. The vehicle measurement system instrument structure according to claim 5, wherein: The identified spatial position is located on the surface of the vehicle.

7. The vehicle measurement system instrument structure of claim 6, comprising a first camera and a second camera fixed by the support structure in a spaced arrangement, each camera being configured to acquire an image of a vehicle disposed within a vehicle service area enclosed by the common reference system; in, The processing system is configured to receive and evaluate images acquired from at least one of the cameras to determine the position and orientation of the vehicle within the common reference frame; and Wherein the processing system is configured to utilize the identified spatial position together with the determined position and orientation of the vehicle to identify a placement location of the target relative to the vehicle in the common reference system.

8. A method for operating a vehicle measurement system comprising a pair of optical projection systems arranged in a spaced relationship in a common reference frame, each optical projection system comprising an optical projector carried by a multi-axis gimbaled mounting structure at a known position in the common reference frame, the method comprising: selecting an origin point on a vehicle being serviced or inspected that is in operational proximity to the vehicle measurement system; projecting a first illumination beam along a first projection axis from a first optical projector of a pair of optical projectors; orienting the first optical projection system by driving a first associated multi-axis gimbal mounting structure to align the first projection axis with a selected origin such that the first illumination beam illuminates the selected origin; projecting a second illumination beam along a second projection axis from a second optical projector of the pair of optical projectors; orienting the second optical projection system by driving a second associated multi-axis gimbal mounting structure to align the second projection axis with the selected origin so that the second illumination beam illuminates the selected origin; identifying a vector defined by each of said multi-axis gimbal mounting structures and an orientation of said first and second projected axes within said common reference system; as well as The position of the selected origin within the common reference frame is calculated as the intersection point of the identified vectors.

9. The method of claim 8, further comprising receiving a command from an operator input, the command selectively directing the orientation of the first and second projection axes of the associated optical projection system so that the first and second illumination beams intersect at the selected origin.

10. The method of claim 8, further comprising identifying the selected origin point on the vehicle surface using a machine vision optical sensor and processing system; and A command is received from a processing system, the command directing the first and second optical projection systems to orient the first and second associated projection axes such that the first and second illumination beams intersect at the selected origin.

11. The method of claim 10, further comprising receiving data at the processing system, the data representing observed illumination points projected by the illumination beam onto the vehicle surface; and The representative data is utilized to refine a directed orientation of at least one of the first and second associated projection axes such that the first and second illumination beams intersect within a tolerance range.

12. The method of claim 8, further comprising determining an orientation of the vehicle; calculating a placement position in the common reference system relative to the vehicle orientation and the position of the selected origin on the vehicle; orienting the associated projection axis of at least one of the optical projection systems by actuating the multi-axis gimbal mounting structure to align the projection axis of the associated optical projector with the calculated placement location; as well as The calculated placement position is illuminated with at least one of the first illumination light beam and the second illumination light beam.

13. A method for directing placement of a vehicle service fixture during service or inspection of a vehicle located within a vehicle service area, comprising: identifying a spatial location for placing the vehicle service fixture or object within a reference system surrounding the vehicle service area; establishing a target region associated with the identified spatial location; operating a first gimbal-mounted optical projection system disposed at a known position within the reference frame to align a first projection axis with the target area; operating a second gimbal-mounted optical projection system disposed at a second known position within the reference frame to align a second projection axis with the target area, whereby the first projection axis and the second projection axis each pass through or intersect within the target area; activating each gimbal-mounted optical projection system to project a light beam along each of the first projection axis and the second projection axis; as well as The vehicle service fixture or target is positioned and / or adjusted within the reference frame such that a selected surface associated with the fixture intersects the target area and is illuminated by the light beam projected along each of the first projection axis and the second projection axis.

14. The method according to claim 13, wherein: The established target area defines a spatial volume within the reference frame.

15. The method according to claim 13, wherein: The established target area defines a surface within the reference frame.

16. The method according to claim 13, wherein: Identifying the spatial location includes acquiring at least one image of a vehicle within the vehicle service area; determining a position and orientation of the vehicle within the common reference system using at least one acquired image; and Therein, the identified spatial position is positioned relative to the determined position and orientation of the vehicle.

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